Numerical control intelligent U rib and angle plate rib assembling tool

Abstract

The invention relates to a numerical control intelligent U rib and angle rib plate assembling tool which can automatically assemble and position a U rib and an angle rib plate, ensure the stability and accuracy of the rib plate in the assembling process, further improve the assembling automation level and reduce the influence of human factors on the assembling quality. Comprising a hydraulic system, a plate rib operating device, a U rib operating device, an electrical system and a PLC (Programmable Logic Controller), wherein two ground cross beams move by virtue of walking rails respectively and are driven by a left driving device and a right driving device; a front stand column and a rear stand column are arranged on the two ground cross beams respectively, the upper ends of the front stand column and the rear stand column on the two ground cross beams are connected with the front cross beam and the back cross beam respectively, a U-rib hydraulic clamping mechanism is installed below the front cross beam, and left-right transverse movement of the U-rib hydraulic clamping mechanism is controlled by a servo motor through a gear and a rack. A plate rib hydraulic clamping mechanism is mounted below the back cross beam, and the plate rib hydraulic clamping mechanism is automatically controlled to move and position left and right by a servo motor through a gear and a rack.

Description

Technical Field

[0001] The present invention relates to a CNC intelligent U-rib and angle plate rib assembly tool which can automatically assemble and position U-ribs and angle plate ribs and ensure the stability and accuracy of the ribs during the assembly process, further improving the automation level of assembly and reducing the influence of human factors on assembly quality. The present invention belongs to the field of U-rib and angle plate rib assembly tool manufacturing. Background Art

[0002] With the rapid development of China's bridge infrastructure manufacturing industry, various parts need to be positioned before welding some materials or components to ensure welding quality. Traditional positioning processes such as supports, clamping devices, jacks, horse plates, stiffening plates, wedges, etc. are very time-consuming, cannot achieve intelligent automation, and usually affect installation accuracy. Especially in the bridge industry, most of the positioning of U-ribs and angle plate ribs is currently done manually, and traditional manual positioning is highly dependent on the workers' experience. With the trend of heavy manual labor decreasing and the cost of skilled workers rising, labor costs have a significant impact on the development of the industry. Summary of the invention

[0003] Design purpose: To avoid the shortcomings of the background technology, a CNC intelligent U-rib and angle plate rib assembly tool is designed, which can automatically assemble and position U-ribs and angle ribs, ensure the stability and accuracy of the ribs during the assembly process, further improve the automation level of assembly, and reduce the influence of human factors on assembly quality.

[0004] Design scheme: In order to achieve the above design objectives. In terms of scheme design, in order to avoid various drawbacks of manual positioning, the assembly tooling of the present invention adopts CNC intelligent positioning scheme to replace traditional manual positioning, and compared with other automated positioning equipment, it can intelligently position the x / y axis motion trajectory through servo motors according to key parameters such as the input material inclination angle, so as to achieve the purpose of fast and accurate positioning. In order to ensure the precise assembly of U-ribs and angle ribs, the machine tooling of the present invention can automatically assemble and position U-ribs and angle ribs. This process includes automatic walking, positioning, pressing and other functions to ensure the stability and accuracy of the ribs during the assembly process. It further improves the level of automation of assembly and reduces the influence of human factors on assembly quality.

[0005] 1. The CNC intelligent U-rib and angle plate rib assembly tooling of the present invention is mainly composed of a walking mechanism (ground beam), left and right columns of the gantry, front and rear double beams, a beam connecting platform, a U-rib transverse movement and positioning mechanism (including a lifting mechanism) and a plate rib transverse movement and positioning mechanism (including a lifting mechanism), a U-rib hydraulic clamping mechanism and a plate rib hydraulic clamping mechanism, a U-rib manual clamping mechanism and a plate rib manual clamping mechanism, a hydraulic system, an electrical system and other accessories. (1) A U-rib assembly unit mechanism is installed under the front crossbeam. The left and right transverse movement of the U-rib assembly unit is controlled by a servo motor through a gear rack. The guide rail and rack mounting surface of the manipulator transverse movement trolley are reserved above the front crossbeam. (2) A plate rib assembly unit mechanism is installed under the back crossbeam. The left and right transverse movement of the plate rib assembly unit is automatically controlled by a servo motor through a gear rack to move and position. The transverse movement unit contains a hydraulic lifting mechanism. A plate rib clamping mechanism is installed at the bottom of the lifting mechanism. The plate rib clamping mechanism is as follows: Figure 5 and 6 As shown. The guide rail and rack mounting surface of the robot traverse trolley are reserved above the back crossbeam to meet the need to add the robot automatic spot welding function later. (Note: Make sure that when using U-rib assembly, the plate rib assembly mechanism is raised to the highest point, and the distance between the bottom of the assembly unit and the platform must be ≥350mm, so as not to collide with the U-rib workpiece).

[0006] 2. Hydraulic system and electrical system: This machine is equipped with two sets of hydraulic systems for U ribs and plate ribs, and two sets of electrical systems. The longitudinal trolley travel servo motor is shared, and the 6 sets of lateral movement and lifting are controlled separately. Among them, the six sets of lateral movement of the plate rib need to be controlled separately, and linear interpolation motion is performed separately (shared longitudinal axis), that is, 6 axes perform linear motion at 6 angles.

[0007] 3. Reserve a walking track for the robot: reserve a walking track for the robot operation.

[0008] Its working method: a CNC intelligent U-rib and angle plate rib assembly tooling, the various parts of this tooling can coordinate actions, adopt a digital system plus PLC programmable controller centralized control method, and control the gantry travel, lateral control, hydraulic system and other actions in an integrated manner. It can realize up to 6 groups of grouping mechanisms to clamp 6 U-ribs or 6 plate ribs at the same time, and perform manual spot welding at the same time. The overall design is compact, the degree of intelligent automation is high, and it is easy to operate.

[0009] 7 Structural Workflow The U-rib or plate rib is manually placed on the positioning platform and tightened by the hydraulic system. The key parameters such as the travel distance and the plate rib inclination angle are manually set on the operation panel. The automatic program is started to move the gantry to the end of the plate or U-rib in the length direction, and the clamping roller device automatically adjusts to the appropriate position and angle according to the input workpiece parameters.

[0010] Compared with the background technology, the present invention has the advantages of high precision, high efficiency, low cost and high quality in the first place, and can effectively solve the intelligent positioning of U-ribs and angle plate ribs; secondly, it can not only realize the six groups of assembly mechanisms to clamp and position six U-ribs or six plate ribs at the same time, but also adopt the digital system plus PLC programmable controller centralized control mode to control the gantry travel, lateral movement control, hydraulic system and other actions in an integrated manner, thereby ensuring the service life and reliability of the equipment; thirdly, the X / Y axis is controlled by the servo motor to achieve the positioning of the angle plate ribs; fourthly, parametric programming can realize intelligent and automatic positioning by inputting the key parameters of travel distance and plate rib inclination angle. BRIEF DESCRIPTION OF THE DRAWINGS

[0011] Figure 1 It is a main view schematic diagram of the CNC intelligent U-rib and angle plate rib assembly tooling.

[0012] Figure 2 yes Figure 1 Rear view schematic diagram of .

[0013] Figure 3 yes Figure 1 Schematic diagram of the left side.

[0014] Figure 4 yes Figure 1 A three-dimensional schematic diagram of .

[0015] Figure 5 It is a schematic diagram of the main view of the plate rib hydraulic clamping mechanism.

[0016] Figure 6 yes Figure 5 A three-dimensional schematic diagram of .

[0017] Figure 7 It is a schematic diagram of a partial cross-section of a hydraulic lifting mechanism from the front view.

[0018] Figure 8 yes Figure 7 A three-dimensional schematic diagram of .

[0019] Fig. 9 It is a structural diagram of the ground beam.

[0020] Fig.10 yes Fig. 9 Schematic side view of .

[0021] Fig.11 yes Fig. 9 A three-dimensional schematic diagram of .

[0022] Fig.12 yes Fig. 9 AA section diagram.

[0023] Fig.13It is a schematic diagram of the operating interface of the automatic assembly equipment operating system.

[0024] Fig.14 It is a schematic diagram of the U-rib system operation.

[0025] Fig.15 This is a schematic diagram for comparison with the actual object. It can be deleted if it does not meet the requirements.

[0026] Fig.16 It is a schematic diagram of the plate rib hydraulic clamping mechanism.

[0027] Fig.17 This is a schematic diagram of the approximate position of the U-rib plate when hoisted to the bottom plate.

[0028] Fig.18 It is a schematic diagram of the plate rib hydraulic clamping mechanism.

[0029] Fig.19 It is a schematic diagram of the working process of the plate rib hydraulic clamping mechanism.

[0030] Fig. 20 It is a schematic diagram of the workpiece. DETAILED DESCRIPTION

[0031] Embodiment 1: refer to the attached Figure 1-20 A CNC intelligent U-rib and angle plate rib assembly tool, including a hydraulic system 7, a plate rib operating device 6 and a U-rib operating device 16, an electrical system 4 and a PLC programmable controller. Two ground beams 21 move respectively on the walking track 2 and the two ground beams 16 are driven by the left driving device 14 and the right driving device 3; the two ground beams 21 are respectively provided with two front and rear columns 12, and the upper ends of the front and rear columns on the two ground beams 21 are respectively connected to the front beam 9 and the back beam 15, and a U-rib hydraulic clamping mechanism 18 is installed under the front beam 9, and the left and right lateral movement of the U-rib hydraulic clamping mechanism is controlled by a servo motor through a gear rack; a plate rib hydraulic clamping mechanism 19 is installed under the back beam 20, and the left and right lateral movement of the plate rib hydraulic clamping mechanism is automatically controlled by a servo motor through a gear rack to move and position. The U-rib hydraulic clamping mechanism and the plate rib hydraulic clamping mechanism each have a set of hydraulic system and a set of electrical system.

[0032] The guide rail and rack mounting surface of the manipulator transverse movement trolley are reserved above the front crossbeam 9; the guide rail and rack mounting surface of the manipulator transverse movement trolley are reserved above the back crossbeam 20 to meet the subsequent addition of the manipulator automatic spot welding function.

[0033] The lower end surface of the lateral positioning trolley 8 in the U-rib hydraulic clamping mechanism 18 is connected to the hydraulic lifting mechanism, the upper end surface of the lateral positioning trolley 8 cooperates with the slider guide rail located on the front crossbeam through the lateral slider and the lateral slider moves left and right along the slider guide rail, and the lower end surface of the hydraulic lifting mechanism is installed with the U-rib clamping fixture 13. The lower end surface of the lateral positioning trolley 8 in the plate rib hydraulic clamping mechanism is connected to the hydraulic lifting mechanism, and the lower end surface of the hydraulic lifting mechanism is installed with the plate rib hydraulic clamping mechanism 19.

[0034] See attached Figure 5 and 6 The plate rib clamping mechanism is installed at the lower part of the hydraulic lifting mechanism in the plate rib hydraulic clamping mechanism 19, and the plate rib clamping mechanism 19 is composed of a frame 191, a downward pressure cylinder 192, a vertical guide wheel group 193, a transverse wheel group 195 and a side pressure cylinder 194; the vertical guide wheel group is driven to rise and fall by the downward pressure cylinder 192, and the transverse guide wheel group 195 is driven by the side pressure cylinder 194 to move the guide wheel of one side group of the transverse guide wheel group transversely.

[0035] The U-rib hydraulic clamping mechanism 20 and the plate rib hydraulic clamping mechanism 19 each have six sets of lateral movement and lifting, and the six sets of lateral movement and lifting are controlled separately. Among them, the lateral movement of the six groups of plate rib hydraulic clamping mechanisms 19 needs to be controlled separately, and they perform linear interpolation motion respectively and share the longitudinal axis, that is, the six axes perform linear motion at six angles.

[0036] Embodiment 2: Based on Embodiment 1, a working method of a numerically controlled intelligent U-rib and angle plate rib assembly tooling adopts a digital system plus a PLC programmable controller centralized control mode to control the gantry travel, lateral movement control, hydraulic system and other actions in an integrated manner, and simultaneously assembles and clamps six U-ribs or six plate ribs according to six groups of assembly mechanisms, and performs manual spot welding at the same time, that is: The U-rib or plate rib is manually placed on the positioning platform 1, tightened by the hydraulic system, and key parameters such as travel distance and plate rib inclination angle are manually set on the operation panel 6. The automatic program is started to move the gantry to the length direction end of the flat plate or U-rib, and the clamping roller device automatically adjusts to the appropriate position and angle according to the input workpiece parameters.

[0037] The technical parameters of the CNC intelligent U-rib and angle plate rib assembly tooling are as follows:

[0038] (1) Plate rib system operation: Stop: During the automatic positioning process, you can click the "Stop" button to stop the movement. After stopping, you can click "Reset" and then click "GO" to restart the automatic positioning; Continue: After the vehicle stops, you can click the "Continue" button to continue the last unfinished automatic positioning; Current position: Displays the current position of the 6 axes and the vehicle, absolute coordinates, in mm; Current speed: Displays the current moving speed of the 6 axes and the vehicle in mm / min; Origin setting: You can set the current position as the origin at any position. After setting, the "current position" becomes 0; Jog: When pressed, it moves in the positive or negative direction at the speed set in the "Speed" item. If the speed set in the "Speed" item is greater than 1000, it moves at a speed of 1000mm / min; Each axis can switch whether it is in the synchronous state through the "Synchronize" button. The synchronization indicator light is red for synchronous state and black for asynchronous state. It needs to be set to asynchronous state when moving alone. At this time, each axis can move by "jog" or "auto positioning". When each axis needs to move synchronously with the trolley, it needs to be set to synchronous state, and before setting it to synchronous state, the "Slope (X / Y)" should be set correctly as needed (Y cannot be 0); Slope (X / Y): X can be set to a positive or negative number, and Y cannot be set to 0. For example, if X is set to 1 and Y is set to 1000, when the axis is in the synchronous state, the axis will move 1mm in the positive direction when the trolley moves 1000mm in the positive direction; if X is set to -1 and Y is set to 1000, when the axis is in the synchronous state, the axis will move 1mm in the negative direction when the trolley moves 1000mm in the positive direction; Automatic positioning: Each axis can be automatically positioned when it is in an asynchronous state. After entering the position coordinates, click "GO" and each axis will move to the specified position at the speed set by the "Speed" item; The automatic positioning of the trolley is divided into two modes: absolute and incremental. The two modes are switched by the "Absolute / Incremental" button. The green bar light next to the button marks the current mode. In absolute positioning, the input position is the absolute coordinate in the coordinate system. For example, if you input 1000, the trolley will stop at the position of 1000 after clicking "GO". In incremental positioning, the input position is the incremental movement amount. For example, if you input 1000, the trolley will move 1000 in the positive direction after clicking "GO", and finally stop at the original position + 1000. Speed: Set the moving speed during jog or automatic positioning; Servo status: Display the current servo axis status code. If there is an alarm, click "Reset"; (2) U-rib system operation (see Fig.14 ): Stop: During the automatic positioning process, you can click the "Stop" button to stop the movement. After stopping, you can click "Reset" and then click "GO" to restart the automatic positioning; Continue: After the vehicle stops, you can click the "Continue" button to continue the last unfinished automatic positioning; Current position: Displays the current position of the 6 axes and the vehicle, absolute coordinates, in mm; Current speed: Displays the current moving speed of the 6 axes and the vehicle in mm / min; Origin setting: You can set the current position as the origin at any position. After setting, the "current position" becomes 0; Jog: When pressed, it moves in the positive or negative direction at the speed set in the "Speed" item. If the speed set in the "Speed" item is greater than 1000, it moves at a speed of 1000mm / min; Automatic positioning: Each axis can be automatically positioned when it is in an asynchronous state. After entering the position coordinates, click "GO" and each axis will move to the specified position at the speed set by the "Speed" item; The automatic positioning of the trolley is divided into two modes: absolute and incremental. The two modes are switched by the "Absolute / Incremental" button. The green bar light next to the button marks the current mode. In absolute positioning, the input position is the absolute coordinate in the coordinate system. For example, if you input 1000, the trolley will stop at the position of 1000 after clicking "GO". In incremental positioning, the input position is the incremental movement amount. For example, if you input 1000, the trolley will move 1000 in the positive direction after clicking "GO", and finally stop at the original position + 1000. Speed: Set the moving speed during jog or automatic positioning; Servo status: Display the current servo axis status code. If there is an alarm, click "Reset"; "Synchronous control" means replacing the mechanism that uses gears, shafts, transmissions, cams, etc. to perform mechanical synchronous control with software to perform the same control.

[0039] In "Synchronous Control", by setting "Synchronous Control Parameters", synchronous control is started for each output axis, and synchronous control is performed for the input axis (servo input axis, synchronous encoder axis), see Fig.15 .

[0040] Working principle of U-rib hydraulic clamping mechanism (see Fig.16 ): In the figure, 101-trolley servo motor, 102-trolley frame and lifting, 103-down-pressure cylinder, 104-U-rib clamping mechanism, 105 workpiece.

[0041] The U-rib clamping mechanism is composed of a lateral trolley mechanism 102, a downward pressure cylinder 103, and a U-rib clamping mechanism 104. The lateral trolley servo motor 101 moves the clamping structure to position the U-rib clamping mechanism 104 at the required position, and the U-rib plate is hoisted to the approximate position of the bottom plate (see Fig.17 Middle left), lower the clamping mechanism to the appropriate position by pressing the corresponding lifting button on the panel (see Fig.17Second from the left in the middle), adjust the center of the U rib plate to coincide with the center of the clamping structure, press down the oil cylinder, press the rib plate and the bottom, and ensure that there is no gap between the rib plate and the top plate to meet the welding requirements (see Fig.17 (3rd from the left in the middle), at this time, manual spot welding or automatic spot welding by a robot can be used to complete the group welding work of the changed position. This process is the initial positioning group welding work. The initial positioning group welding work of the 6 groups of U-rib hydraulic clamping mechanisms is the same, but the positioning position is different. The subsequent group welding point positions are automatically operated through the preset CNC program, moving the trolley to the next group welding point position, and controlling the corresponding horizontal trolley to perform the corresponding positioning movement synchronously, automatically completing the loosening and clamping action of the cylinder, clamping the rib plate up and down and left and right to meet the welding requirements, repeating the process work until the last group welding point is completed, and the group welding work of this workpiece is completed.

[0042] Note: When the rib spacing is less than 500mm, some ribs can be selected for group welding, and then the remaining ribs can be group welded after completion.

[0043] Working principle of plate rib hydraulic clamping mechanism (see Fig.18 ): 106-down pressure cylinder, 107-frame body, 108-down pressure wheel, 109-side pressure cylinder, 110 side pressure wheel, 111-positioning wheel.

[0044] The plate rib hydraulic clamping mechanism consists of a frame body 107, a lower pressure cylinder 106, a lower pressure wheel 108, a side pressure cylinder 109, a side pressure wheel 110 and a positioning wheel 111. The clamping structure is positioned by the lateral trolley servo motor, the positioning wheel is positioned at the required position, and the rib plate is hoisted to the approximate position of the bottom plate (see Fig.18 Left), lower the clamping mechanism to the appropriate position by pressing the corresponding lifting button on the panel (see Fig.18 Second from the left), the side pressure cylinder pushes out the side pressure wheel, clamps the rib plate to the positioning wheel to complete the left and right positioning clamping (see Fig.18 Left third), the pressure cylinder presses down the pressure wheel to press the ribs and the bottom to ensure that there is no gap between the ribs and the top plate to meet the welding requirements (see Fig.18 Fourth from the left), at this time, manual spot welding or automatic spot welding by a robot can be used to complete the group welding work of the changed position. This process is the initial positioning group welding work. The initial positioning group welding work of the 6 groups of plate rib hydraulic clamping mechanisms is the same, but the positioning position is different. The subsequent group welding point positions are automatically operated through the preset CNC program, moving the trolley to the next group welding point position, and controlling the corresponding horizontal trolley to perform the corresponding positioning movement synchronously, automatically completing the loosening and clamping action of the cylinder, clamping the rib plate up and down and left and right to meet the welding requirements, repeating the process work until the last group welding point is completed, and the group welding work of this workpiece is completed.

[0045] Note: When the rib spacing is less than 500mm, some ribs can be selected for group welding, and then the remaining ribs can be group welded after completion.

[0046] See attached Figure 7-9 In this equipment, the servo motor of the trolley is used as the synchronous input shaft, and the 6 small shafts are used as the output shafts. The 6 shafts can be started synchronously through the synchronization button. The slope (X / Y) is the numerator and denominator of the main shaft gear in the synchronization parameter, which determines the gear ratio of the synchronous input shaft and the synchronous output shaft.

[0047] A set of precision reducers and servo motors (for the X-axis) are installed on the left and right frames of the trolley. The two servo motors are synchronous motors. The servo motors are driven by the program. The motors drive the precision reducers to drive the left and right frame rollers to make corresponding displacements in the X-axis direction on the trolley guide rails.

[0048] The six carriages are respectively equipped with six servo motors (Y1-Y6, axes 1-6). The servo motors are driven by the program, and the motors drive the precision reducers and gears, which are guided by linear guides and rack transmission to make corresponding displacements in the Y-axis direction.

[0049] The movement direction of the trolley is perpendicular to that of the small axis. In the synchronous state, the starting point of the plate rib is set as the origin, and the slope (X / Y) parameter is set to the coordinates of the end point of the plate rib (or the ratio of the slope). When the trolley is started to move toward the end point of the plate rib, the small axis will accurately control the movement angle according to the set parameters and move synchronously to the end point of the plate rib.

[0050] Combined with the incremental positioning function of the trolley (based on the position and speed in the positioning parameters, each movement is a set distance), the system can automatically control the inclination angle of the plate rib according to the set parameters, and perform manual spot welding after each movement of the set distance, thus realizing intelligent and automatic positioning.

[0051] At the end of the initial positioning welding work, Fig. 20 An example is given to illustrate the principle of angle plate rib positioning and the parameter relationship between the vehicle travel distance and the plate rib inclination angle. The rib length is 3000mm, the horizontal direction is the Y axis, and the vertical direction is the X axis The starting point of rib 1 is (0,250), the end point of rib 1 is (3000,280), the slope of rib 1 (axis 1) (X): +30, the slope (Y): 3000 The starting point of rib 2 is (0,650), the end point of rib 2 is (3000,620), the slope (X) of rib 2 (axis 2) is -30, the slope (Y) is 3000 The "Slope (X / Y)" setting value of the trolley is 200, which means that the distance between the two groups of welding points is 200mm (the distance the trolley travels), that is, the distance the trolley moves each time when the program runs automatically is 200mm.

[0052] When the trolley is running, axis 1 and axis 2 move to the corresponding position in the Y-axis direction according to the set slope (positive and negative directions). The theoretical data of the parameter value shown in the figure is 30 / 3000 / 200=2mm, which is automatically calculated by the program. When the trolley moves into place, all the trolleys (axes 1-6) are also in place at the same time. After they are in place, the program automatically performs the corresponding cylinder clamping work, clamps the ribs to the welding position, and then performs manual spot welding or automatic spot welding by the robot to complete the welding work. This process is a single position positioning welding process. Repeat this process until the last group welding point is completed, and the group welding work of this workpiece is completed.

[0053] See attached Figure 7 and 8 The hydraulic lifting mechanism is composed of a box body 22, a servo motor 23, a lifting cylinder 24, a lifting guide column 25, a transverse slider 26, and a connecting end plate 27; the lifting cylinder 24 is installed in the box body 22, the lifting cylinder power output end is connected to one end of the lifting guide column 25, the other end of the lifting guide column 25 is connected to the connecting end plate 27, the transverse slider 26 is fixed to the upper end surface of the shell, and the servo motor 23 is used to match the rack on the front crossbeam 9 and drive the hydraulic lifting mechanism to move horizontally left and right.

[0054] See attached Fig. 9 and 10 A driving wheel 213 driven by a driving device is installed at one end of the ground beam 21, and the driving device 14 drives the driving wheel 213 to move through a hollow reduction motor 214. A driven wheel 211 and a walking wheel guide assembly 212 are installed at the other end of the ground beam 21. A buffer 215 and a travel switch 216 are installed at both ends of the ground beam 21.

[0055] It should be understood that although the above embodiments provide a relatively detailed textual description of the design ideas of the present invention, these textual descriptions are only simple textual descriptions of the design ideas of the present invention, rather than limitations on the design ideas of the present invention. Any combination, addition or modification that does not exceed the design ideas of the present invention shall fall within the protection scope of the present invention.

Claims

1. A numerically controlled intelligent U-rib and angle plate rib assembly tool, comprising a hydraulic system (7), a plate rib operating device (6) and a U-rib operating device (16), an electrical system (4) and a PLC programmable controller, characterized in that: The two ground beams (21) are respectively moved by the running rails (2) and the two ground beams (16) are driven by the left driving device (14) and the right driving device (3); the two ground beams (21) are respectively provided with two front and rear upright posts (12); the upper ends of the front and rear upright posts on the two ground beams (21) are respectively connected to the front beam (9) and the rear beam (15); a U-rib hydraulic clamping mechanism (18) is installed below the front beam (9); the U-rib hydraulic clamping mechanism is moved left and right by a servo motor controlled by a gear rack; a plate rib hydraulic clamping mechanism (19) is installed below the rear beam (20); the plate rib hydraulic clamping mechanism is moved left and right by a servo motor automatically controlled by a gear rack for movement and positioning.

2. The CNC intelligent U-rib and angle plate rib assembly tool according to claim 1 is characterized by: A guide rail and rack mounting surface for a manipulator traversing trolley are reserved above the front crossbeam (9); a guide rail and rack mounting surface for a manipulator traversing trolley are reserved above the back crossbeam (20) to meet the need for adding a manipulator automatic spot welding function later.

3. The CNC intelligent U-rib and angle plate rib assembly tool according to claim 1 is characterized by: The lower end surface of the lateral positioning trolley (8) in the U-rib hydraulic clamping mechanism (18) is connected to the hydraulic lifting mechanism, and the lower end surface of the hydraulic lifting mechanism is installed with a U-rib clamping tool (13).

4. The CNC intelligent U-rib and angle plate rib assembly tool according to claim 1 is characterized by: The lower end surface of the transverse positioning trolley (8) in the plate rib hydraulic clamping mechanism is connected to the hydraulic lifting mechanism, and the lower end surface of the hydraulic lifting mechanism is installed with the plate rib hydraulic clamping mechanism (19).

5. The CNC intelligent U-rib and angle plate rib assembly tool according to claim 3 is characterized by: The plate rib clamping mechanism is installed at the lower part of the hydraulic lifting mechanism in the plate rib hydraulic clamping mechanism (19). The plate rib clamping mechanism (19) is composed of a frame (191), a downward pressure cylinder (192), a vertical guide wheel group (193), a transverse wheel group (195) and a side pressure cylinder (194). The vertical guide wheel group is driven to rise and fall by the downward pressure cylinder (192), and the transverse guide wheel group (195) is driven by the side pressure cylinder (194) to move a side guide wheel of the transverse guide wheel group laterally.

6. The CNC intelligent U-rib and angle plate rib assembly tool according to claim 1 is characterized by: The U-rib hydraulic clamping mechanism and the plate rib hydraulic clamping mechanism each have a set of hydraulic system and a set of electrical system.

7. The CNC intelligent U-rib and angle plate rib assembly tool according to claim 1 is characterized by: The U-rib hydraulic clamping mechanism (20) and the plate rib hydraulic clamping mechanism (19) each have six sets of lateral movement and lifting, and the six sets of lateral movement and lifting are separately controlled. The lateral movement of the six sets of plate rib hydraulic clamping mechanisms (19) needs to be separately controlled, and they perform linear interpolation motion respectively and share a common longitudinal axis, that is, the six axes perform linear motion at six angles.

8. A working method of a numerically controlled intelligent U-rib and angle plate rib assembly tooling, characterized by: The digital system plus PLC programmable controller centralized control mode is adopted to control the gantry travel, lateral movement control, hydraulic system and other actions in an integrated manner. Six groups of grouping mechanisms are used to group and clamp six U-ribs or six plate ribs at the same time, and manual spot welding is performed at the same time, namely: The U-rib or plate rib is manually placed on the positioning platform (1), and is tightened by the hydraulic system. The key parameters such as the travel distance and the plate rib inclination angle are manually set on the operation panel (6). The automatic program is started to move the gantry to the end of the plate or U-rib in the length direction. The clamping roller device automatically adjusts and moves to the appropriate position and angle according to the input workpiece parameters.

9. The working method of the CNC intelligent U-rib and angle plate rib assembly tooling according to claim 8 is characterized by: The technical parameters of the CNC intelligent U-rib and angle plate rib assembly tooling are as follows: 。 10. The working method of the CNC intelligent U-rib and angle plate rib assembly tooling according to claim 8 is characterized by: (1) The plate rib system operates as follows: Stop: During the automatic positioning process, you can click the "Stop" button to stop the movement. After stopping, you can click "Reset" and then click "GO" to restart the automatic positioning; Continue: After the vehicle stops, you can click the "Continue" button to continue the last unfinished automatic positioning; Current position: Displays the current position of the 6 axes and the vehicle, absolute coordinates, in mm; Current speed: Displays the current moving speed of the 6 axes and the vehicle in mm / min; Origin setting: You can set the current position as the origin at any position. After setting, the "current position" becomes 0; Jog: When pressed, it moves in the positive or negative direction at the speed set in the "Speed" item. If the speed set in the "Speed" item is greater than 1000, it moves at a speed of 1000mm / min; Each axis can be switched to the synchronous state through the "Synchronize" button. The synchronization indicator light is red for synchronous state and black for asynchronous state. When moving alone, it needs to be set to asynchronous state. At this time, each axis can move by "jog" or "auto positioning". When each axis needs to move synchronously with the trolley, it needs to be set to synchronous state, and before setting it to synchronous state, the "Slope (X / Y)" should be set correctly as needed (Y cannot be 0); Slope (X / Y): X can be set to a positive or negative number, and Y cannot be set to 0. For example, if X is set to 1 and Y is set to 1000, when the axis is in the synchronous state, the axis will move 1mm in the positive direction when the trolley moves 1000mm in the positive direction; if X is set to -1 and Y is set to 1000, when the axis is in the synchronous state, the axis will move 1mm in the negative direction when the trolley moves 1000mm in the positive direction; Automatic positioning: Each axis can be automatically positioned when it is in an asynchronous state. After entering the position coordinates, click "GO" and each axis will move to the specified position at the speed set by the "Speed" item; The automatic positioning of the trolley is divided into two modes: absolute and incremental. The two modes are switched by the "Absolute / Incremental" button. The green bar light next to the button marks the current mode. In absolute positioning, the input position is the absolute coordinate in the coordinate system. For example, if you input 1000, the trolley will stop at 1000 after clicking "GO". In incremental positioning, the input position is the incremental movement amount. For example, if you input 1000, the trolley will move 1000 in the positive direction after clicking "GO", and finally stop at the original position + 1000. Speed: Set the moving speed during jog or automatic positioning; Servo status: Display the current servo axis status code. If there is an alarm, click "Reset"; (2) U-rib system operation: Stop: During the automatic positioning process, you can click the "Stop" button to stop the movement. After stopping, you can click "Reset" and then click "GO" to restart the automatic positioning; Continue: After the vehicle stops, you can click the "Continue" button to continue the last unfinished automatic positioning; Current position: Displays the current position of the 6 axes and the vehicle, absolute coordinates, in mm; Current speed: Displays the current moving speed of the 6 axes and the vehicle in mm / min; Origin setting: You can set the current position as the origin at any position. After setting, the "current position" becomes 0; Jog: When pressed, it moves in the positive or negative direction at the speed set in the "Speed" item. If the speed set in the "Speed" item is greater than 1000, it moves at a speed of 1000mm / min; Automatic positioning: Each axis can be automatically positioned when it is in an asynchronous state. After entering the position coordinates, click "GO" and each axis will move to the specified position at the speed set by the "Speed" item; The automatic positioning of the trolley is divided into two modes: absolute and incremental. The two modes are switched by the "Absolute / Incremental" button. The green bar light next to the button marks the current mode. In absolute positioning, the input position is the absolute coordinate in the coordinate system. For example, if you input 1000, the trolley will stop at 1000 after clicking "GO". In incremental positioning, the input position is the incremental movement amount. For example, if you input 1000, the trolley will move 1000 in the positive direction after clicking "GO", and finally stop at the original position + 1000. Speed: Set the moving speed during jog or automatic positioning; Servo status: Displays the current status code of the servo axis. If there is an alarm, click "Reset".

Images