Automatic tailor-welding clamp and method for middle section of movable arm

Abstract

The invention relates to an automatic tailor-welding clamp and method for a middle section of a movable arm, and belongs to the technical field of automatic tailor-welding of engineering machinery robots. According to the technical scheme, the device is integrally installed on a positioner and matched with a welding robot and a carrying robot to complete point splicing and welding work of the middle section of the movable arm; the upper supporting arm assembly (5) and the lower supporting arm assembly (4) are arranged on the clamp lifting assembly (3) in an up-down layered mode, the upper supporting arm assembly moves up and down along the clamp lifting assembly, the fixed clamp body assembly (1) is arranged on the lower supporting arm assembly, and the movable clamp body assembly (2) is installed on the upper supporting arm assembly and moves up and down along with the upper supporting arm assembly. According to the carrying robot, the movable arm middle section parts are gradually placed on the clamp, the whole process of movable arm middle section splicing and welding is automatically completed, manual participation is not needed in the whole process, the production efficiency is greatly improved, the welding quality is guaranteed, the labor cost is reduced, and harm to human health caused by manual welding is reduced; and the labor intensity of workers is reduced.

Description

Technical Field

[0001] The invention relates to a movable arm middle section automatic welding fixture and method, belonging to the technical field of automatic welding of engineering machinery robots. Background Art

[0002] The automatic welding technology of engineering machinery robots refers to the technology of using handling robots and welding robots to automatically perform assembly and welding tasks in the manufacturing process of engineering machinery. This technology can improve production efficiency, reduce production costs, and ensure the consistency and stability of welding quality. The core of this technology is an advanced automated welding fixture system to ensure the consistency of welds. It can be applied to the manufacturing of various engineering machinery, such as excavators, loaders, etc., to provide manufacturers with higher production efficiency and product quality.

[0003] In the field of excavator manufacturing, the middle section of the super-large excavator boom is welded together. The middle section of the boom is welded by the lower side plate, partition, upper side plate, lower ear plate, upper ear plate, lower arc plate and upper arc plate. Due to the lack of special tooling, welding is usually performed by manual measurement on a platform. The middle section of the boom workpiece is placed on the platform manually, and the assembly and welding of the middle section of the boom are completed through many processes such as marking, adjusting the assembly size, tightening with quick pliers, and reverse deformation with a jack. The problems are: the consistency of the weld cannot be guaranteed, the welding efficiency is low, the welding quality is poor, the labor intensity is high, and the welding arc, smoke, dust and splash have a great impact on the health of the workers, and the labor cost is high. Summary of the invention

[0004] The purpose of the present invention is to provide an automatic welding fixture and method for the middle section of a boom, wherein a handling robot places the parts of the middle section of the boom on the fixture one by one, and the fixture is accurately positioned and pre-deformed before welding through various automated mechanisms, and then the welding robot performs welding, thereby automatically completing the entire process of assembling and welding the middle section of the boom. The entire process does not require manual participation, greatly improves production efficiency, ensures welding quality, and reduces labor costs.

[0005] The technical solution of the present invention is: An automatic welding fixture for the middle section of a boom is installed as a whole on a positioner, and cooperates with a welding robot and a handling robot to complete the splicing and welding work of the middle section of the boom; it comprises a fixed clamp body assembly, a mobile clamp body assembly, a clamp lifting assembly, a lower support arm assembly and an upper support arm assembly, the upper support arm assembly and the lower support arm assembly are arranged in layers on the clamp lifting assembly, the upper support arm assembly moves up and down along the clamp lifting assembly, the fixed clamp body assembly is arranged on the lower support arm assembly, the mobile clamp body assembly is installed on the upper support arm assembly and moves up and down with the upper support arm assembly; the fixed clamp body assembly is composed of a lower lifting pin assembly, a lower electro-permanent magnet assembly, a lower ear plate positioning assembly, a lower arc plate positioning assembly, a lower side plate positioning assembly, a lower conductive assembly, a lower material detection assembly and a lower arc plate support assembly installed on the fixed clamp body The invention is composed of a plurality of lower electro-permanent magnet assemblies, which are located in the middle of the fixed clamp body, a plurality of lower arc plate positioning assemblies and a plurality of lower side plate positioning assemblies are arranged around the plurality of lower electro-permanent magnet assemblies, a plurality of lower ear plate positioning assemblies, a plurality of lower arc plate supporting assemblies and a plurality of lower conductive assemblies are arranged below the plurality of lower electro-permanent magnet assemblies, a lower material detection assembly is arranged between the lower electro-permanent magnet assembly and the lower conductive assembly, and a plurality of lower lifting pin assemblies are arranged around the plurality of lower electro-permanent magnet assemblies; the movable clamp body assembly is composed of an upper lifting pin assembly, an upper electro-permanent magnet assembly, an upper ear plate positioning assembly, an upper arc plate positioning assembly, an upper side plate positioning assembly, an upper conductive assembly, an upper material detection assembly and an upper arc plate supporting assembly installed on the movable clamp body; the movable clamp body assembly matches the fixed clamp body assembly up and down, and the same structures are arranged correspondingly; The lower ear plate positioning assembly is composed of a servo motor, a precision reducer, a mounting seat, a guide rail slider, a sliding body, an ear plate positioning pin, an ear plate support block and an ear plate pressing angle cylinder; the servo motor drives the lead screw to rotate through the precision reducer, and drives the sliding body forward or backward through the guide rail slider, the ear plate positioning pin provides hole positioning for the ear plate, the ear plate support block provides support for the ear plate, and the ear plate pressing angle cylinder presses the ear plate upward; the lower arc plate positioning assembly is composed of a cylinder, a mounting seat, a guide rail slider, a sliding body, and an arc plate positioning block. The oil cylinder 1 drives the sliding body 2 forward or backward through the guide rail slider 2, and the arc plate positioning block 1 positions the edge of the arc plate; the lower side plate positioning assembly has the same structure as the lower arc plate positioning assembly and is used to position the lower side plate; the lower conductive assembly consists of a mounting plate, a brush box, a retaining spring and a brush, and is used to conduct the welding circuit current; the lower material detection assembly consists of a proximity switch and a mounting bracket, and is used to detect the presence or absence of material on the fixed clamp specific assembly; the lower arc plate support assembly is fixed to the fixed clamp specific assembly by bolts, and is used to provide support for the arc plate.

[0006] The fixing clamp is also specifically provided with a plurality of electric slide positioning assemblies and a plurality of opening anti-deformation assemblies; the electric slide positioning assemblies are arranged around a plurality of lower electro-permanent magnet assemblies, and a plurality of opening anti-deformation assemblies are arranged on the edge of the fixing clamp; the electric slide positioning assembly is composed of a servo motor 2, a mounting seat 3, a guide rail slider 4, a sliding body 3 and an arc plate positioning block 2; the servo motor 2 drives the lead screw to rotate, drives the sliding body 3 forward or backward through the guide rail slider 4, and the arc plate positioning block 2 positions the edge of the arc plate; the opening anti-deformation assembly is composed of a cylinder 2, a mounting seat 4, a guide shaft and a tightening block; the cylinder 2 drives the tightening bevel block through the guide shaft, which is used for the opening anti-deformation of the upper side plate and the lower side plate of the middle section of the boom.

[0007] The fixing clamp specifically adopts an integrally welded structure, and one end is provided with two sets of mounting holes 1 for fixing on the fixture lifting assembly, and is processed with multiple mounting surfaces and mounting holes 2 for installing the remaining components of the fixing clamp specific assembly.

[0008] The movable clamp body adopts an integrally welded structure, and one end is provided with two groups of mounting holes three for fixing on the upper support arm assembly, and is processed with multiple mounting surfaces and mounting holes four for installing the remaining parts of the movable clamp body assembly.

[0009] The lower lifting pin assembly is composed of a pin seat, a cylinder, a pin shaft and an oil cup. The cylinder drives the pin shaft installed in the pin seat to rise and fall, and lubrication is maintained by filling oil through the oil cup.

[0010] The lower electro-permanent magnet assembly is composed of a mounting seat five, a reset cylinder, a guide rail slider three, a guide rail clamp, an electro-permanent magnet and an adjustment gasket; the electro-permanent magnet can be moved on the mounting seat five through the guide rail slider three, the guide rail clamp can lock or loosen the relative position of the guide rail slider three, the reset cylinder can push the electro-permanent magnet to reset, and an adjustment gasket is installed on the electro-permanent magnet to adapt to different height differences in the middle section of the boom.

[0011] The movable clamp body component and the fixed clamp body component are matched up and down, and the same structures are arranged correspondingly; the upper lifting pin component and the lower lifting pin component have exactly the same structure and function; the upper electric permanent magnet component and the lower electric permanent magnet component have exactly the same structure and function; the upper ear plate positioning component and the lower ear plate positioning component have exactly the same structure and function; the upper arc plate positioning component and the lower arc plate positioning component have exactly the same structure and function; the upper side plate positioning component and the lower side plate positioning component have exactly the same structure and function; the upper conductive component and the lower conductive component have exactly the same structure and function; the upper material detection component and the lower material detection component have exactly the same structure and function; the upper arc plate support component and the lower arc plate support component have exactly the same structure and function.

[0012] The clamp lifting assembly is composed of a lifting clamp body, a lifting servo motor, a guide rail slider and a lifting slide; the lifting servo motor drives the lifting slide to move up and down through the guide rail slider, and the lifting slide is connected to the movable clamp body assembly and the upper support arm assembly.

[0013] The lifting clamp adopts an integrally welded structure, with a circle of mounting holes five on the bottom surface for connection with the slewing support of the positioner, two groups of mounting threaded holes on the side surface for mounting the fixed clamp body assembly, and multiple mounting surfaces and mounting holes six for mounting the remaining components of the lifting clamp body assembly.

[0014] The lower support arm assembly and the upper support arm assembly are used to assist in fixing the fixed clamp body assembly and the movable clamp body assembly, respectively, and play a role in strengthening the connection; The automatic assembly fixture of the middle section of the boom also includes a drag chain assembly and a control cabinet assembly; the drag chain assembly is used to install power cables, control cables, air pipes and oil pipes of the mobile clamp body assembly and the clamp lifting assembly; the control cabinet assembly is used for high-voltage and low-voltage control of the entire clamp system.

[0015] The middle section of the boom of the workpiece to be welded is composed of a lower side plate, a partition plate, an upper side plate, a lower ear plate, an upper ear plate, a lower arc plate and an upper arc plate.

[0016] A boom middle section automatic welding method, using the above boom middle section automatic welding fixture for welding, the boom middle section is composed of a lower side plate, a partition plate, an upper side plate, a lower ear plate, an upper ear plate, a lower arc plate and an upper arc plate, comprising the following steps: ① The handling robot places the lower side plate on the lower electro-permanent magnet assembly of the fixed clamp concrete assembly. The lower side plate is adsorbed and positioned. The lower arc plate positioning assembly and the lower side plate positioning assembly around the lower side plate press the lower side plate tightly, so that the outer edge of the lower side plate is in contact and alignment with the pin shaft of the lower lifting pin assembly, and the lower side plate is accurately positioned; ② The handling robot clamps the two partitions and places them at the corresponding positions of the lower side plate. The lower edges of the two partitions are vertically placed on the left and right sides of the lower side plate. The welding robot welds the lower edges of the two partitions to the lower side plate firmly. ③ The handling robot places the upper side plate on the upper permanent magnet assembly of the mobile clamp body assembly. The upper side plate is adsorbed and positioned. The upper arc plate positioning assembly and the upper side plate positioning assembly around the upper side plate respectively press the upper side plate tightly, so that the outer edge of the lower side plate is in contact and aligned with the pin shaft of the upper lifting pin assembly, and the upper side plate is accurately positioned; ④ The lifting servo motor on the fixture lifting assembly drives the movable fixture body assembly to move downward, so that the upper side plate is in contact and aligned with the upper edges of the two partitions, and the welding robot welds the upper edges of the two partitions to the upper side plate firmly; ⑤ The handling robot places the lower arc plate on the lower side plate and the front side of the upper side plate on the fixed clamp concrete assembly, and the electric slide positioning assembly and the lower arc plate positioning assembly cooperate to accurately position the lower arc plate; ⑥ The handling robot places the lower ear plate on the outer side of the lower arc plate on the fixed clamp body assembly. The ear plate positioning pin on the lower ear plate positioning assembly provides hole positioning for the lower ear plate. The ear plate support block provides support for the lower ear plate. The ear plate pressing angle cylinder presses the lower ear plate upward. Similarly, the upper ear plate is positioned by the upper ear plate positioning assembly on the mobile clamp body assembly. After positioning, the welding robot welds the upper side plate, lower side plate, lower arc plate and lower ear plate firmly. ⑦ Under the action of the lower ear plate positioning assembly on the fixed clamp body assembly and the upper ear plate positioning assembly on the movable clamp body assembly, move away from the upper lifting pin assembly to leave a gap, the handling robot places the upper arc plate in the above gap, the electric slide positioning assembly positions the upper arc plate, and the welding robot welds the upper side plate, the lower side plate, the upper arc plate and the upper ear plate firmly; ⑧The lifting servo motor on the fixture lifting assembly drives the movable clamp body assembly to move upward and separate from the fixed clamp body assembly. The handling robot takes away the welded middle section of the boom to complete the welding of the middle section of the boom.

[0017] After the upper ear plate and the lower ear plate are positioned, an opening anti-deformation component is used to pre-deform the openings of the upper side plate and the lower side plate, and then welding is performed.

[0018] The beneficial effects of the present invention are as follows: the handling robot places the parts of the middle section of the boom step by step on the fixture, the fixture is accurately positioned and pre-deformed before welding through various automated mechanisms, and then the welding robot performs welding, automatically completing the entire process of assembling and welding the middle section of the boom. The entire process does not require human participation, greatly improves production efficiency, ensures welding quality, reduces labor costs, reduces the health damage of manual welding to the human body, and reduces the labor intensity of workers. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 It is a schematic diagram of the overall structure of an embodiment of the present invention; Figure 2 This is a schematic diagram of the specific component structure of the fixing clip according to an embodiment of the present invention; Figure 3 is a schematic diagram of the specific structure of the fixing clip according to an embodiment of the present invention; Figure 4 This is a schematic diagram of the structure of the lower lift pin assembly according to an embodiment of the present invention; Figure 5 1 is a schematic diagram of the structure of an electropermanent magnet assembly according to an embodiment of the present invention; Figure 6 2 is a schematic diagram of the structure of the lower ear plate positioning assembly according to an embodiment of the present invention; Figure 7 2 is a schematic diagram of the structure of the electric slide positioning assembly according to an embodiment of the present invention; Figure 8 2 is a schematic diagram of the structure of the lower arc plate positioning assembly according to an embodiment of the present invention; Fig. 9 2 is a schematic diagram of the structure of an opening anti-deformation component according to an embodiment of the present invention; Fig.10 is a schematic diagram of the structure of a conductive component under an embodiment of the present invention; Fig.11 It is a schematic diagram of the structure of a material detection component under an embodiment of the present invention; Fig.12 This is a schematic diagram of the structure of the movable clamp body assembly according to an embodiment of the present invention; Fig.13 This is a schematic diagram of the specific structure of the mobile clamp according to an embodiment of the present invention; Fig.14 It is a schematic diagram of the structure of the lifting fixture assembly according to an embodiment of the present invention; Fig.15 This is a schematic diagram of the specific structure of the lifting clamp according to an embodiment of the present invention; Fig.16 2 is a schematic structural diagram of a middle section of a movable arm according to an embodiment of the present invention; Fig.17 It is a schematic diagram of positioning the lower side plate of the middle section of the boom according to an embodiment of the present invention; Fig.18 It is a schematic diagram of positioning of the middle section partition of the boom according to an embodiment of the present invention; Fig.19 It is a schematic diagram of positioning the upper side plate of the middle section of the boom according to an embodiment of the present invention; Fig. 20 It is a schematic diagram of the assembly of the lower side plate, the partition plate and the upper side plate of the middle section of the boom according to an embodiment of the present invention; Fig.21 It is a schematic diagram of positioning the lower arc plate in the middle section of the boom according to an embodiment of the present invention; Fig. 22 1 is a schematic diagram of positioning the lower ear plate of the middle section of the boom according to an embodiment of the present invention; Fig.23 It is a schematic diagram of positioning the upper arc plate of the middle section of the boom according to an embodiment of the present invention; Fig.24 Schematic diagram of the middle section of the boom after welding according to the embodiment of the present invention; In the figure: fixed clamp body assembly 1, mobile clamp body assembly 2, fixture lifting assembly 3, lower support arm assembly 4, upper support arm assembly 5, drag chain assembly 6, control cabinet assembly 7, fixed clamp body 101, lower lifting pin assembly 102, lower electric permanent magnet assembly 103, lower ear plate positioning assembly 104, electric slide seat positioning assembly 105, lower arc plate positioning assembly 106, lower side plate positioning assembly 107, opening anti-deformation assembly 108, lower conductive assembly 109, lower material detection assembly 110, lower arc plate support assembly 111, mobile clamp body 201, upper lifting pin assembly 202, upper electric permanent magnet assembly 2 03, upper ear plate positioning assembly 204, upper arc plate positioning assembly 205, upper side plate positioning assembly 206, upper conductive assembly 207, upper material detection assembly 208, upper arc plate support assembly 209, lifting clamp body 301, lifting servo motor 302, guide rail slider 303, lifting slide 304, middle section of movable arm 8, lower side plate 801, partition 802, upper side plate 803, lower ear plate 804, upper ear plate 805, lower arc plate 806, upper arc plate 807, servo motor 10401, precision reducer 10402, mounting seat 10403, guide rail slider 10404, sliding body 10405, ear plate positioning pin 10406, ear plate support block 10407, ear plate pressing angle cylinder 10408, oil cylinder 10601, mounting seat 2 10602, guide rail slider 2 10603, sliding body 2 10604, arc plate positioning block 1 10605, mounting plate 10901, brush box 10902, retaining spring 10903, brush 10904, proximity switch 11001, mounting bracket 11002, servo motor 2 10501, mounting seat 3 10502, guide rail slider 4 10503, sliding body 3 10504, arc plate positioning block 2 10505 , oil cylinder two 10801, mounting seat four 10802, guide shaft 10803, tightening block 10804, mounting hole one 10101, mounting hole two 10102, mounting hole three 20101, mounting hole four 20102, pin seat 10201, cylinder 10202, pin shaft 10203, oil cup 10204, mounting seat five 10301, reset cylinder 10302, guide rail slider three 10303, guide rail clamp 10304, electropermanent magnet 10305, adjusting gasket 10306, mounting hole five 30101, mounting threaded hole 30102, mounting hole six 30103. DETAILED DESCRIPTION

[0020] The present invention will be further described below through embodiments in conjunction with the accompanying drawings.

[0021] An automatic welding fixture for the middle section of a boom is installed on a positioner as a whole, and cooperates with a welding robot and a handling robot to complete the jointing and welding work of the middle section of the boom; it comprises a fixed clamp body component 1, a mobile clamp body component 2, a clamp lifting component 3, a lower support arm component 4 and an upper support arm component 5, and the upper support arm component 5 and the lower support arm component 4 The upper and lower layers are arranged on the clamp lifting assembly 3, the upper support arm assembly 5 moves up and down along the clamp lifting assembly 3, the fixed clamp body assembly 1 is arranged on the lower support arm assembly 4, and the movable clamp body assembly 2 is installed on the upper support arm assembly 5 and moves up and down with the upper support arm assembly 5; the fixed clamp body assembly 1 is composed of a lower lifting pin assembly 102, a lower electro-permanent magnet assembly 103, a lower ear plate positioning assembly 104, a lower arc plate positioning assembly 106, a lower side plate positioning assembly 107, a lower conductive assembly 109, a lower material detection assembly 110 and a lower arc plate support assembly 111 installed on the fixed clamp body 101, there are multiple lower electro-permanent magnet assemblies 103, which are located in the middle of the fixed clamp body 101, and multiple lower arc plate positioning assemblies 106 and multiple lower side plate positioning assemblies 111 are arranged around the multiple lower electro-permanent magnet assemblies 103. Component 107, multiple lower ear plate positioning components 104, multiple lower arc plate supporting components 111 and multiple lower conductive components 109 are arranged below multiple lower electro-permanent magnet components 103, the lower material detection component 110 is arranged between the lower electro-permanent magnet component 103 and the lower conductive component 109, and multiple lower lifting pin components 102 are arranged around the multiple lower electro-permanent magnet components 103; the mobile clamp body component 2 is composed of an upper lifting pin component 202, an upper electro-permanent magnet component 203, an upper ear plate positioning component 204, an upper arc plate positioning component 205, an upper side plate positioning component 206, an upper conductive component 207, an upper material detection component 208 and an upper arc plate supporting component 209 installed on the mobile clamp body 201; the mobile clamp body component 2 is matched with the fixed clamp body component 1 up and down, and the same structure is arranged correspondingly; The lower ear plate positioning assembly 104 is composed of a servo motor 10401, a precision reducer 10402, a mounting seat 10403, a guide rail slider 10404, a sliding body 10405, an ear plate positioning pin 10406, an ear plate support block 10407 and an ear plate pressing angle cylinder 10408; the servo motor 10401 drives the lead screw to rotate through the precision reducer 10402, and drives the sliding body 10405 forward or backward through the guide rail slider 10404, the ear plate positioning pin 10406 ​​provides hole positioning for the ear plate, the ear plate support block 10407 provides support for the ear plate, and the ear plate pressing angle cylinder 10408 presses the ear plate upward; the lower arc plate positioning assembly 106 is composed of an oil cylinder 10601, a mounting seat 2 10602, a guide rail slider 2 10603, a sliding body The oil cylinder 10601 drives the sliding body 10604 forward or backward through the guide rail slider 10603, and the arc plate positioning block 10605 positions the edge of the arc plate; the lower side plate positioning assembly 107 has the same structure as the lower arc plate positioning assembly 106, and is used to position the lower side plate; the lower conductive assembly 109 is composed of a mounting plate 10901, a brush box 10902, a retaining spring 10903 and a brush 10904, and is used to conduct welding circuit current; the lower material detection assembly 110 is composed of a proximity switch 11001 and a mounting bracket 11002, and is used to detect the presence or absence of material on the fixing clamp specific assembly; the lower arc plate support assembly 111 is fixed to the fixing clamp specific assembly 101 by bolts, and is used to provide support for the arc plate.

[0022] The fixed clamp body 101 is also provided with a plurality of electric slide seat positioning components 105 and a plurality of opening anti-deformation components 108; the electric slide seat positioning components 105 are arranged around the plurality of lower electro-permanent magnet components 103, and the plurality of opening anti-deformation components 108 are arranged on the edge of the fixed clamp body 101; the electric slide seat positioning components 105 are composed of a servo motor 2 10501, a mounting seat 3 10502, a guide rail slider 4 10503, a sliding body 3 10504 and an arc plate positioning block 2 10505; The servo motor 10501 drives the lead screw to rotate, and drives the sliding body 10504 to move forward or backward through the guide rail slider 10503, and the arc plate positioning block 10505 positions the edge of the arc plate; the opening anti-deformation component 108 is composed of the oil cylinder 10801, the mounting seat 10802, the guide shaft 10803 and the tightening block 10804; the oil cylinder 10801 drives the tightening bevel block 10804 through the guide shaft 10803, which is used for the opening anti-deformation of the upper side plate and the lower side plate of the middle section of the boom.

[0023] The fixing clamp body 101 adopts an integrally welded structure, and is provided with two sets of mounting holes 10101 at one end for fixing on the clamp lifting assembly 3, and is processed with multiple mounting surfaces and mounting holes 10102 for installing the remaining components of the fixing clamp body assembly 1.

[0024] The movable clamp body 201 adopts an integrally welded structure, and is provided with two groups of mounting holes 3 20101 at one end for fixing on the upper support arm assembly 5. It is processed with multiple mounting surfaces and mounting holes 4 20102 for installing the remaining components of the movable clamp body assembly 2.

[0025] The lower lifting pin assembly 102 is composed of a pin seat 10201, a cylinder 10202, a pin shaft 10203 and an oil cup 10204. The cylinder 10202 drives the pin shaft 10203 installed in the pin seat 10201 to rise and fall, and oil is injected through the oil cup 10204 to maintain lubrication.

[0026] The lower electropermanent magnet assembly 103 is composed of a mounting seat five 10301, a reset cylinder 10302, a guide rail slider three 10303, a guide rail clamp 10304, an electropermanent magnet 10305 and an adjustment gasket 10306; the electropermanent magnet 10305 can be moved on the mounting seat five 10301 through the guide rail slider three 10303, the guide rail clamp 10304 can lock or loosen the relative position of the guide rail slider three 10303, the reset cylinder 10302 can push the electropermanent magnet 10305 to reset, and an adjustment gasket 10306 is installed on the electropermanent magnet 10305 to adapt to different height differences of the middle section 8 of the boom.

[0027] The movable clamp body component 2 and the fixed clamp body component 1 are matched up and down, and the same structures are arranged correspondingly; the upper lifting pin component 202 and the lower lifting pin component 102 have exactly the same structure and function; the upper electric permanent magnet component 203 and the lower electric permanent magnet component 103 have exactly the same structure and function; the upper ear plate positioning component 204 and the lower ear plate positioning component 104 have exactly the same structure and function; the upper arc plate positioning component 205 and the lower arc plate positioning component 106 have exactly the same structure and function; the upper side plate positioning component 206 and the lower side plate positioning component 107 have exactly the same structure and function; the upper conductive component 207 and the lower conductive component 109 have exactly the same structure and function; the upper material detection component 208 and the lower material detection component 110 have exactly the same structure and function; the upper arc plate support component 209 and the lower arc plate support component 111 have exactly the same structure and function.

[0028] The clamp lifting assembly 3 is composed of a lifting clamp body 301, a lifting servo motor 302, a guide rail slider 303 and a lifting slide 304; the lifting servo motor 302 drives the lifting slide 304 to rise and fall through the guide rail slider 303, and the lifting slide 304 is connected to the movable clamp body assembly 2 and the upper support arm assembly 5.

[0029] The lifting clamp body 301 adopts an integrally welded structure, and a circle of mounting holes 30101 is provided on the bottom surface for connecting with the slewing support of the positioner. Two groups of mounting threaded holes 30102 are provided on the side for installing the fixed clamp body assembly 1. Multiple mounting surfaces and mounting holes 30103 are processed for installing the remaining components of the lifting clamp body assembly 3.

[0030] The lower support arm assembly 4 and the upper support arm assembly 5 are used to assist in fixing the fixed clamp body assembly 1 and the movable clamp body assembly 2, respectively, and play a role in strengthening the connection; The automatic assembly fixture of the middle section of the boom also includes a drag chain assembly 6 and a control cabinet assembly 7; the drag chain assembly 6 is used to install power cables, control cables, air pipes and oil pipes of the mobile clamp body assembly 2 and the clamp lifting assembly 3; the control cabinet assembly 7 is used for high-voltage and low-voltage control of the entire clamp system.

[0031] The boom middle section 8 of the workpiece to be welded is composed of a lower side plate 801 , a partition plate 802 , an upper side plate 803 , a lower ear plate 804 , an upper ear plate 805 , a lower arc plate 806 and an upper arc plate 807 .

[0032] A boom middle section automatic welding method, using the above boom middle section automatic welding fixture for welding, the boom middle section 8 is composed of a lower side plate 801, a partition plate 802, an upper side plate 803, a lower ear plate 804, an upper ear plate 805, a lower arc plate 806 and an upper arc plate 807, comprising the following steps: ① The handling robot places the lower side plate 801 on the lower electro-permanent magnet assembly 103 of the fixing clamp body assembly 1, and the lower side plate 801 is adsorbed and positioned. The lower arc plate positioning assembly 106 and the lower side plate positioning assembly 107 around the lower side plate 801 press against the lower side plate 801, so that the outer edge of the lower side plate 801 is in contact and aligned with the pin shaft 10203 of the lower lifting pin assembly 102, and the lower side plate 801 is accurately positioned; ② The handling robot clamps the two partitions 802 and places them at the corresponding positions of the lower side plate 801. The lower edges of the two partitions 802 are vertically placed on the left and right sides of the lower side plate 801. The welding robot welds the lower edges of the two partitions 802 to the lower side plate 801 firmly. ③ The handling robot places the upper side plate 803 on the upper permanent magnet assembly 203 of the mobile clamp body assembly 2, and the upper side plate 803 is adsorbed and positioned. The upper arc plate positioning assembly 205 and the upper side plate positioning assembly 206 around the upper side plate 803 respectively press against the upper side plate 803, so that the outer edge of the lower side plate 803 is in contact and aligned with the pin shaft of the upper lifting pin assembly 202, and the upper side plate 803 is accurately positioned; ④ The lifting servo motor 302 on the fixture lifting assembly 3 drives the movable fixture body assembly 2 to move downward, so that the upper side plate 803 is in contact and aligned with the upper edges of the two partitions 802, and the welding robot welds the upper edges of the two partitions 802 and the upper side plate 803 firmly; ⑤ The handling robot places the lower arc plate 806 on the lower side plate 801 and the front side of the upper side plate 803 on the fixing clamp concrete component 1, and the electric slide seat positioning component 105 and the lower arc plate positioning component 106 cooperate to accurately position the lower arc plate 806; ⑥ The handling robot places the lower ear plate 804 on the outer side of the lower arc plate 806 on the fixed clamp body component 1, the ear plate positioning pin 10406 ​​on the lower ear plate positioning component 104 provides a hole positioning for the lower ear plate 804, the ear plate support block 10407 provides support for the lower ear plate 804, and the ear plate pressing angle cylinder 10408 presses the lower ear plate 804 upward; similarly, the upper ear plate 805 is positioned by the upper ear plate positioning component 204 on the mobile clamp body component 2; after positioning, the welding robot welds the upper side plate 803, the lower side plate 801, the lower arc plate 806 and the lower ear plate 804 firmly; ⑦ Under the action of the lower ear plate positioning assembly 104 on the fixed clamp body assembly 1 and the upper ear plate positioning assembly 204 on the movable clamp body assembly 2, the upper arc plate 807 is placed in the gap by the handling robot, and the electric slide seat positioning assembly 105 positions the upper arc plate 807. The welding robot welds the upper side plate 803, the lower side plate 801, the upper arc plate 807 and the upper ear plate 805 firmly; ⑧ The lifting servo motor 302 on the clamp lifting assembly 3 drives the movable clamp body assembly 2 to move upward and separate from the fixed clamp body assembly 1. The handling robot takes away the welded boom middle section 8 to complete the welding of the boom middle section 8.

[0033] After the upper ear plate 805 and the lower ear plate 804 are positioned, the opening anti-deformation component 108 is used to pre-anti-deform the openings of the upper side plate 803 and the lower side plate 801, and then welding is performed.

[0034] The automatic boom middle section welding fixture provided by the present invention has the following advantages: a handling robot places the boom middle section parts on the fixture one by one, the fixture is accurately positioned and pre-deformed before welding through various automated mechanisms, and the welding robot performs welding, thereby automatically completing the entire process of assembling and welding the boom middle section. The entire process does not require manual participation, and the production efficiency is greatly improved compared to manual welding, and the welding quality is guaranteed, while the labor cost is reduced.

Claims

1. An automatic welding fixture for the middle section of a boom, characterized by: The whole is installed on the positioner, and cooperates with the welding robot and the handling robot to complete the jointing and welding work of the middle section of the movable arm; it comprises a fixed clamp body assembly (1), a mobile clamp body assembly (2), a clamp lifting assembly (3), a lower support arm assembly (4) and an upper support arm assembly (5), wherein the upper support arm assembly (5) and the lower support arm assembly (4) are arranged in layers on the clamp lifting assembly (3), and the upper support arm assembly (5) moves up and down along the clamp lifting assembly (3); the fixed clamp body assembly (1) is arranged on the lower support arm assembly (4), and the mobile clamp body assembly (2) is arranged on the lower support arm assembly (4). The component (2) is mounted on the upper support arm component (5) and moves up and down with the upper support arm component (5); the fixed clamp body component (1) is composed of a lower lifting pin component (102) mounted on the fixed clamp body (101), a lower electro-permanent magnet component (103), a lower ear plate positioning component (104), a lower arc plate positioning component (106), a lower side plate positioning component (107), a lower conductive component (109), a lower material detection component (110) and a lower arc plate support component (111); the number of the lower electro-permanent magnet components (103) is multiple, and the positions are In the middle of the fixed clamp body (101), multiple lower arc plate positioning assemblies (106) and multiple lower side plate positioning assemblies (107) are arranged around the multiple lower electro-permanent magnet assemblies (103); multiple lower ear plate positioning assemblies (104), multiple lower arc plate supporting assemblies (111) and multiple lower conductive assemblies (109) are arranged below the multiple lower electro-permanent magnet assemblies (103); a lower material detection assembly (110) is arranged between the lower electro-permanent magnet assemblies (103) and the lower conductive assemblies (109); and multiple lower lifting pin assemblies (102) are arranged on the multiple lower electro-permanent magnet assemblies (103). The movable clamp body assembly (2) is composed of an upper lifting pin assembly (202), an upper permanent magnet assembly (203), an upper ear plate positioning assembly (204), an upper arc plate positioning assembly (205), an upper side plate positioning assembly (206), an upper conductive assembly (207), an upper material detection assembly (208) and an upper arc plate support assembly (209) installed on the movable clamp body (201); the movable clamp body assembly (2) matches the fixed clamp body assembly (1) up and down, and the same structures are arranged correspondingly; The lower ear plate positioning assembly (104) is composed of a servo motor (10401), a precision reducer (10402), a mounting seat (10403), a guide rail slider (10404), a sliding body (10405), an ear plate positioning pin (10406), an ear plate support block (10407) and an ear plate pressing angle cylinder (10408); the servo motor (10401) drives the lead screw through the precision reducer (10402) The first arc plate positioning assembly (106) is driven by the guide rail slider (10404) to move forward or backward, the ear plate positioning pin (10406) provides a hole positioning for the ear plate, the ear plate support block (10407) provides support for the ear plate, and the ear plate pressing angle cylinder (10408) presses the ear plate upward; the lower arc plate positioning assembly (106) is composed of the oil cylinder (10601), the mounting seat (10602), the guide rail slider (10603), the slide The movable body 2 (10604) and the arc plate positioning block 1 (10605) are composed; the oil cylinder 1 (10601) drives the sliding body 2 (10604) to move forward or backward through the guide rail slider 2 (10603), and the arc plate positioning block 1 (10605) positions the edge of the arc plate; the lower side plate positioning component (107) has the same structure as the lower arc plate positioning component (106) and is used to position the lower side plate; the lower conductive component (109) is composed of a mounting plate ( 10901), a brush box (10902), a retaining spring (10903) and a brush (10904), and is used for conducting welding circuit current; the lower material detection assembly (110) is composed of a proximity switch (11001) and a mounting bracket (11002), and is used for detecting the presence or absence of material on the fixing clamp body assembly; the lower arc plate support assembly (111) is fixed to the fixing clamp body (101) by bolts, and is used for providing support for the arc plate.

2. The automatic welding fixture for the middle section of a boom according to claim 1 is characterized by: The fixed clamp body (101) is also provided with a plurality of electric slide seat positioning components (105) and a plurality of opening anti-deformation components (108); the electric slide seat positioning components (105) are arranged around the plurality of lower electro-permanent magnet components (103), and the plurality of opening anti-deformation components (108) are arranged on the edge of the fixed clamp body (101); the electric slide seat positioning components (105) are composed of a second servo motor (10501), a third mounting seat (10502), a fourth guide rail slider (10503), a third sliding body (10504) and a second arc plate positioning block (10505); Servo motor 2 (10501) drives the lead screw to rotate, and drives the sliding body 3 (10504) to move forward or backward through the guide rail slider 4 (10503), and the arc plate positioning block 2 (10505) positions the edge of the arc plate; the opening anti-deformation component (108) is composed of oil cylinder 2 (10801), mounting seat 4 (10802), guide shaft (10803) and tightening block (10804); oil cylinder 2 (10801) drives the tightening inclined block (10804) through the guide shaft (10803), which is used for the opening anti-deformation of the upper side plate and the lower side plate of the middle section of the boom.

3. The automatic welding fixture for the middle section of a boom according to claim 2 is characterized by: The fixed clamp body (101) adopts an integrally welded structure, and is provided with two groups of first mounting holes (10101) at one end for fixing on the clamp lifting assembly (3), and is processed with a plurality of mounting surfaces and second mounting holes (10102) for installing the remaining components of the fixed clamp body assembly (1).

4. The automatic welding fixture for the middle section of a boom according to claim 2 or 3, characterized in that: The movable clamp body (201) adopts an integrally welded structure, and is provided with two groups of mounting holes three (20101) at one end for fixing on the upper support arm assembly (5), and is processed with a plurality of mounting surfaces and mounting holes four (20102) for mounting the remaining components of the movable clamp body assembly (2).

5. The automatic welding fixture for the middle section of a boom according to claim 3 is characterized by: The lower lifting pin assembly (102) is composed of a pin seat (10201), a cylinder (10202), a pin shaft (10203) and an oil cup (10204). The cylinder (10202) drives the pin shaft (10203) installed in the pin seat (10201) to rise and fall, and lubrication is maintained by injecting oil through the oil cup (10204).

6. The automatic welding fixture for the middle section of a boom according to claim 3 is characterized by: The lower electro-permanent magnet assembly (103) is composed of a mounting seat five (10301), a reset cylinder (10302), a guide rail slider three (10303), a guide rail clamp (10304), an electro-permanent magnet (10305) and an adjustment gasket (10306); the electro-permanent magnet (10305) can be moved on the mounting seat five (10301) through the guide rail slider three (10303), the guide rail clamp (10304) can lock or loosen the relative position of the guide rail slider three (10303), the reset cylinder (10302) can push the electro-permanent magnet (10305) to reset, and the electro-permanent magnet (10305) is installed with an adjustment gasket (10306).

7. The boom middle section automatic welding fixture according to claim 3 is characterized by: The clamp lifting assembly (3) is composed of a lifting clamp body (301), a lifting servo motor (302), a guide rail slider (303) and a lifting slide seat (304); the lifting servo motor (302) drives the lifting slide seat (304) to move up and down through the guide rail slider (303), and the lifting slide seat (304) is connected to the movable clamp body assembly (2) and the upper support arm assembly (5).

8. A method for automatic welding of a boom middle section, using an automatic welding fixture for a boom middle section as claimed in any one of claims 1 to 7 for welding, wherein the boom middle section (8) is composed of a lower side plate (801), a partition plate (802), an upper side plate (803), a lower ear plate (804), an upper ear plate (805), a lower arc plate (806) and an upper arc plate (807), characterized in that The following steps are included: ① The handling robot places the lower side plate (801) on the lower electro-permanent magnet assembly (103) of the fixing clamp body assembly (1), and the lower side plate (801) is adsorbed and positioned. The lower arc plate positioning assembly (106) and the lower side plate positioning assembly (107) around the lower side plate (801) press against the lower side plate (801), so that the outer edge of the lower side plate (801) is in contact and aligned with the pin shaft (10203) of the lower lifting pin assembly (102), and the lower side plate (801) is accurately positioned; ② The handling robot clamps the two partitions (802) and places them at corresponding positions on the lower side plate (801), and the lower edges of the two partitions (802) are vertically placed on the left and right sides of the lower side plate (801), respectively. The welding robot welds the lower edges of the two partitions (802) to the lower side plate (801) firmly; ③ The handling robot places the upper side plate (803) on the upper permanent magnet assembly (203) of the mobile clamp body assembly (2), and the upper side plate (803) is adsorbed and positioned. The upper arc plate positioning assembly (205) and the upper side plate positioning assembly (206) around the upper side plate (803) respectively press against the upper side plate (803), so that the outer edge of the lower side plate (803) is in contact and aligned with the pin shaft of the upper lifting pin assembly (202), and the upper side plate (803) is accurately positioned; ④ The lifting servo motor (302) on the fixture lifting assembly (3) drives the movable fixture body assembly (2) to move downward, so that the upper side plate (803) is in contact and aligned with the upper edges of the two partitions (802), and the welding robot welds the upper edges of the two partitions (802) and the upper side plate (803) firmly; ⑤ The handling robot places the lower arc plate (806) on the lower side plate (801) and the front side of the upper side plate (803) on the fixing clamp body assembly (1), and the electric slide seat positioning assembly (105) and the lower arc plate positioning assembly (106) cooperate to accurately position the lower arc plate (806); ⑥ The handling robot places the lower ear plate (804) on the outer side of the lower arc plate (806) on the fixed clamp body component (1), the ear plate positioning pin (10406) on the lower ear plate positioning component (104) provides a hole positioning for the lower ear plate (804), the ear plate support block (10407) provides support for the lower ear plate (804), and the ear plate pressing angle cylinder (10408) presses the lower ear plate (804) upward; similarly, the upper ear plate (805) is positioned by the upper ear plate positioning component (204) on the mobile clamp body component (2); after positioning is completed, the welding robot welds the upper side plate (803), the lower side plate (801), the lower arc plate (806) and the lower ear plate (804) firmly; ⑦ Under the action of the lower ear plate positioning assembly (104) on the fixed clamp body assembly (1) and the upper ear plate positioning assembly (204) on the movable clamp body assembly (2), the upper arc plate (807) is moved away from the upper lifting pin assembly (202) to leave a gap, and the handling robot places the upper arc plate (807) in the above gap. The electric slide seat positioning assembly (105) positions the upper arc plate (807), and the welding robot welds the upper side plate (803), the lower side plate (801), the upper arc plate (807) and the upper ear plate (805) firmly; ⑧ The lifting servo motor (302) on the clamp lifting assembly (3) drives the movable clamp body assembly (2) to move upward and separate from the fixed clamp body assembly (1), and the handling robot takes away the welded boom middle section (8), completing the welding of the boom middle section (8).

9. The method for automatic welding of the middle section of a boom according to claim 8, characterized in that: After the upper ear plate (805) and the lower ear plate (804) are positioned, the opening anti-deformation assembly (108) is used to pre-anti-deform the openings of the upper side plate (803) and the lower side plate (801), and then welding is performed.

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