An engineering mechanical arm positioning tool and engineering mechanical arm tailor-welding method

Abstract

The application discloses an engineering mechanical arm positioning tool, which comprises a tool platform, a supporting mechanism, a pressing-down mechanism, a side top mechanism and a side pushing mechanism; the supporting mechanism is arranged on the tool platform to support a bottom plate; the pressing-down mechanism is arranged on the tool platform and presses a top plate down; the side top mechanism is arranged on the pressing-down mechanism and is arranged on a first side plate; and the side pushing mechanism is arranged on the tool platform and is arranged on a second side plate. The application further discloses an engineering mechanical arm tailor-welding method. The application can position the welded bottom plate, the first side plate and the second side plate, and can press the top plate on the first side plate and the second side plate, so that welding is more accurate.

Description

Technical Field

[0001] This invention relates to the field of robotic arm manufacturing technology, and in particular to a positioning fixture for an engineering robotic arm and a welding method for an engineering robotic arm. Background Technology

[0002] A typical engineering robotic arm consists of a base plate, a first side plate, a second side plate, and a top plate. When manufacturing the engineering robotic arm, the lower side of the first side plate is welded to one side of the base plate, and the lower side of the second side plate is welded to the other side of the base plate, so that the first side plate is parallel to the second side plate. Then, the top plate is placed on the first and second side plates, and one side of the top plate is welded to the upper side of the first side plate, and the other side of the top plate is welded to the upper side of the second side plate, thus completing the assembly and welding of the engineering robotic arm.

[0003] Some engineering machinery booms have curved top plates, such as the boom of an excavator. When this top plate is welded to the first and second side plates, gaps inevitably exist between the top plate and the first and second side plates. This necessitates manual tapping of the top plate during welding to reduce these gaps and facilitate welding. However, this manual tapping is time-consuming and labor-intensive, and the top plate can inevitably shift during welding, leading to imprecise welds. In view of this, the inventor conducted in-depth research to address the aforementioned deficiencies in the prior art, resulting in this invention. Summary of the Invention

[0004] The present invention aims to at least partially solve one of the technical problems in the aforementioned technologies. Therefore, one object of the present invention is to provide a positioning fixture for an engineering robotic arm, which can position the welded base plate, first side plate, and second side plate, and can press the top plate onto the first and second side plates, thereby making the welding more precise.

[0005] The second objective of this invention is to provide a method for welding engineering robotic arms.

[0006] To achieve the above objectives, the present invention provides a positioning fixture for an engineering robotic arm, comprising a fixture platform, a support mechanism, a pressing mechanism, a side-pushing mechanism, and a side-pushing mechanism;

[0007] The support mechanism is set on the tooling platform to support the bottom plate. The pressing mechanism is set on the tooling platform and presses down on the top plate. The side-top mechanism is set on the pressing mechanism and rests on the first side plate. The side-push mechanism is set on the tooling platform and rests on the second side plate.

[0008] Furthermore, the tooling platform is equipped with keyways for adjusting the positions of the support mechanism, side-top mechanism, side-push mechanism, and downward-pressing mechanism.

[0009] Furthermore, the support mechanism includes a side top assembly and a center top assembly. The side top assembly includes a first side top assembly and a second side top assembly. The first side top assembly rests on one side of the base plate, and the second side top assembly rests on the other side of the base plate. The center top assembly is located between the first side top assembly and the second side top assembly, and rests on the center of the base plate.

[0010] Furthermore, the side top assembly includes a side top seat, a height-fixing cylinder, a height-fixing rod, and a positioning plate; the side top seat is fixed on the tooling platform, the height-fixing cylinder is set on the side top seat, the height-fixing rod is set on the height-fixing cylinder, and the positioning plate is set on the height-fixing rod and rests against the base plate.

[0011] Furthermore, an inclined plate is installed on the side top seat, and the fixed height cylinder is installed on the inclined plate.

[0012] Furthermore, the lower end of the height-fixing cylinder forms an insert for inserting into the inclined plate, and a fixing member is provided on the insert, which abuts against the lower side of the inclined plate; a limiting ring is provided on the outer side of the height-fixing cylinder, which abuts against the upper side of the inclined plate.

[0013] Furthermore, the fastener is threadedly connected to the outer side of the insert.

[0014] Furthermore, a positioning channel is formed inside the height-fixing cylinder to allow the height-fixing rod to move. A spring is installed inside the positioning channel, with one end of the spring abutting against the bottom of the height-fixing rod and the other end abutting against the fixing component.

[0015] Furthermore, a positioning notch is provided on the height-fixing rod, which includes a first inclined surface and a second inclined surface. The distance between the first inclined surface and the spring is greater than the distance between the second inclined surface and the spring. It also includes a positioning screw, which passes through the height-fixing cylinder and abuts against the first inclined surface.

[0016] Furthermore, the first inclined surface is perpendicular to the second inclined surface.

[0017] Furthermore, a reinforcing ring is provided on the height-fixing cylinder; the positioning screw includes a head and a rod, with the rod passing through the reinforcing ring and pressing against the first inclined surface.

[0018] Furthermore, a perforation is provided on the reinforcing ring, and the perforation is threadedly connected to the rod.

[0019] Furthermore, an axial positioning groove is provided on the side wall of the height-fixing rod, and a positioning hole is provided on the height-fixing cylinder. The end of the positioning rod passes through the positioning hole and is located in the positioning groove.

[0020] Furthermore, the center top assembly includes a center top seat and a first limiting seat. The center top seat is set on the tooling platform, and the first limiting seat is provided with a first limiting groove and a second limiting groove.

[0021] Furthermore, a limiting plate is also provided on the first limiting seat. The limiting plate includes a bottom limiting plate, a first side limiting plate, and a second side limiting plate. The bottom limiting plate is provided on the first limiting seat, the first side limiting plate is provided on one side of the bottom limiting plate, and a first limiting opening is provided on the first side limiting plate. The second side limiting plate is provided on the other side of the bottom limiting plate, and a second limiting opening is provided on the second limiting plate.

[0022] Furthermore, the pressing mechanism includes a left pressing mechanism, a middle pressing mechanism, and a right pressing mechanism. The left pressing mechanism is set on the tooling platform and abuts against the left side of the top plate. The middle pressing mechanism is located between the left pressing mechanism and the right pressing mechanism and abuts against the middle of the top plate. The right pressing mechanism is set on the tooling platform and abuts against the right side of the top plate.

[0023] Furthermore, the middle and lower pressing mechanism includes a first middle and lower pressing mechanism and a second middle and lower pressing mechanism. The first middle and lower pressing mechanism is located on one side of the middle top seat, and the second middle and lower pressing mechanism is located on the other side of the middle top seat.

[0024] Furthermore, the pressing mechanism includes a pressing seat, a rotating seat, a pressing cylinder, and a rotary clamping assembly. The pressing seat is mounted on a tooling platform or a top seat, the rotating seat is mounted on the outer wall of the pressing seat, the pressing cylinder is rotatably mounted on the rotating seat, and the rotary clamping assembly is connected to the pressing cylinder and driven by the pressing cylinder to press the top plate.

[0025] Furthermore, the rotary clamping assembly includes a mounting base, a clamping rod, a rotating rod, a rotating head, and a pressure plate. The mounting base is disposed on the lower pressure seat. One end of the clamping rod is rotatably disposed on the mounting base. One end of the rotating rod is rotatably connected to the clamping rod. The rotating head includes a first rotating end, a second rotating end, and a third rotating end. The first rotating end is rotatably connected to the mounting base. The second rotating end is rotatably connected to the other end of the rotating rod. The third rotating end is rotatably connected to the drive rod of the lower pressure cylinder. The pressure plate is disposed at the end of the clamping rod.

[0026] Furthermore, a limiting rod is provided on the mounting base that can abut against the bottom of the clamping rod.

[0027] Furthermore, the side-top mechanism includes a side-top cylinder, a side-top rod, and a side-stop plate. The side-top cylinder is located on the side of the lower pressure seat, the side-top rod is movably located inside the side-top cylinder, and the side-stop plate is located at the inner end of the side-top rod.

[0028] Furthermore, an anti-rotation groove is provided on the outer wall of the side top rod along the axial direction, and a channel is provided on the side top cylinder for the insertion of the anti-rotation component. The end of the anti-rotation component passes through the channel and rests against the bottom of the anti-rotation groove.

[0029] Furthermore, the side abutment includes a large plate abutting against the side of the top plate and a small plate abutting against the first side plate, the small plate being fixed to the end of the large plate and protruding from the large plate.

[0030] Furthermore, a clearance groove is provided on the outer side of the side top cylinder, and an anti-reverse groove is provided on the side top rod; the side top mechanism also includes an anti-reverse plate, which is rotatably disposed on the side of the lower pressure seat, and the anti-reverse plate is pressed into the anti-reverse groove through the clearance groove to stop the reversal.

[0031] Furthermore, the side-push mechanism includes a side-push seat, a side-push cylinder, and a side-push block. The side-push seat is fixed on the tooling platform, the side-push cylinder is mounted on the side-push seat, and the side-push block is connected to the side-push cylinder and driven by the side-push cylinder to abut against the second side plate.

[0032] Furthermore, it also includes a top plate side positioning assembly for positioning the side of the top plate.

[0033] Furthermore, the top plate side positioning assembly includes a side positioning cylinder, a positioning rotating seat, and a positioning bent rod. The side positioning cylinder is rotatably mounted on the side push seat or the middle top seat. The positioning rotating seat is mounted on the side of the lower pressure seat or the side push seat. One end of the positioning bent rod is rotatably connected to the drive rod of the side positioning cylinder. The middle part of the positioning bent rod is rotatably mounted on the positioning rotating seat. The other end of the positioning bent rod can abut against the side of the top plate.

[0034] Furthermore, it also includes a pressing mechanism, which includes a pressing cylinder and a pressing block. The pressing cylinder is mounted on the lower pressure seat, and the pressing block is connected to the pressing cylinder and driven by the pressing cylinder to press against the first side plate or the second side plate.

[0035] Furthermore, it also includes a shaft fixing mechanism, which is set on a tooling platform. The shaft fixing mechanism includes a first shaft seat and a second shaft seat, with a first groove on the first shaft seat and a second groove on the second shaft seat.

[0036] Furthermore, the axis positioning mechanism includes a left axis positioning mechanism, a middle axis positioning mechanism, and a right axis positioning mechanism. The left axis positioning mechanism positions the left side of the robotic arm, the middle axis positioning mechanism positions the middle side of the robotic arm, and the right axis positioning mechanism positions the right side of the robotic arm.

[0037] Furthermore, a first rotary positioning component is provided on the first shaft seat. The first rotary positioning component includes a first rotary block and a first hand-tightening bolt. One end of the first rotary block is rotatably mounted on the first shaft seat, and the first hand-tightening bolt is rotatably mounted on the other end of the first rotary block.

[0038] Furthermore, a second rotary positioning assembly is provided on the second shaft seat. The second rotary positioning assembly includes a second rotary block and a second hand-tightening bolt. One end of the second rotary block is rotatably mounted on the second shaft seat, and the second hand-tightening bolt is rotatably mounted on the other end of the second rotary block.

[0039] Furthermore, it also includes an active positioning mechanism, which is set on the tooling platform to position the first side plate or the second side plate.

[0040] Furthermore, the movable positioning mechanism includes a fixed seat, a movable sleeve, and a movable rod. The fixed seat is set on the tooling platform, the movable sleeve is set on the fixed seat, the movable rod is movably connected to the movable sleeve, and a positioning head is set at the end of the movable rod.

[0041] Furthermore, the movable sleeve is provided with a horizontal groove and a vertical groove, and the movable rod is provided with a force-applying rod. The force-applying rod passes through the horizontal groove and the vertical groove and can move along the horizontal groove and the vertical groove.

[0042] To achieve the above objectives, another aspect of the present invention proposes a method for welding engineering robotic arms, comprising the following steps:

[0043] S1, operate the pressing mechanism, the side-topping mechanism and the side-pushing mechanism to form a relief cavity above the tooling platform;

[0044] S2, the robotic arm is placed on the tooling platform through the relief cavity, so that the bottom plate of the robotic arm abuts against the support mechanism. One side of the bottom plate and the first side plate have been welded together, and the other side of the bottom plate and the second side plate have been welded together.

[0045] S3, place the top plate on the first side plate and the second side plate;

[0046] S4, operate the side top mechanism so that the side abutment plate of the side top mechanism abuts against the side of the first side plate;

[0047] S5, operate the side push mechanism so that the side push block of the side push mechanism abuts against the side of the second side plate;

[0048] S6, after adjusting the position of the top plate, operate the pressing mechanism so that the pressing plate of the pressing mechanism abuts against the top plate;

[0049] S7, weld the top plate to the first and second side plates.

[0050] Furthermore, before the robotic arm is placed on the tooling platform, the connecting shaft is installed on the robotic arm. After the robotic arm is placed on the tooling platform through the clearance cavity, the connecting shaft is placed on the shaft fixing mechanism.

[0051] Furthermore, operate the top plate side positioning component to adjust the position of the top plate so that the distance between the plane where the front side of the top plate is located and the plane where the first side plate is located is equal to the distance between the plane where the rear side of the top plate is located and the plane where the second side plate is located.

[0052] With the above structure, the positioning fixture for the engineering robotic arm of the present invention has at least the following beneficial effects:

[0053] First, during welding, when the robotic arm is placed on the tooling platform, the base plate of the robotic arm is placed on the support mechanism to support the entire robotic arm. Then, the side-pushing mechanism pushes the first side plate to push one side of the robotic arm and corrects that side. Next, the side-pushing mechanism pushes the second side plate to push the other side of the robotic arm and corrects that side. The side-pushing mechanism, together with the side-pushing mechanism, can position the front and rear sides of the robotic arm to prevent displacement of the robotic arm during welding. Then, the pressing mechanism presses on the top plate, so that the top plate is tightly pressed against the first and second side plates, thereby reducing the gap between the top plate and the first and second side plates. Finally, the top plate is welded to the first and second side plates, making the welding more precise.

[0054] Second, by setting keyways, the positions of the support mechanism, side-top mechanism, side-push mechanism, and pressing mechanism on the tooling platform can be adjusted to ensure that the support mechanism, side-top mechanism, side-push mechanism, and pressing mechanism can press the robotic arm in the forward and backward and up and down directions.

[0055] Third, by setting up the first side top assembly, the second side top assembly, and the middle top assembly, different positions of the robot arm's base plate are supported, effectively preventing the robot arm from shifting during welding. Attached Figure Description

[0056] Figure 1 This is a schematic diagram of the structure of the positioning fixture for the engineering robotic arm according to an embodiment of the present invention;

[0057] Figure 2 This is a schematic diagram of the positioning fixture for the engineering robot arm according to an embodiment of the present invention from another angle;

[0058] Figure 3a This is a schematic diagram of the structure of a robotic arm according to an embodiment of the present invention;

[0059] Figure 3b This is a schematic diagram of the robotic arm from another angle according to an embodiment of the present invention;

[0060] Figure 4 This is a schematic diagram of the side-top assembly according to an embodiment of the present invention;

[0061] Figure 5 This is a cross-sectional view of the side-top assembly according to an embodiment of the present invention;

[0062] Figure 6 This is a schematic diagram showing the connection between the top component and the bottom pressing mechanism according to an embodiment of the present invention;

[0063] Figure 7 This is a schematic diagram showing the connection between the pressing mechanism and the side-top mechanism according to an embodiment of the present invention;

[0064] Figure 8 This is an exploded view of the pressing mechanism according to an embodiment of the present invention;

[0065] Figure 9 This is a schematic diagram showing the connection between the shaft fixing mechanism and the movable positioning mechanism according to an embodiment of the present invention;

[0066] Figure 10 This is a schematic diagram showing the connection between the side-pushing mechanism and the top plate side positioning assembly according to an embodiment of the present invention.

[0067] Label Explanation

[0068] Tooling platform 1, keyway 11, support mechanism 2, side top assembly 21, first side top assembly 21a, second side top assembly 21b, side top seat 211, inclined plate 2111, height-fixing cylinder 212, insert cylinder 2121, fixing component 2122, limiting ring 2123, positioning channel 2124, spring 2125, reinforcing ring 2126, height-fixing rod 213, positioning notch 2131, first inclined surface 21311, second inclined surface 21312, axial positioning groove 2132, positioning plate 2133, positioning screw 214, positioning rod 215, center top assembly 22, center top seat 2 21. First limiting seat 222, first limiting groove 2221, second limiting groove 2222, limiting plate 2223, bottom limiting plate 22231, first side limiting plate 22232, second side limiting plate 22233, pressing mechanism 3, left pressing mechanism 3a, middle pressing mechanism 3b, first middle pressing mechanism 3b1, second middle pressing mechanism 3b2, right pressing mechanism 3c, pressing seat 31, rotating seat 32, pressing cylinder 33, rotating clamping assembly 34, mounting seat 341, clamping rod 342, rotating rod 343, rotating head 344, first rotating end 3441, second rotating end 3442, Third Rotating End; 3443, Pressure Plate; 345, Limiting Rod; 35, Side Push Mechanism; 4, Side Push Cylinder; 41, Channel; 411, Relief Groove; 412, Side Push Rod; 421, Anti-rotation Groove; 422, Anti-reverse Groove; 43, Side Abutment Plate; 431, Large Plate; 432, Small Plate; 44, Anti-rotation Component; 45, Anti-reverse Plate; 5, Side Push Mechanism; 5, Side Push Seat; 51, Side Push Cylinder; 52, Side Push Block; 53, Top Plate Side Positioning Assembly; 6, Side Positioning Cylinder; 61, Positioning Rotary Seat; 62, Positioning Bend Rod; 63, Abutment Mechanism; 7, Abutment Cylinder; 71, Abutment Block; 72, Shaft Fixing Mechanism; 8, Left Shaft Fixing Mechanism; 8a, Central Shaft Fixing Mechanism. Structure 8b, right shaft fixing mechanism 8c, first shaft seat 81, first groove 811, first rotary positioning component 812, first rotating block 8121, first hand-tightening bolt 8122, second shaft seat 82, second groove 821, second rotary positioning component 822, second rotating block 8221, second hand-tightening bolt 8222, movable positioning mechanism 9, fixed seat 91, movable sleeve 92, transverse groove 921, vertical groove 922, movable rod 93, force application rod 931, positioning head 94, base plate 101, first side plate 102, second side plate 103, top plate 104, connecting shaft 105. Detailed Implementation

[0069] Embodiments of the present invention are described in detail below, examples of which are illustrated in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and intended to explain the present invention, and should not be construed as limiting the present invention.

[0070] like Figures 1 to 10As shown, a positioning fixture for an engineering robotic arm according to the present invention includes a fixture platform 1, a support mechanism 2, a pressing mechanism 3, a side-pushing mechanism 4, and a side-pushing mechanism 5. The support mechanism 2 is disposed on the fixture platform 1 to support the base plate 101. The pressing mechanism 3 is disposed on the fixture platform 1 and presses down on the top plate 104. The side-pushing mechanism 4 is disposed on the pressing mechanism 3 and rests on the first side plate 102. The side-pushing mechanism 5 is disposed on the fixture platform 1 and rests on the second side plate 103. In this example, the engineering robotic arm is preferably the boom of an excavator.

[0071] Thus, the positioning fixture for an engineering robotic arm according to the present invention, when the robotic arm is placed on the fixture platform 1 during welding, the base plate 101 of the robotic arm is placed on the support mechanism 2 to support the entire robotic arm. Then, the side-pushing mechanism 4 pushes the first side plate 102 to push one side of the robotic arm and correct that side. Then, the side-pushing mechanism 5 pushes the second side plate 103 to push the other side of the robotic arm and correct that side. The side-pushing mechanism 5, together with the side-pushing mechanism 4, can position the front and rear sides of the robotic arm to prevent displacement of the robotic arm during welding. Next, the pressing mechanism 3 presses on the top plate 104, so that the top plate 104 is tightly pressed against the first side plate 102 and the second side plate 103, thereby reducing the gap between the top plate 104 and the first side plate 102 and the second side plate 103. Finally, the top plate 104 is welded to the first side plate 102 and the second side plate 103, making the welding more precise.

[0072] Optionally, the tooling platform 1 is provided with a keyway 11 for adjusting the positions of the support mechanism 2, the side-pushing mechanism 4, the side-pushing mechanism 5, and the pressing mechanism 3. By providing the keyway 11, the positions of the support mechanism 2, the side-pushing mechanism 4, the side-pushing mechanism 5, and the pressing mechanism 3 on the tooling platform 1 can be adjusted, ensuring that the support mechanism 2, the side-pushing mechanism 4, the side-pushing mechanism 5, and the pressing mechanism 3 can press the robotic arm tightly in the forward and backward and up and down directions.

[0073] Furthermore, the support mechanism 2 includes a side-top assembly 21 and a center-top assembly 22. The side-top assembly 21 includes a first side-top assembly 21a and a second side-top assembly 21b. The first side-top assembly 21a rests on one side of the base plate 101, and the second side-top assembly 21b rests on the other side of the base plate 101. The center-top assembly 22 is located between the first side-top assembly 21a and the second side-top assembly 21b, and rests on the middle of the base plate 101. By setting the first side-top assembly 21a, the second side-top assembly 21b, and the center-top assembly 22, different positions of the robotic arm base plate 101 are supported, effectively preventing displacement of the robotic arm during welding.

[0074] like Figure 4 and Figure 5As shown, in this example, the side-top assembly 21 includes a side-top seat 211, a height-fixing cylinder 212, a height-fixing rod 213, and a positioning plate 2133. The side-top seat 211 is fixed on the tooling platform 1, the height-fixing cylinder 212 is mounted on the side-top seat 211, the height-fixing rod 213 is mounted on the height-fixing cylinder 212, and the positioning plate 2133 is mounted on the height-fixing rod 213 and rests against the base plate 101. After the robotic arm is placed on the tooling platform 1, the positioning plate 2133 rests against the base plate 101 of the robotic arm, thereby supporting the base plate 101 of the robotic arm.

[0075] Furthermore, an inclined plate 2111 is provided on the side top seat 211, and a fixed height cylinder 212 is provided on the inclined plate 2111. By setting the inclined plate 2111, the positioning plate 2133 is tilted at an angle, so as to tilt the bottom plate 101. The inclined plate 2111 of the first side top assembly 21a and the inclined plate 2111 of the second side top assembly 21b are arranged in a figure-eight shape, thereby preventing the robot arm from shifting in the left and right directions.

[0076] In some examples, the lower end of the height-fixing cylinder 212 forms an insert 2121 for inserting into the inclined plate 2111. A fixing member 2122 is provided on the insert 2121, and the fixing member 2122 abuts against the lower side of the inclined plate 2111. A limiting ring 2123 is provided on the outer side of the height-fixing cylinder 212, and the limiting ring 2123 abuts against the upper side of the inclined plate 2111. Specifically, the fixing member 2122 is threadedly connected to the outer side of the insert 2121. When installing the height-fixing cylinder 212, the insert 2121 at the end of the height-fixing cylinder 212 is inserted into the inclined plate 2111, and then the fixing member 2122 is rotated so that the fixing member 2122 is fixed on the insert 2121 and abuts against the lower side of the inclined plate 2111, while the limiting ring 2123 abuts against the upper side of the inclined plate 2111, thereby locking the height-fixing cylinder 212 onto the inclined plate 2111 and completing the installation of the height-fixing cylinder 212.

[0077] As an example, a positioning channel 2124 for moving the positioning rod 213 is formed inside the height-fixing cylinder 212. A spring 2125 is installed inside the positioning channel 2124, with one end of the spring 2125 abutting against the bottom of the height-fixing rod 213 and the other end abutting against the fixing member 2122. By setting up the positioning channel 2124 and the spring 2125, in which the spring 2125 is in a compressed state, the height-fixing rod 213 has an upward tendency, thereby achieving the goal of pressing against the base plate 101.

[0078] In this example, a positioning notch 2131 is provided on the height-fixing rod 213. The positioning notch 2131 includes a first inclined surface 21311 and a second inclined surface 21312. The distance between the first inclined surface 21311 and the spring 2125 is greater than the distance between the second inclined surface 21312 and the spring 2125. It also includes a positioning screw 214, which passes through the height-fixing cylinder 212 and abuts against the first inclined surface 21311. Preferably, the first inclined surface 21311 is perpendicular to the second inclined surface 21312.

[0079] In use, the positioning screw 214 can be rotated so that its end abuts against the first inclined surface 21311, thereby preventing the height-fixing rod 213 from sliding down under the action of the base plate 101 and ensuring that the height-fixing rod 213 is firmly pressed against the base plate 101. By setting a positioning notch 2131, which includes a second inclined surface 21312, the height-fixing rod 213 can rise but cannot fall after the end of the positioning screw 214 abuts against the first inclined surface 21311. Combined with the action of the spring 2125, this further ensures that the height-fixing rod 213 is firmly pressed against the base plate 101.

[0080] In this example, a reinforcing ring 2126 is provided on the height-fixing cylinder 212; the positioning screw 214 includes a head and a rod, with the rod passing through the reinforcing ring 2126 and abutting against the first inclined surface 21311. The reinforcing ring 2126 has a through hole, which is threadedly connected to the rod. By providing the reinforcing ring 2126, the strength of the height-fixing cylinder 212 is increased, and the upwardly inclined through hole facilitates a larger contact area between the rod and the height-fixing cylinder 212, making it less prone to damage.

[0081] Furthermore, an axial positioning groove 2132 is provided on the side wall of the height-fixing rod 213, and a positioning hole is provided on the height-fixing cylinder 212. The end of the positioning rod 215 passes through the positioning hole and is located in the positioning groove. A positioning plate 2133 is provided at the end of the height-fixing rod 213. By providing the axial positioning groove 2132 and the positioning hole, after the positioning rod 215 passes through the positioning hole, the end of the positioning rod 215 is placed in the positioning groove, thereby preventing the height-fixing rod 213 from rotating and ensuring that the positioning plate 2133 of the height-fixing rod 213 is tightly pressed against the base plate 101.

[0082] As an example, the center-top assembly 22 includes a center-top seat 221 and a first limiting seat 222. The center-top seat 221 is mounted on the tooling platform 1, and the first limiting seat 222 is mounted on the center-top seat 221. The first limiting seat 222 has a first limiting groove 2221 and a second limiting groove 2222. By setting the first limiting groove 2221 and the second limiting groove 2222, after the robotic arm is placed on the tooling platform 1, one side of the connecting shaft 105 on the base plate 101 is placed in the first limiting groove 2221, and the other side of the connecting shaft 105 is placed in the second limiting groove 2222, thereby positioning the base plate 101 and preventing the robotic arm from becoming misaligned.

[0083] In this example, a limiting plate 2223 is also provided on the first limiting seat 222. The limiting plate 2223 includes a bottom limiting plate 22231, a first side limiting plate 22232, and a second side limiting plate 22233. The bottom limiting plate 22231 is provided on the first limiting seat 222. The first side limiting plate 22232 is provided on one side of the bottom limiting plate 22231. A first limiting opening is provided on the first side limiting plate 22232. The second side limiting plate 22233 is provided on the other side of the bottom limiting plate 22231. A second limiting opening is provided on the second limiting plate 2223.

[0084] The first side limiting plate 22232 and the second side limiting plate 22233 are arranged in an inverted V-shape. A first limiting port is set on the first side limiting plate 22232 and a second limiting port is set on the second side limiting plate 22233. A first limiting block that inserts into the first limiting port is set at the bottom of the base plate 101, and a second limiting block that inserts into the second limiting port is set at the bottom of the base plate 101, thereby further restricting the robotic arm.

[0085] In some examples, the pressing mechanism 3 includes a left pressing mechanism 3a, a middle pressing mechanism 3b, and a right pressing mechanism 3c. The left pressing mechanism 3a is disposed on the tooling platform 1 and rests against the left side of the top plate 104. The middle pressing mechanism 3b is located between the left pressing mechanism 3a and the right pressing mechanism 3c and rests against the middle of the top plate 104. The right pressing mechanism 3c is disposed on the tooling platform 1 and rests against the right side of the top plate 104.

[0086] By setting up the left lower pressing mechanism 3a, the middle lower pressing mechanism 3b and the right lower pressing mechanism 3c, the top plate 104 is pressed at different positions, so that the top plate 104 is tightly pressed against the first side plate 102 and the second side plate 103, making the gap between the top plate 104 and the first side plate 102 and the second side plate 103 smaller or even non-existent, thereby making the welding of the top plate 104 more secure, and the welding more convenient and precise.

[0087] Furthermore, the middle-lowering mechanism 3b includes a first middle-lowering mechanism 3b1 and a second middle-lowering mechanism 3b2. The first middle-lowering mechanism 3b1 is located on one side of the central top seat 221, and the second middle-lowering mechanism 3b2 is located on the other side of the central top seat 221. By setting the first middle-lowering mechanism 3b1 and the second middle-lowering mechanism 3b2, the robotic arm can be pressed down from both the front and rear sides, resulting in a more effective pressing effect and more efficient use of space.

[0088] In some examples, the pressing mechanism 3 includes a pressing seat 31, a rotating seat 32, a pressing cylinder 33, and a rotary clamping assembly 34. The pressing seat 31 is mounted on the tooling platform 1 or the top seat 221, the rotating seat 32 is mounted on the outer wall of the pressing seat 31, the pressing cylinder 33 is rotatably mounted on the rotating seat 32, and the rotary clamping assembly 34 is connected to the pressing cylinder 33 and is driven by the pressing cylinder 33 to press against the top plate 104. When pressing is required, the pressing cylinder 33 drives the rotary clamping assembly 34 to rotate, so that the rotary clamping assembly 34 presses against the top plate 104 to achieve clamping.

[0089] Specifically, such as Figure 7 and Figure 8 As shown, the rotary clamping assembly 34 includes a mounting base 341, a clamping rod 342, a rotating rod 343, a rotating head 344, and a pressure plate 345. The mounting base 341 is disposed on the lower pressure seat 31. One end of the clamping rod 342 is rotatably disposed on the mounting base 341. One end of the rotating rod 343 is rotatably connected to the clamping rod 342. The rotating head 344 includes a first rotating end 3441, a second rotating end 3442, and a third rotating end 3443. The first rotating end 3441 is rotatably connected to the mounting base 341. The second rotating end 3442 is rotatably connected to the other end of the rotating rod 343. The third rotating end 3443 is rotatably connected to the drive rod of the lower pressure cylinder 33. The pressure plate 345 is disposed at the end of the clamping rod 342.

[0090] The downward pressure cylinder 33 drives the rotating head 344 to rotate along the mounting base 341. The rotation of the rotating head 344 drives the rotating rod 343 to rotate. The rotation of the rotating rod 343 drives the clamping rod 342 to rotate. The clamping rod 342 rotates to achieve the downward or upward action. The clamping rod 342 presses down to make the pressure plate 345 press against the top plate 104. The clamping rod 342 is raised to facilitate the placement of the robotic arm on the tooling platform 1.

[0091] In order to limit the stroke of the clamping rod 342, a limiting rod 35 is provided on the mounting base 341 that can abut against the bottom of the clamping rod 342. This way, after the bottom of the clamping rod 342 is against the limiting rod 35, the clamping rod 342 cannot move down.

[0092] In this example, the side-topping mechanism 4 includes a side-topping cylinder 41, a side-topping rod 42, and a side-stopping plate 43. The side-topping cylinder 41 is disposed on the side of the lower pressure seat 31, the side-topping rod 42 is movably disposed inside the side-topping cylinder 41, and the side-stopping plate 43 is disposed at the inner end of the side-topping rod 42. During side-topping, the side-topping rod 42 is operated, causing the side-topping rod 42 to move along the side-topping cylinder 41, thereby causing the side-stopping plate 43 to abut against the first side plate 102, thus positioning the robotic arm.

[0093] Specifically, the outer wall of the side push rod 42 is provided with an anti-rotation groove 421 along the axial direction, and the side push cylinder 41 is provided with a channel 411 for the anti-rotation member 44 to be inserted. The end of the anti-rotation member 44 passes through the channel 411 and rests against the bottom of the anti-rotation groove 421. By providing the anti-rotation member 44 and the anti-rotation groove 421, after the end of the anti-rotation member 44 passes through the channel 411 and rests against the bottom of the anti-rotation groove 421, the side push rod 42 is effectively prevented from rotating, thereby making the side abutment plate 43 firmly abut against the first side plate 102.

[0094] In this example, the side abutment plate 43 includes a large plate 431 that abuts against the side of the top plate 104 and a small plate 432 that abuts against the first side plate 102. The small plate 432 is fixed to the end of the large plate 431 and protrudes from the large plate 431. By setting the small plate 432 and the large plate 431, with the small plate 432 abutting against the side of the first side plate 102 and the large plate 431 abutting against the side of the top plate 104, the position of the top plate 104 can be finely adjusted, making the position of the top plate 104 more accurate.

[0095] In this example, a clearance groove 412 is provided on the outer side of the side top cylinder 41, and a backstop groove 422 is provided on the side top rod 42. The side top mechanism 4 also includes a backstop plate 45, which is rotatably disposed on the side of the lower pressure seat 31. The backstop plate 45 is pressed into the backstop groove 422 through the clearance groove 412 to prevent backflow. By providing the clearance groove 412 and the backstop groove 422, after the side abutment plate 43 abuts against the first side plate 102, the backstop plate 45 is operated to press the backstop plate 45 into the backstop groove 422, thereby preventing the side top rod 42 from retracting.

[0096] In some examples, such as Figure 10 As shown, the side-pushing mechanism 5 includes a side-pushing seat 51, a side-pushing cylinder 52, and a side-pushing block 53. The side-pushing seat 51 is fixed on the tooling platform 1, the side-pushing cylinder 52 is mounted on the side-pushing seat 51, and the side-pushing block 53 is connected to the side-pushing cylinder 52 and is driven by the side-pushing cylinder 52 to abut against the second side plate 103. During side-pushing, the side-pushing cylinder 52 drives the side-pushing block 53 to move, thereby driving the side-pushing block 53 to press against the second side plate 103 and push and correct the second side plate 103.

[0097] This example also includes a top plate side positioning component 6 for positioning the side of the top plate 104. By setting the top plate side positioning component 6, the side of the top plate 104 can be corrected, making the position of the top plate 104 more accurate and more precise after welding.

[0098] Specifically, the top plate side positioning assembly 6 includes a side positioning cylinder 61, a positioning rotating seat 62, and a positioning bent rod 63. The side positioning cylinder 61 is rotatably mounted on the side push seat 51 or the middle top seat 221. The positioning rotating seat 62 is mounted on the side of the lower pressure seat 31 or the side push seat 51. One end of the positioning bent rod 63 is rotatably connected to the drive rod of the side positioning cylinder 61. The middle part of the positioning bent rod 63 is rotatably mounted on the positioning rotating seat 62. The other end of the positioning bent rod 63 can abut against the side of the top plate 104.

[0099] In use, the side positioning cylinder 61 drives the positioning bent rod 63 to rotate along the positioning rotating seat 62, thereby moving the positioning bent rod 63 closer to or away from the top plate 104. When the positioning bent rod 63 is close to the top plate 104, the positioning bent rod 63 presses against the side of the top plate 104, thereby correcting the top plate 104. When the positioning bent rod 63 is away from the top plate 104, a clearance cavity is formed above the tooling platform 1, which facilitates the insertion of the robotic arm.

[0100] Furthermore, it also includes a counterweight mechanism 7, which includes a counterweight cylinder 71 and a counterweight block 72. The counterweight cylinder 71 is mounted on the lower pressure seat 31, and the counterweight block 72 is connected to the counterweight cylinder 71 and is driven by the counterweight cylinder 71 to press against the first side plate 102 or the second side plate 103. By setting the counterweight cylinder 71 and the counterweight block 72, the counterweight block 72 can press against the first side plate 102 or the second side plate 103, thereby correcting the robotic arm.

[0101] In some examples, a shaft fixing mechanism 8 is also included, such as Figure 9 As shown, the shaft fixing mechanism 8 is set on the tooling platform 1. The shaft fixing mechanism 8 includes a first shaft seat 81 and a second shaft seat 82. A first groove 811 is provided on the first shaft seat 81, and a second groove 821 is provided on the second shaft seat 82.

[0102] Before the robotic arm is placed on the tooling platform 1, connecting shafts 105 are set at the left and right ends and the bottom of the robotic arm. After the robotic arm is placed on the tooling platform 1, one end of the connecting shaft 105 is placed in the first groove 811 and the other end of the connecting shaft 105 is placed in the second groove 821, thereby supporting the robotic arm. The side top mechanism 4 and the side push mechanism 5 enable fine adjustment of the front and rear positions, making the welding more precise.

[0103] In this example, the axis positioning mechanism 8 includes a left axis positioning mechanism 8a, a middle axis positioning mechanism 8b, and a right axis positioning mechanism 8c. The left axis positioning mechanism 8a positions the left side of the robot arm, the middle axis positioning mechanism 8b positions the middle side of the robot arm, and the right axis positioning mechanism 8c positions the right side of the robot arm.

[0104] By setting up a left-axis fixing mechanism 8a, a middle-axis fixing mechanism 8b, and a right-axis fixing mechanism 8c, the robot arm is supported at different positions, ensuring that the plane where the first side plate 102 is located is parallel to the plane where the front wall of the tooling platform 1 is located, so that the side top mechanism 4 and the side push mechanism 5 can accurately correct the robot arm.

[0105] Furthermore, a connecting shaft 105 is provided on the top plate 104. After the top plate 104 is placed on the first side plate 102 and the second side plate 103, the connecting shaft 105 on the top plate 104 is positioned in the shaft fixing mechanism 8.

[0106] In some examples, a first rotary positioning component 812 is provided on the first shaft seat 81. The first rotary positioning component 812 includes a first rotary block 8121 and a first hand-tightening bolt 8122. One end of the first rotary block 8121 is rotatably disposed on the first shaft seat 81, and the first hand-tightening bolt 8122 is rotatably disposed on the other end of the first rotary block 8121.

[0107] By setting the first rotating block 8121 and the first hand-tightening bolt 8122, after the robotic arm is positioned, the first rotating block 8121 is rotated so that the bottom of the first hand-tightening bolt 8122 is directly above the connecting shaft 105. Then the first hand-tightening bolt 8122 is rotated so that the bottom of the first hand-tightening bolt 8122 is tightly pressed against one end of the connecting shaft 105, thereby fixing one end of the connecting shaft 105.

[0108] Furthermore, a second rotary positioning component 822 is provided on the second shaft seat 82. The second rotary positioning component 822 includes a second rotary block 8221 and a second hand-tightening bolt 8222. One end of the second rotary block 8221 is rotatably disposed on the second shaft seat 82, and the second hand-tightening bolt 8222 is rotatably disposed on the other end of the second rotary block 8221.

[0109] By setting a second rotating block 8221 and a second hand-tightening bolt 8222, after the robotic arm is positioned, the second rotating block 8221 is rotated so that the bottom of the second hand-tightening bolt 8222 is directly above the connecting shaft 105. Then, the second hand-tightening bolt 8222 is rotated so that the bottom of the second hand-tightening bolt 8222 is tightly pressed against the other end of the connecting shaft 105, thereby fixing the other end of the connecting shaft 105. The second rotating positioning assembly 822, in conjunction with the first rotating positioning assembly 812, can firmly fix the connecting shaft 105, preventing displacement of the first side plate 102 and the second side plate 103 when the top plate 104 is welded to it.

[0110] As an example, the system also includes a movable positioning mechanism 9, which is mounted on the tooling platform 1 to position the first side plate 102 or the second side plate 103. By providing the movable positioning mechanism 9, manual operation is possible, further preventing displacement of the first side plate 102 and the second side plate 103 during welding.

[0111] Specifically, such as Figure 9 As shown, the movable positioning mechanism 9 includes a fixed base 91, a movable sleeve 92, and a movable rod 93. The fixed base 91 is mounted on the tooling platform 1, the movable sleeve 92 is mounted on the fixed base 91, and the movable rod 93 is movably connected to the movable sleeve. A positioning head 94 is provided at the end of the movable rod 93. The movable sleeve 92 has a transverse groove 921 and a vertical groove 922, and the movable rod 93 has a force-applying rod 931. The force-applying rod 931 passes through the transverse groove 921 and the vertical groove 922 and can move along the transverse groove 921 and the vertical groove 922.

[0112] During positioning, the force-applying rod 931 is operated, causing the force-applying rod 931 to move along the vertical groove 922. Finally, the force-applying rod 931 is located in the horizontal groove 921, thereby causing the positioning head 94 to press against the side of the first side plate 102 or the second side plate 103.

[0113] This invention also proposes a method for welding engineering robotic arms, comprising the following steps:

[0114] S1, operate the pressing mechanism 3, the side-lifting mechanism 4, and the side-pushing mechanism 5 to form a clearance cavity above the tooling platform 1; S2, place the robotic arm on the tooling platform 1 through the clearance cavity, so that the base plate 101 of the robotic arm abuts against the support mechanism 2, wherein one side of the base plate 101 and the first side plate 102 have been welded together, and the other side of the base plate 101 and the second side plate 103 have been welded together; S3, place the top plate 104 on the first side plate 102 and the second side plate 103. S4, operate the side-top mechanism 4 so that the side abutment plate 43 of the side-top mechanism 4 abuts against the side of the first side plate 102; S5, operate the side-push mechanism 5 so that the side-push block 53 of the side-push mechanism 5 abuts against the side of the second side plate 103; S6, after adjusting the position of the top plate 104, operate the pressing mechanism 3 so that the pressing plate 345 of the pressing mechanism 3 abuts against the top plate 104; S7, weld the top plate 104 onto the first side plate 102 and the second side plate 103.

[0115] During the welding process, after placing the top plate 104 on the tooling platform 1, the side lifting mechanism 4, the side pushing mechanism 5, and the pressing mechanism 3 are operated to fix the robotic arm at different positions. Then, the top plate 104 is welded to the first side plate 102 and the second side plate 103. This effectively prevents the robotic arm from shifting during welding, making the welding more precise.

[0116] Furthermore, before the robotic arm is placed on the tooling platform 1, the connecting shaft 105 is installed on the robotic arm. After the robotic arm is placed on the tooling platform 1 through the relief cavity, the connecting shaft 105 is placed on the shaft fixing mechanism 8.

[0117] By setting the connecting shaft 105, the shaft fixing mechanism 8 can support the robotic arm. At the same time, after the robotic arm is supported, it can be finely adjusted back and forth under the action of the side lifting mechanism 4 and the side pushing mechanism 5 to achieve precise adjustment of the position of the robotic arm.

[0118] In this example, the top plate side positioning component 6 is operated to adjust the position of the top plate 104 so that the distance between the plane on the front side of the top plate 104 and the plane on the first side plate 102 is equal to the distance between the plane on the rear side of the top plate 104 and the plane on the second side plate 103. In this way, the position of the top plate 104 can be adjusted to make the position of the top plate 104 accurate. After the top plate 104 is adjusted to the appropriate position, the pressure plate 345 of the pressing mechanism 3 abuts against the top plate 104, and finally welding is performed.

[0119] The above embodiments and figures are not intended to limit the product form and style of the present invention. Any appropriate changes or modifications made by those skilled in the art should be considered as not departing from the patent scope of the present invention.

Claims

1. A positioning fixture for an engineering robotic arm, characterized in that: This includes a tooling platform, a support mechanism, a pressing mechanism, a side-top mechanism, and a side-push mechanism; The support mechanism is set on the tooling platform to support the bottom plate, the pressing mechanism is set on the tooling platform and presses down on the top plate, the side pressing mechanism is set on the pressing mechanism and presses against the first side plate, and the side pushing mechanism is set on the tooling platform and presses against the second side plate. The side-top mechanism includes a side-top cylinder, a side-top rod, and a side-stop plate. The side-top cylinder is located on the side of the lower pressure seat, the side-top rod is movably located inside the side-top cylinder, and the side-stop plate is located at the inner end of the side-top rod. The side-stop plate includes a large plate that abuts against the side of the top plate and a small plate that abuts against the first side plate. The small plate is fixed to the end of the large plate and protrudes from the large plate. The side push mechanism includes a side push seat, a side push cylinder, and a side push block. The side push seat is fixed on the tooling platform, the side push cylinder is set on the side push seat, and the side push block is connected to the side push cylinder and is driven by the side push cylinder to abut against the second side plate. The support mechanism includes a side top assembly and a center top assembly. The side top assembly includes a first side top assembly and a second side top assembly. The first side top assembly rests on one side of the base plate, and the second side top assembly rests on the other side of the base plate. The center top assembly is located between the first and second side top assemblies and rests on the center of the base plate. The side top assembly includes a side top seat, a height-fixing cylinder, a height-fixing rod, and a positioning plate. The side top seat is fixed to the tooling platform, the height-fixing cylinder is mounted on the side top seat, the height-fixing rod is mounted on the height-fixing cylinder, and the positioning plate is mounted on the height-fixing rod and rests on the base plate. A positioning channel for the height-fixing rod to move is formed inside the height-fixing cylinder. A spring is installed in the positioning channel, with one end of the spring abutting against the bottom of the height-fixing rod. The high pole is provided with a positioning notch, which includes a first inclined surface and a second inclined surface. The distance between the first inclined surface and the spring is greater than the distance between the second inclined surface and the spring. It also includes a positioning screw, which passes through the fixed height cylinder and abuts against the first inclined surface. The middle top assembly includes a middle top seat and a first limiting seat. The middle top seat is set on the tooling platform, and the first limiting seat is set on the middle top seat. The first limiting seat is provided with a first limiting groove and a second limiting groove. By setting the first limiting groove and the second limiting groove, after the robotic arm is placed on the tooling platform, one side of the connecting shaft on the base plate is placed in the first limiting groove, and the other side of the connecting shaft is placed in the second limiting groove, thereby positioning the base plate. The pressing mechanism includes a pressing seat, a rotating seat, a pressing cylinder, and a rotary clamping assembly. The pressing seat is set on a tooling platform or a top seat, the rotating seat is set on the outer wall of the pressing seat, the pressing cylinder is rotatably set on the rotating seat, and the rotary clamping assembly is connected to the pressing cylinder and driven by the pressing cylinder to press the top plate.

2. The positioning fixture for the engineering robotic arm as described in claim 1, characterized in that: The pressing mechanism includes a left pressing mechanism, a middle pressing mechanism, and a right pressing mechanism. The left pressing mechanism is set on the tooling platform and rests against the left side of the top plate. The middle pressing mechanism is located between the left pressing mechanism and the right pressing mechanism and rests against the middle of the top plate. The right pressing mechanism is set on the tooling platform and rests against the right side of the top plate.

3. A method for welding an engineering robotic arm using a positioning fixture for an engineering robotic arm as described in any one of claims 1 or 2, characterized in that, Includes the following steps: S1, operate the pressing mechanism, the side-topping mechanism and the side-pushing mechanism to form a relief cavity above the tooling platform; S2, the robotic arm is placed on the tooling platform through the relief cavity, so that the bottom plate of the robotic arm abuts against the support mechanism. One side of the bottom plate and the first side plate have been welded together, and the other side of the bottom plate and the second side plate have been welded together. S3, place the top plate on the first side plate and the second side plate; S4, operate the side top mechanism so that the side abutment plate of the side top mechanism abuts against the side of the first side plate; S5, operate the side push mechanism so that the side push block of the side push mechanism abuts against the side of the second side plate; S6, after adjusting the position of the top plate, operate the pressing mechanism so that the pressing plate of the pressing mechanism abuts against the top plate; S7, weld the top plate to the first and second side plates.

4. The welding method for engineering robotic arms as described in claim 3, characterized in that: Before the robotic arm is placed on the tooling platform, the connecting shaft is installed on the robotic arm. After the robotic arm is placed on the tooling platform through the clearance cavity, the connecting shaft is placed on the shaft fixing mechanism.

5. The welding method for engineering robotic arms as described in claim 3, characterized in that: Operate the top plate side positioning component to adjust the position of the top plate so that the distance between the plane where the front side of the top plate is located and the plane where the first side plate is located is equal to the distance between the plane where the rear side of the top plate is located and the plane where the second side plate is located.

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