Spring sheet pre-assembly welding machine

Abstract

This invention discloses a spring pre-assembly welding machine, comprising a fixture mechanism, a spring feeding mechanism, a main body feeding mechanism, an assembly mechanism, a cover plate picking and placing mechanism, a folding lug mechanism, and a welding blanking mechanism. The fixture mechanism includes a rotating fixture platform; the spring feeding mechanism provides springs; the main body feeding mechanism provides the main workpiece; the assembly mechanism transfers the springs to the rotating fixture platform and the main workpiece to the rotating fixture platform; the cover plate picking and placing mechanism presses and fixes the two springs and the main workpiece onto the rotating fixture platform after the welding feet of the two springs are assembled to predetermined positions on the main workpiece; the folding lug mechanism breaks off and removes the lugs of the two springs after they are welded to the main workpiece; the welding blanking mechanism is located at the other end of the X-axis motion module and is used to weld the springs and the main workpiece to form an assembly, and after welding, transfers the assembly to the folding lug mechanism. This invention's spring pre-assembly welding machine achieves automated spring welding.

Description

Technical Field

[0001] This invention relates to welding equipment, and more particularly to a spring pre-assembly welding machine. Background Technology

[0002] In modern electronics and precision machinery manufacturing, springs are widely used as important functional components. These springs typically need to be fixed to the main workpiece through a welding process to achieve specific mechanical or electrical properties.

[0003] However, due to their typically extremely small size, springs are highly susceptible to positional shifts or changes in orientation during transport, positioning, and clamping. Traditional automated equipment struggles to grasp them accurately, and even when it can, it cannot guarantee a stable orientation during transport. Furthermore, springs often possess irregular geometries and complex structural features. For example, some springs may have bent sections, protruding structures, or special functional shapes, increasing the difficulty of automated operation. In addition, in actual production, the placement and welding position of springs often require high precision. The welding area between the spring and the main workpiece is usually small, necessitating extremely high stability during welding. However, due to their light weight and small size, springs are highly susceptible to external factors, causing positional shifts, further increasing the difficulty of automated welding.

[0004] The above factors make it difficult to automate the welding process of spring clips in many products, which not only reduces production efficiency but also makes it difficult to ensure the consistency of product quality. Summary of the Invention

[0005] This invention aims to at least partially solve one of the technical problems in the related art. Therefore, the object of this invention is to provide a spring-loaded pre-assembly welding machine.

[0006] To achieve the above objectives, a spring pre-assembly welding machine according to an embodiment of the present invention is used to weld two springs onto a main workpiece. Each spring includes a body and an ear attached to the body for gripping. The body has a welding foot. The spring pre-assembly welding machine includes:

[0007] A fixture mechanism, comprising an X-axis motion module and a rotary fixture platform mounted on the X-axis motion module;

[0008] A spring feeding mechanism is provided at one end of the X-axis motion module and located on one side of the X-axis motion module, for providing the spring;

[0009] A main feeding mechanism is provided at one end of the X-axis motion module and on the other side of the X-axis motion module, for providing the main workpiece;

[0010] An assembly mechanism is configured adjacent to the fixture mechanism for transferring springs from the spring feeding mechanism to the rotary fixture platform and transferring the main workpiece from the main body feeding mechanism to the rotary fixture platform.

[0011] A cover plate picking and placing mechanism is provided at the other end of the X-axis motion module. It is used to press and fix the two spring plates and the main workpiece on the rotating fixture platform after the welding feet of the two spring plates are assembled to the predetermined positions on the main workpiece.

[0012] A folding mechanism is provided at the other end of the X-axis motion module and located on one side of the X-axis motion module, for breaking off and removing the ears of the two spring pieces after the two spring pieces are welded to the main body workpiece;

[0013] A welding and blanking mechanism is located at the other end of the X-axis motion module. It is used to weld the spring piece and the main workpiece to form an assembly. After welding, the assembly is transferred to the folding ear mechanism so that the ear part of the spring piece can be broken off and removed by the folding ear mechanism.

[0014] The spring sheet pre-assembly welding machine provided by the present invention utilizes a jig mechanism, a spring sheet feeding mechanism, a main body feeding mechanism, an assembly mechanism, a cover plate picking and placing mechanism, an ear-folding mechanism, and a welding blanking mechanism to achieve automated welding of spring sheets. The specially designed ears on the spring sheets facilitate reliable gripping, effectively overcoming the operational difficulties caused by the small size of the spring sheets. The cover plate picking and placing mechanism ensures the stability of the spring sheets during the welding process, preventing positional displacement by clamping and fixing. The welding blanking mechanism, in conjunction with the ear-folding mechanism, allows the ears on the spring sheets to be removed after welding, forming the final assembly. This achieves fully automated operation, improving the efficiency of spring sheet welding, ensuring product quality, and providing a guarantee for large-scale production.

[0015] In addition, the spring sheet pre-assembly welding machine according to the above embodiments of the present invention may also have the following additional technical features:

[0016] According to one embodiment of the present invention, the rotary fixture platform includes:

[0017] A support frame is mounted on the X-axis motion module, and the support frame is provided with a platform that can pivot about an X-axis.

[0018] A fixed fixture base is disposed on the platform, and the fixed fixture base has a workpiece position suitable for placing the main workpiece;

[0019] A first movable fixture seat is disposed on the platform, and the first movable fixture seat has a first spring placement position suitable for placing one of the spring pieces;

[0020] The second movable fixture is disposed on the platform and forms a first predetermined angle with the first fixture. The first movable fixture has a second spring placement position suitable for placing another spring.

[0021] A first driving device is connected to the first movable fixture seat to drive the first movable fixture seat to slide toward the fixed fixture seat so that the welding feet of the spring piece are assembled to the first welding position on the main workpiece.

[0022] The second driving device is connected to the second movable fixture seat to drive the second movable fixture seat to slide towards the fixed fixture seat so that the welding feet of the spring piece are assembled to the second welding position on the main workpiece.

[0023] A rotary drive device is connected to the platform to drive the platform to rotate, thereby switching the first movable fixture seat or the second movable fixture seat to a horizontal state.

[0024] According to one embodiment of the present invention, the spring feeding mechanism includes:

[0025] The feeding mechanism is used to load the wound spring strip material;

[0026] A material transfer mechanism is provided, which is arranged at intervals with the material feeding mechanism in the X-axis direction. It is used to move the spring strip of the material feeding mechanism along the X-axis direction and to make the material feeding mechanism gradually feed the material.

[0027] A stamping mechanism, disposed between the feeding mechanism and the transferring mechanism, is used to punch the spring sheets on the spring sheet strip to form individual spring sheets;

[0028] A material suction mechanism is provided below the stamping mechanism and can move along the Y-axis to remove the spring sheet punched by the stamping mechanism from the stamping mechanism;

[0029] A flipping mechanism is arranged at intervals with the suction mechanism in the X-axis direction and can move along the X-axis direction to grab the spring on the suction mechanism and flip it 180° so that the spring faces upward.

[0030] According to one embodiment of the present invention, the stamping mechanism includes a stamping die, and the bottom of the stamping die is provided with a blanking hole;

[0031] The material suction mechanism includes a dual-axis motion module and a suction head. The dual-axis motion module can move in the Y-axis and Z-axis directions. The suction head is disposed on the dual-axis motion module, and the top surface of the suction head is provided with a positioning groove that matches the spring sheet. Under the drive of the dual-axis motion module, the suction head can be inserted into the unloading hole, adsorb the punched spring sheet in the positioning groove, and move it out of the stamping mechanism.

[0032] According to one embodiment of the present invention, the assembly mechanism includes:

[0033] A first gantry crane, the first gantry crane having a first dual-axis moving arm and a second dual-axis moving arm, both the first dual-axis moving arm and the second dual-axis moving arm being movable along the Y-axis and Z-axis directions;

[0034] The first main robotic arm is mounted on the first dual-axis moving arm and is used to grasp the main workpiece;

[0035] A shrapnel manipulator, which is mounted on the second dual-axis movable arm, is used to grasp the shrapnel;

[0036] The X-axis fine-tuning device is mounted on the first dual-axis moving arm and connected to the first main robot arm, and is used to drive the main robot arm to make fine-tuning movements in the X-axis direction.

[0037] According to one embodiment of the present invention, the first main body manipulator includes a first pivot seat, a first sliding arm, two grippers, a gripper cylinder, a first lifting cylinder and a first R-axis drive device, wherein the first pivot seat is disposed on the X-axis fine-tuning device and the first sliding arm is disposed on the first pivot seat;

[0038] Two gripper pieces are arranged opposite each other in the horizontal direction at the lower end of the first sliding arm. Each gripper piece has two spaced fingers. The fingers on the two gripper pieces correspond one-to-one to form two pairs of gripping fingers. The two pairs of gripping fingers are respectively adapted to grip both ends of the main workpiece.

[0039] The first lifting cylinder is connected to the first sliding arm to drive the first sliding arm to move along the Z-axis. The gripper cylinder is connected to the two gripper components to drive the two gripper components to move relative to each other to grip or release the main workpiece. The first R-axis drive device is connected to the first pivot seat to drive the first pivot seat to rotate around the vertically extending R-axis.

[0040] According to one embodiment of the present invention, the spring-loaded manipulator includes a second pivot seat, a second sliding arm, a suction nozzle, a second lifting cylinder, and a second R-axis drive device. The second pivot seat is disposed on the second dual-axis movable arm, and the second sliding arm is disposed on the second pivot seat.

[0041] The suction nozzle is located at the lower end of the second sliding arm and is adapted to adsorb the ear of the spring piece. The second lifting cylinder is connected to the second sliding arm to drive the second sliding arm to move along the Z-axis. The second R-axis drive device is connected to the second pivot seat to drive the second pivot seat to rotate around the vertically extending R-axis.

[0042] According to one embodiment of the present invention, the cover plate picking and placing mechanism includes:

[0043] The cover plate has a welding clearance hole on its top surface and elastic sliding latches on both sides of the cover plate. The first movable fixture seat has a locking latch that can lock with the elastic sliding latches.

[0044] A dual-axis motion platform capable of moving in the Y and Z axes;

[0045] A carrier plate, which is disposed on the dual-axis motion platform;

[0046] An elastic floating pressure plate is disposed below the carrier plate and can elastically float relative to the carrier plate in the Z-axis direction to press against the cover plate.

[0047] A positioning clamping arm mechanism is provided on both sides of the elastic floating pressure plate and is capable of opening and closing to clamp or release the cover plate.

[0048] The unlocking mechanism is located on both sides of the elastic floating pressure plate and can push the elastic sliding lock to move horizontally, so as to release the cover plate from the locking buckle on the first movable fixture seat.

[0049] According to one embodiment of the present invention, the folding lug mechanism includes:

[0050] A positioning platform having a placement position suitable for placing the assembly;

[0051] A clamping mechanism is provided on the outside of the positioning table to clamp and fix the assembly to the placement position;

[0052] The first rotating clamp is located on one side of the positioning platform and is capable of clamping an ear on one of the spring pieces and rotating to break off the ear.

[0053] The second rotating clamp is located on the other side of the positioning platform and is capable of clamping the ear on another spring and rotating to break off the ear. The second rotating clamp and the first rotating clamp form a second predetermined angle, which is equal to the first predetermined angle.

[0054] A third driving device is connected to the first rotary clamp to drive the first rotary clamp to move closer to or away from the positioning table.

[0055] A fourth driving device is connected to the second rotary clamp to drive the second rotary clamp to move closer to or away from the positioning table.

[0056] According to one embodiment of the present invention, the welding blanking mechanism includes:

[0057] The second gantry crane has a third dual-axis moving arm and a fourth dual-axis moving arm, both of which are movable along the Y-axis and Z-axis directions.

[0058] A welding robot arm, mounted on the third dual-axis moving arm, is used to weld the spring sheet to the main workpiece;

[0059] The second main robotic arm, mounted on the fourth dual-axis moving arm, is used to grasp and transfer the assembly.

[0060] Additional aspects and advantages of the invention will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention. Attached Figure Description

[0061] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on the structures shown in these drawings without creative effort.

[0062] Figure 1 This is a schematic diagram of the pre-assembled welding machine for spring sheets according to an embodiment of the present invention from one perspective;

[0063] Figure 2 This is a schematic diagram of the pre-assembled welding machine for spring sheets according to another perspective of an embodiment of the present invention;

[0064] Figure 3 This is a schematic diagram of the fixture mechanism in the spring sheet pre-assembly welding machine according to an embodiment of the present invention;

[0065] Figure 4 yes Figure 3 A magnified view of a section at point A in the middle;

[0066] Figure 5 This is a schematic diagram of the spring feeding mechanism in the spring pre-assembly welding machine according to an embodiment of the present invention;

[0067] Figure 6 This is a schematic diagram of the assembly mechanism in the spring sheet pre-assembly welding machine according to an embodiment of the present invention;

[0068] Figure 7 This is a schematic diagram of the structure of the first main robotic arm in the spring sheet pre-assembly welding machine according to an embodiment of the present invention;

[0069] Figure 8 This is a schematic diagram of the spring piece manipulator in the spring piece pre-assembly welding machine according to an embodiment of the present invention;

[0070] Figure 9 This is a schematic diagram of the cover plate picking and placing mechanism in the spring sheet pre-assembly welding machine according to an embodiment of the present invention;

[0071] Figure 10 This is a partial structural schematic diagram of the cover plate picking and placing mechanism in the spring sheet pre-assembly welding machine according to an embodiment of the present invention;

[0072] Figure 11 This is a schematic diagram of the welding feeding mechanism in the spring sheet pre-assembly welding machine according to an embodiment of the present invention from one perspective;

[0073] Figure 12 This is a schematic diagram of the welding feeding mechanism in the spring sheet pre-assembly welding machine according to another embodiment of the present invention;

[0074] Figure 13 This is a schematic diagram of the cover plate structure in the spring sheet pre-assembly welding machine according to an embodiment of the present invention;

[0075] Figure 14 This is a schematic diagram of the folding lug mechanism in the spring sheet pre-assembly welding machine according to an embodiment of the present invention;

[0076] Figure 15 This is a schematic diagram of the structure of the assembly formed by welding the main workpiece and the spring sheet in an embodiment of the present invention.

[0077] Figure label:

[0078] 10. Fixture mechanism;

[0079] 101. Support; 1011. Platform; 102. Fixed fixture base; 103. First movable fixture base; 104. Second movable fixture base; 105. First drive device; 106. Second drive device; 107. Rotation drive device; P01. Workpiece position; P02. First spring placement position; P03. Second spring placement position;

[0080] 20. Shrapnel feeding mechanism;

[0081] 201. Feeding mechanism; 202. Transfer mechanism; 203. Stamping mechanism; 2031. Stamping die; 204. Suction mechanism; 2041. Dual-axis motion module; 2042. Suction head; 205. Tilting mechanism; 2051. Gripping arm;

[0082] 30. Main material supply mechanism;

[0083] 40. Assembly mechanism;

[0084] 401. First gantry crane; 4011. First dual-axis moving boom; 4012. Second dual-axis moving boom;

[0085] 402. First main robotic arm; 4021. First pivot seat; 4022. First sliding arm; 4023. Gripper; 4024. Gripper cylinder; 4025. First lifting cylinder; 4026. First R-axis drive device;

[0086] 403. Spring-loaded robotic arm; 4031. Second pivot seat; 4032. Second sliding arm; 4033. Suction nozzle; 4034. Second lifting cylinder; 4035. Second R-axis drive device;

[0087] 404. X-axis fine-tuning device;

[0088] 50. Cover plate loading and unloading mechanism;

[0089] 501. Cover plate; 5011. Elastic sliding lock; 502. Dual-axis motion platform; 503. Carrier plate; 504. Elastic floating pressure plate; 505. Positioning clamping arm mechanism; 506. Unlocking mechanism;

[0090] 60. Folding lug mechanism;

[0091] 601. Positioning table; 602. Clamping mechanism; 603. First rotary clamp; 604. Second rotary clamp; 605. Third drive device; 606. Fourth drive device;

[0092] 70. Welding blanking mechanism;

[0093] 701. Second gantry; 7011. Third dual-axis moving arm; 7012. Fourth dual-axis moving arm; 702. Welding robot; 703. Second main robot;

[0094] 80. Assemblies;

[0095] 801. Main workpiece;

[0096] 802, shrapnel;

[0097] 802a, ontology;

[0098] 802b, Ear.

[0099] The realization of the objective, functional features and advantages of the present invention will be further explained in conjunction with the embodiments and with reference to the accompanying drawings. Detailed Implementation

[0100] Embodiments of the present invention are described in detail below. Examples of these embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and intended to explain the present invention, and should not be construed as limiting the present invention. All other embodiments obtained by those skilled in the art based on the embodiments of the present invention without inventive effort are within the scope of protection of the present invention.

[0101] In the description of this invention, it should be understood that the terms "center," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," "counterclockwise," "axial," "circumferential," and "radial," etc., indicating the orientation or positional relationship, are based on the orientation or positional relationship shown in the accompanying drawings and are only for the convenience of describing this invention and simplifying the description, and are not intended to indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this invention.

[0102] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of this invention, "a plurality of" means two or more, unless otherwise explicitly specified.

[0103] In this invention, unless otherwise explicitly specified and limited, the terms "installation," "connection," "linking," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0104] In this invention, unless otherwise explicitly specified and limited, "above" or "below" the second feature can include direct contact between the first and second features, or contact between the first and second features through another feature between them. Furthermore, "above," "over," and "on top" of the second feature includes the first feature directly above or diagonally above the second feature, or simply indicates that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature includes the first feature directly below or diagonally below the second feature, or simply indicates that the first feature is at a lower horizontal level than the second feature.

[0105] The spring sheet pre-assembly welding machine of the present invention will now be described in detail with reference to the accompanying drawings.

[0106] Reference Figures 1 to 15 As shown, the spring pre-assembly welding machine provided according to an embodiment of the present invention is used to weld two springs 802 onto a main body workpiece 801. Each spring 802 includes a body 802a and an ear portion 802b connected to the body 802a for gripping. The body 802a has a welding foot. The spring pre-assembly welding machine includes a jig mechanism 10, a spring feeding mechanism 20, a main body feeding mechanism 30, an assembly mechanism 40, a cover plate picking and placing mechanism 50, an ear folding mechanism 60, and a welding unloading mechanism 70.

[0107] Specifically, the fixture mechanism 10 includes an X-axis motion module and a rotary fixture platform mounted on the X-axis motion module. The X-axis motion module can drive the rotary fixture platform to move between different positions, facilitating cooperation with the assembly mechanism 40, the cover plate picking and placing mechanism 50, and the welding blanking mechanism 70. The rotary fixture platform can rotate, facilitating cooperation with the assembly mechanism 40 to achieve the assembly between the spring piece 802 and the main workpiece 801.

[0108] The spring feeding mechanism 20 is located at one end of the X-axis motion module and on one side of the X-axis motion module, and is used to provide the spring 802. The main body feeding mechanism 30 is located at one end of the X-axis motion module and on the other side of the X-axis motion module, and is used to provide the main body workpiece 801.

[0109] The assembly mechanism 40 is configured adjacent to the fixture mechanism 10 to transfer the spring 802 in the spring feeding mechanism 20 to the rotary fixture platform, and to transfer the main workpiece 801 in the main body feeding mechanism 30 to the rotary fixture platform.

[0110] The cover plate picking and placing mechanism 50 is located at the other end of the X-axis motion module, and is used to press and fix the two spring plates 802 and the main workpiece 801 to the rotary fixture platform after the welding feet of the two spring plates 802 are assembled to the predetermined positions on the main workpiece 801.

[0111] The folding mechanism 60 is located at the other end of the X-axis motion module and on one side of the X-axis motion module, and is used to break off and remove the ears 802b of the two spring pieces 802 after they are welded to the main body workpiece 801.

[0112] The welding and unloading mechanism 70 is located at the other end of the X-axis motion module. It is used to weld the spring piece 802 and the main workpiece 801 to form an assembly 80. After welding, the assembly 80 is transferred to the folding ear mechanism 60 so that the ear portion 802b of the spring piece 802 can be broken off and removed by the folding ear mechanism 60.

[0113] During the operation, firstly, the spring sheet feeding mechanism 20 transports the spring sheet 802 to the designated position, and the main body feeding mechanism 30 transports the main body workpiece 801 to the designated position; secondly, the assembly mechanism 40 transfers the two spring sheets 802 to the rotating fixture platform, and also transfers the main body workpiece 801 to the rotating fixture platform; thirdly, the cover plate picking and placing mechanism 50 closes the cover plate 501 on the rotating fixture platform, using the cover plate 501 to press and fix the spring sheet 802 and the main body workpiece 801, ensuring the stability of the spring sheet 802 and the main body workpiece 801; finally, the welding and blanking mechanism 70 welds the spring sheet 802 to the main body workpiece 801. After the welding operation is completed, the welding and blanking mechanism 70 transfers the assembly 80 to the folding ear mechanism 60, where the folding ear mechanism 60 breaks off the ear portion 802b, forming the final assembly 80 product.

[0114] The spring sheet pre-assembly welding machine provided by the present invention utilizes a jig mechanism 10, a spring sheet feeding mechanism 20, a main body feeding mechanism 30, an assembly mechanism 40, a cover plate picking and placing mechanism 50, a folding ear mechanism 60, and a welding unloading mechanism 70 to achieve automated welding of spring sheets 802. The specially designed ear portion 802b on the spring sheet 802 facilitates reliable gripping, effectively overcoming the operational difficulties caused by the small size of the spring sheet 802. The cover plate picking and placing mechanism 50 ensures the stability of the spring sheet 802 during the welding process, preventing positional displacement of the spring sheet 802 through clamping and fixing. The welding unloading mechanism 70, in conjunction with the folding ear mechanism 60, can remove the ear portion 802b from the spring sheet 802 after welding, forming the final assembly 80. This achieves fully automated operation, not only improving the efficiency of spring sheet 802 welding but also ensuring product quality and providing a guarantee for large-scale production.

[0115] Reference Figures 3 to 4As shown, in one embodiment of the present invention, the rotating fixture platform includes a support 101, a fixed fixture seat 102, a first movable fixture seat 103, a second movable fixture seat 104, a first driving device 105, and a second driving device 106.

[0116] Specifically, the support 101 is mounted on the X-axis motion module, and the support 101 has a platform 1011 that can pivot around an X-axis. The support 101 is driven to move along the X-axis by the X-axis motion module, thereby realizing the movement of the rotary fixture platform between different positions along the X-axis direction and achieving cooperation with other mechanisms.

[0117] A fixed fixture base 102 is disposed on the platform 1011, and the fixed fixture base 102 has a workpiece position P01 suitable for placing the main workpiece 801. During use, the assembly mechanism 40 can transfer the main workpiece 801 to the workpiece position P01 of the fixed fixture base 102. A positioning structure can be provided on the fixed fixture base 102 to position the main workpiece 801, ensuring that the main workpiece 801 is accurately and stably positioned on the fixed fixture base 102.

[0118] A first movable fixture seat 103 is disposed on the platform 1011, and the first movable fixture seat 103 has a first spring placement position P02 suitable for placing one of the spring pieces 802. A second movable fixture seat 104 is disposed on the platform 1011 and forms a first predetermined angle with the first fixture seat, and the first movable fixture seat 103 has a second spring placement position P03 suitable for placing the other spring piece 802. That is, both the first movable fixture seat 103 and the second movable fixture seat 104 are disposed on the platform 1011, and are arranged at a first predetermined angle. This angle arrangement is adapted to the installation angle of the two spring pieces 802 on the main workpiece 801, that is, the two spring pieces 802 form a certain angle on the main workpiece 801. In addition, positioning structures can also be provided on the first movable fixture seat 103 and the second movable fixture seat 104 to facilitate the positioning of the spring 802 and ensure that the position of the spring 802 on the first movable fixture seat 103 and the second movable fixture seat 104 is accurate and stable.

[0119] A first driving device 105 is connected to a first movable fixture seat 103 and drives the first movable fixture seat 103 to slide toward the fixed fixture seat 102, so that the welding feet of the spring piece 802 are assembled to a first welding position on the main workpiece 801. A second driving device 106 is connected to a second movable fixture seat 104 and drives the second movable fixture seat 104 to slide toward the fixed fixture seat 102, so that the welding feet of the spring piece 802 are assembled to a second welding position on the main workpiece 801.

[0120] The rotary drive device 107 is connected to the platform 1011 to drive the platform 1011 to rotate, thereby switching the first movable fixture seat 103 or the second movable fixture seat 104 to a horizontal state.

[0121] During assembly, firstly, the first movable fixture 103 remains horizontal, while the second fixture is tilted. The assembly mechanism 40 transfers one spring 802 from the spring feeding mechanism 20 onto the first fixture. Then, the rotary drive device 107 drives the platform 1011 to rotate by a certain angle, switching the second fixture to a horizontal position. The assembly mechanism 40 then transfers another spring 802 onto the second fixture. Next, the assembly mechanism 40 moves one main workpiece 801 from the main feeding mechanism 30 onto the fixed fixture 102. Finally, the first drive device 105 pushes the first movable fixture 103 towards the fixed fixture 102, and the second drive device 106 pushes the second movable fixture 104 towards the fixed fixture 102, causing the welding feet of the two springs 802 to move to the corresponding welding positions on the main workpiece 801 on the fixed fixture 102, thus achieving pre-assembly of the two springs 802 with the main workpiece 801. After pre-assembly, the welding blanking mechanism 70 can be used to weld the spring piece 802 to the main workpiece 801.

[0122] In this embodiment, the aforementioned rotary fixture platform enables continuous automated assembly of the spring piece 802. The alternating switching of the first movable fixture seat 103 and the second movable fixture seat 104 ensures that the two spring pieces 802 are transferred sequentially and that the spring pieces 802 are loaded in a horizontal state, improving the reliability and accuracy of the spring piece 802 loading. Furthermore, the sliding design of the first movable fixture seat 103 and the second interactive fixture seat ensures that the spring piece 802 is accurately assembled to the welding position of the main workpiece 801, achieving continuity and reliability throughout the assembly process.

[0123] Reference Figure 5 As shown, in one embodiment of the present invention, the spring sheet feeding mechanism 20 includes a feeding mechanism 201, a transferring mechanism 202, a stamping mechanism 203, a suction mechanism 204, and a flipping mechanism 205. The feeding mechanism 201 is used to load the wound spring sheet material strip. The feeding mechanism 201 may adopt a reel structure for storing and releasing the spring sheet material strip.

[0124] The material transfer mechanism 202 and the material release mechanism 201 are arranged at intervals along the X-axis, and are used to move the spring strip of the material release mechanism 201 along the X-axis, so that the material release mechanism 201 gradually releases the material. For example, the material transfer mechanism 202 includes a feeding cylinder and a lifting gripper. The feeding cylinder can achieve precise stroke control, ensuring that the distance of each movement matches the pitch of the spring strip 802. After the lifting gripper descends, it grabs the spring strip and, driven by the feeding cylinder, moves the elastic strip.

[0125] A stamping mechanism 203 is disposed between the feeding mechanism 201 and the transferring mechanism 202, and is used to punch the spring pieces 802 on the spring strip to form individual spring pieces 802. The elastic strip has spring pieces 802 arranged sequentially. For each pitch movement of the transferring mechanism 202, the stamping mechanism 203 performs one punching operation, which can peel two spring pieces 802 from the spring strip.

[0126] The material suction mechanism 204 is located below the stamping mechanism 203 and can move along the Y-axis to remove the punched spring sheet 802 from the stamping mechanism 203. The material suction mechanism 204 can adopt a vacuum adsorption structure to adsorb the punched spring sheet 802 and remove it from the stamping mechanism 203 to the outside.

[0127] The flipping mechanism 205 and the suction mechanism 204 are arranged at intervals along the X-axis and are movable along the X-axis to grasp the spring piece 802 on the suction mechanism 204 and flip it 180° so that the spring piece 802 faces upward. After the spring piece 802 on the suction mechanism 204 is flipped 180° by the flipping mechanism 205, it is convenient for the assembly mechanism 40 to grasp the spring piece 802. For example, the flipping structure may include an X-axis motion module, a rotary cylinder, and a gripping arm 2051. The rotary cylinder is provided on the X-axis motion module, and the gripping arm 2051 is connected to the rotary cylinder and is driven to rotate by the rotary cylinder. The gripping arm 2051 is provided with a vacuum suction head to use vacuum to suction the spring piece 802.

[0128] In actual operation, firstly, the feeding mechanism 201 releases the material strip, and the transferring mechanism 202 intermittently feeds the material strip to the stamping station; secondly, the stamping mechanism 203 performs the stamping action to separate the individual spring pieces 802 from the material strip; subsequently, the suction mechanism 204 rises to the appropriate position, and through vacuum adsorption, it picks up the stamped spring pieces 802, lowers them, and transfers them to the designated position; finally, the flipping mechanism 205 moves into place, grabs the spring pieces 802, and completes a 180-degree flip, so that the spring pieces 802 maintain the correct orientation.

[0129] The spring feeding mechanism 20 realizes the automated supply of spring 802, solves the operation problem of spring 802 being small and thin, and can ensure the stability and reliability of the feeding process, providing a reliable supply guarantee of spring 802 for subsequent assembly processes.

[0130] Reference Figure 5 As shown, in one embodiment of the present invention, the stamping mechanism 203 includes a stamping die 2031, the bottom of which is provided with a blanking hole.

[0131] The material suction mechanism 204 includes a dual-axis motion module 2041 and a material suction head 2042. The dual-axis motion module 2041 can move in the Y-axis and Z-axis directions. The material suction head 2042 is disposed on the dual-axis motion module 2041, and the top surface of the material suction head 2042 is provided with a positioning groove that matches the spring sheet 802. Under the drive of the dual-axis motion module 2041, the material suction head 2042 can be inserted into the unloading hole, adsorb the punched spring sheet 802 in the positioning groove, and move it out of the stamping mechanism 203.

[0132] In actual operation, the stamping mechanism 203 and the suction mechanism 204 work together. First, the stamping mechanism 203 completes the stamping action of the spring piece 802, and the stamped spring piece 802 will fall through the discharge hole. At the same time, the dual-axis motion module 2041 drives the suction head 2042 to move to the predetermined position, and the suction head 2042 is precisely inserted into the discharge hole through the Z-axis movement. After the spring piece 802 falls into place, the vacuum is activated, and the spring piece 802 is firmly adsorbed through the adsorption hole in the positioning groove. Then, under the control of the dual-axis motion module 2041, the suction head 2042 moves upward along the Z-axis to withdraw from the discharge hole, and then moves the spring piece 802 to the designated position along the Y-axis.

[0133] In this embodiment, the above-mentioned suction mechanism 204 is used, and the dual-axis motion module 2041 drives the suction head 2042 to move, which realizes cooperation with the stamping mechanism 203. This ensures that the spring sheet 802 can be accurately adsorbed on the suction head 2042 after punching and moved out of the stamping mechanism 203. The whole process is stable and orderly, ensuring the reliable supply of the spring sheet 802 and improving the stability and production efficiency of the entire mechanism.

[0134] Reference Figures 6 to 8 As shown, in one embodiment of the present invention, the assembly mechanism 40 includes a first gantry 401, a first main body robot 402, a spring robot 403, and an X-axis fine-tuning device 404.

[0135] The first gantry 401 has a first dual-axis moving arm 4011 and a second dual-axis moving arm 4012, both of which are movable along the Y-axis and Z-axis directions.

[0136] The first main robotic arm 402 is mounted on the first dual-axis moving arm 4011 and is used to grip the main workpiece 801. The first main robotic arm 402 can use a mechanical clamping method, and the gripping structure is adapted to the shape and size of the main workpiece 801 to ensure stable and reliable gripping of the main workpiece 801.

[0137] A spring clip manipulator 403 is mounted on the second dual-axis moving arm 4012 to grasp the spring clip 802. The spring clip manipulator 403 can use a vacuum adsorption method to adsorb and grasp the spring clip 802.

[0138] The X-axis fine-tuning device 404 is mounted on the first dual-axis moving arm 4011 and connected to the first main robot arm 402, for driving the main robot arm to make fine-tuning movements in the X-axis direction. The X-axis fine-tuning device 404 enables fine-tuning of the first main robot arm 402 in the X-axis direction, ensuring that the first main robot arm 402 can more accurately grasp and place the assembly main workpiece 801.

[0139] During operation, the spring piece robot 403, driven by the second dual-axis moving arm 4012, moves to the spring piece 802 feeding position, precisely grasps the spring piece 802 processed by the flipping mechanism 205, and then transfers it to the first movable fixture seat 103 or the second movable fixture seat 104 on the rotary fixture platform. By switching the rotary fixture platform, the assembly of the two spring pieces 802 is completed sequentially. Simultaneously, the first main body robot 402, controlled by the first dual-axis moving arm 4011, moves to the main body feeding position, grasps the main body workpiece 801, and precisely places it on the fixed fixture seat 102. During the grasping and placement process, the X-axis fine-tuning device 404 can precisely adjust the position of the main body workpiece 801 to ensure that its relative position with the spring piece 802 meets the assembly requirements.

[0140] In this embodiment, the assembly mechanism 40 achieves high-precision automated transfer and assembly of the main workpiece 801 and the spring piece 802. The first gantry 401 provides a stable motion platform, while the first dual-axis moving arm 4011, the second dual-axis moving arm 4012, the first main body manipulator 402, and the spring piece manipulator 403 ensure independent transfer and assembly of the spring piece 802 and the main workpiece 801. The X-axis fine-tuning device 404 further improves assembly accuracy and the reliability of the transfer and assembly.

[0141] Reference Figure 7As shown, in one embodiment of the present invention, the first main body robot 402 includes a first pivot seat 4021, a first sliding arm 4022, two gripper parts 4023, a gripper cylinder 4024, a first lifting cylinder 4025, and a first R-axis drive device 4026. The first pivot seat 4021 is mounted on the X-axis fine-tuning device 404, and the first sliding arm 4022 is mounted on the first pivot seat 4021.

[0142] Two gripper members 4023 are horizontally positioned opposite each other at the lower end of the first sliding arm 4022. Each gripper member has two spaced-apart fingers, which correspond one-to-one to form two pairs of gripping fingers. The two pairs of gripping fingers are respectively adapted to grip both ends of the main workpiece 801. This dual-point gripping design not only provides a stable gripping force but also ensures that the main workpiece 801 remains horizontal during gripping, facilitating accurate transfer and assembly.

[0143] The first lifting cylinder 4025 is connected to the first sliding arm 4022 and is used to drive the first sliding arm 4022 to move along the Z-axis. The gripper cylinder 4024 is connected to the two gripper pieces 4023 and is used to drive the two gripper pieces to move relative to each other to grip or release the main workpiece 801. The first R-axis driving device 4026 is connected to the first pivot seat 4021 and is used to drive the first pivot seat 4021 to rotate around the vertically extending R-axis.

[0144] During operation, the first lifting cylinder 4025 adjusts the workpiece to a suitable working height, and then the first R-axis drive device 4026 controls the rotation to a specified angle. When the gripping position is reached, the gripper cylinder 4024 drives the two gripper pieces 4023 to move synchronously, firmly gripping both ends of the main workpiece 801 with two pairs of gripping fingers. Subsequently, driven by the first dual-axis moving arm 4011 and in conjunction with the X-axis fine-tuning device 404, the main workpiece 801 is accurately transported to the workpiece position P01 on the fixed fixture seat 102.

[0145] In this embodiment, the first main robotic arm 402 achieves reliable gripping and precise positioning of the main workpiece 801 through a multi-degree-of-freedom mechanical structure design. The dual-point clamping mechanism ensures the stability of the workpiece, and the R-axis rotation increases the degree of freedom in the assembly process, improving the accuracy and efficiency of the assembly process.

[0146] Reference Figure 8As shown, in one embodiment of the present invention, the spring-loaded robotic arm 403 includes a second pivot seat 4031, a second sliding arm 4032, a suction nozzle 4033, a second lifting cylinder 4034, and a second R-axis drive device 4035. The second pivot seat 4031 is disposed on the second dual-axis moving arm 4012, and the second sliding arm 4032 is disposed on the second pivot seat 4031.

[0147] The suction nozzle 4033 is located at the lower end of the second sliding arm 4032 and is adapted to adsorb the ear portion 802b of the spring piece 802. The second lifting cylinder 4034 is connected to the second sliding arm 4032 and is used to drive the second sliding arm 4032 to move along the Z-axis. The second R-axis driving device 4035 is connected to the second pivot seat 4031 and is used to drive the second pivot seat 4031 to rotate around the vertically extending R-axis.

[0148] During operation, the second dual-axis moving arm 4012 first moves to a position above the feeding position of the spring piece 802. Then, under the control of the second lifting cylinder 4034, the suction nozzle 4033 descends to an appropriate height, and a vacuum is activated to adsorb the ear 802b of the spring piece 802. After confirming reliable adsorption, the second lifting cylinder 4034 drives the suction nozzle 4033 to rise, while the second R-axis drive device 4035 can adjust the angle position of the spring piece 802 as needed. Subsequently, the second dual-axis moving arm 4012 transports the spring piece 802 to the designated placement position on the first movable fixture seat 103 or the second movable fixture seat 104. By precisely controlling the movement of each axis, the accurate placement and positioning of the spring piece 802 is ensured.

[0149] In this embodiment, the shrapnel robot 403 achieves precise grasping, transfer, and positioning of the shrapnel 802. Furthermore, the multi-degree-of-freedom motion control ensures the flexibility and accuracy of the transfer and assembly process, while the coordinated work of each actuator ensures the stability and reliability of the entire operation.

[0150] Reference Figures 9 to 10 and Figure 13 As shown, in one embodiment of the present invention, the cover plate picking and placing mechanism 50 includes a cover plate 501, a dual-axis motion platform 502, a carrier plate 503, an elastic floating pressure plate 504, a positioning clamping arm mechanism 505, and an unlocking mechanism 506. The top surface of the cover plate 501 is provided with a welding clearance hole, and the two sides of the cover plate 501 are provided with elastic sliding buckles 5011. The first movable fixture seat 103 is provided with a locking buckle that can lock with the elastic sliding buckle 5011.

[0151] The dual-axis motion platform 502 is capable of moving in the Y and Z axes. A carrier plate 503 is mounted on the dual-axis motion platform 502. An elastic floating pressure plate 504 is located below the carrier plate 503 and can elastically float relative to the carrier plate 503 in the Z-axis direction to press against the cover plate 501. Driven by the dual-axis motion platform 502, the elastic floating pressure plate 504 can move to a position directly above the first movable fixture seat 103.

[0152] The positioning clamping arm mechanism 505 is located on both sides of the elastic floating pressure plate 504 and can open and close to clamp or release the cover plate 501. The positioning clamping arm mechanism 505 can clamp the cover plate 501, thereby facilitating the movement of the cover plate 501 above the first movable fixture seat 103. After the cover plate 501 is engaged with the first movable fixture seat 103, the positioning clamping arm mechanism 505 can be released from the cover plate 501.

[0153] The unlocking mechanism 506 is located on both sides of the elastic floating pressure plate 504 and can push the elastic sliding lock 5011 to move horizontally, thereby releasing the cover plate 501 from the locking buckle on the first movable fixture seat 103. After the cover plate 501 is engaged with the first movable fixture seat 103, the cover plate 501 presses the spring 802 and the main workpiece 801, and then the welding blanking mechanism 70 welds the welding feet of the spring 802 on the second movable fixture seat 104 through the welding clearance hole on the cover plate 501. After welding is completed, the cover plate 501 needs to be removed again using the cover plate pick-and-place mechanism 50. At this time, the unlocking mechanism 506 needs to be used to unlock the elastic sliding lock 5011 on the cover plate 501. After unlocking, the cover plate 501 can be picked up and removed by the positioning clamping arm mechanism 505.

[0154] During the operation, in the stage of retrieving the cover plate 501, the dual-axis motion platform 502 first moves the entire mechanism assembly to the position of the cover plate 501. Then, a downward movement along the Z-axis brings the elastic floating pressure plate 504 close to the cover plate 501. When the elastic floating pressure plate 504 contacts the top surface of the cover plate 501, the pressure plate undergoes moderate elastic deformation in the Z-axis direction, applying a suitable preload to the cover plate 501. This preload effectively ensures the positional stability of the cover plate 501 in subsequent operations. Next, the positioning clamping arm mechanisms 505 on both sides of the elastic floating pressure plate 504 begin clamping, forming a stable mechanical clamping effect on the cover plate 501. Simultaneously, the unlocking mechanism 506 pushes the elastic sliding latches 5011 on both sides of the cover plate 501 to move horizontally, separating them from the locking latches on the first movable fixture seat 103, thereby releasing the locking state of the cover plate 501. Once the lock is released, the dual-axis motion platform 502 moves upward along the Z-axis, causing the cover plate 501, which has been firmly clamped, to detach from its original position, thus separating it from the second movable fixture and removing it.

[0155] During the cover plate placement stage 501, the dual-axis motion platform 502 first moves the clamped cover plate 501 above the second movable fixture seat 104. Then, through a downward movement along the Z-axis, the cover plate 501 gradually approaches the second movable fixture seat 104. When the cover plate 501 reaches the appropriate position, the elastic sliding latches 5011 on both sides precisely align and engage with the locking latches at the target position. At this point, the positioning clamping arm mechanism 505 performs a release action, releasing the clamp on the cover plate 501. Finally, the dual-axis motion platform 502 performs a retraction action, moving upward along the Z-axis to completely disengage the mechanism from the cover plate 501, and then returning to the standby position via a Y-axis movement, completing the entire pick-and-place cycle.

[0156] Through the above working process, the cover plate picking and placing mechanism 50 combines the precise control of the dual-axis motion platform 502 with the buffering effect of the elastic floating pressure plate 504 to ensure the stability and reliability of the entire picking and placing process; in addition, the coordinated cooperation of the positioning clamping arm mechanism 505 and the unlocking mechanism 506 realizes the stable clamping and convenient unlocking of the cover plate 501.

[0157] For example, the positioning clamping arm mechanism 505 may include two clamping arms and a first driving cylinder that drives the two clamping arms to move relative to each other. The first driving cylinder drives the two clamping arms to move relative to each other to clamp the cover plate 501. To improve clamping stability, positioning holes can be provided on opposite sides of the cover plate 501, and positioning protrusions can be provided on the two clamping arms. When the two clamping arms clamp the opposite sides of the cover plate 501, the positioning protrusions are inserted into the positioning holes, ensuring a more stable and reliable clamping. The unlocking mechanism 506 may include two unlocking arms and a second driving cylinder. The second driving cylinder drives the two unlocking arms to move relative to each other. When the two unlocking arms move inward, they push the two elastic sliding latches 5011 to move relative to each other, thereby releasing the locking state.

[0158] Reference Figure 14 As shown, in one embodiment of the present invention, the folding ear mechanism 60 includes a positioning platform 601, a pressing mechanism 602, a first rotating clamp 603, a second rotating clamp 604, a third driving device 605, and a fourth driving device 606. The positioning platform 601 has a placement position suitable for placing the assembly 80. The size and shape of the placement position are adapted to the assembly 80, which can ensure the positioning accuracy of the assembly 80 during the placement process.

[0159] A clamping mechanism 602 is disposed on the outer side of the positioning platform 601 to clamp and fix the assembly 80 in the placement position. Exemplarily, the clamping mechanism 602 includes two rotating arms and a third drive cylinder. The two rotating arms are respectively arranged on both sides of the positioning platform 601, and the third drive cylinder drives the two rotating arms to rotate, so that when the rotating arms rotate inward toward the positioning platform 601, the upper ends of the two rotating arms can respectively clamp onto the two ends of the assembly 80.

[0160] A first rotating clamp 603 is located on one side of the positioning platform 601 and is capable of clamping and rotating the ear portion 802b on one of the spring pieces 802 to break off the ear portion 802b. A second rotating clamp 604 is located on the other side of the positioning platform 601 and is capable of clamping and rotating the ear portion 802b on another spring piece 802 to break off the ear portion 802b. The second rotating clamp 604 and the first rotating clamp 603 form a second predetermined angle, which is equal to the first predetermined angle.

[0161] The third drive device 605 is connected to the first rotary clamp 603 and is used to drive the first rotary clamp 603 to move closer to or away from the positioning table 601. The fourth drive device 606 is connected to the second rotary clamp 604 and is used to drive the second rotary clamp 604 to move closer to or away from the positioning table 601.

[0162] During the operation, the assembly 80 is first placed on the placement position of the positioning table 601 by the welding unloading robot, and then fixed by the clamping mechanism 602. Subsequently, the third drive device 605 and the fourth drive device 606 drive the first rotary clamp 603 and the second rotary clamp 604 to move towards the positioning table 601 until the first rotary clamp 603 and the second rotary clamp 604 are accurately positioned at the position of the ear part 802b to be broken off. Then, the first rotary clamp 603 and the second rotary clamp 604 simultaneously clamp their respective ear parts 802b and rotate them. Through deformation under force, the ear part 802b is broken off at the predetermined position and discarded, completing the entire ear-folding process.

[0163] Through the above design, the folding mechanism 60, through the cooperation of the positioning platform 601 and the clamping mechanism 602, ensures the stability of the assembly 80 during the folding process; while the cooperation of the first rotating clamp 603, the second rotating clamp 604, the third driving device 605, and the fourth driving device 606 ensures that the folding operation is completed automatically, and the operation process is stable and reliable.

[0164] Reference Figures 11 to 12As shown, in one embodiment of the present invention, the welding unloading mechanism 70 includes a second gantry 701, a welding robot 702 and a second main robot 703. The second gantry 701 has a third dual-axis moving arm 7011 and a fourth dual-axis moving arm 7012, both of which are movable along the Y-axis and Z-axis directions.

[0165] A welding robot 702 is mounted on the third dual-axis moving arm 7011 and is used to weld the spring piece 802 to the main workpiece 801. A second main robot 703 is mounted on the fourth dual-axis moving arm 7012 and is used to grasp and transfer the assembly 80, and transfer the welded assembly 80 to the folding lug mechanism 60.

[0166] In this embodiment, a welding robot 702 is used to weld the spring piece 802. After welding is completed, the second main robot 703 is used to transfer the assembly 80 to the folding mechanism 60. This ensures that the whole process is more orderly and improves the overall efficiency.

[0167] In the description of this specification, the references to terms such as "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of the present invention. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples. Moreover, without contradiction, those skilled in the art can combine and integrate the different embodiments or examples described in this specification, as well as the features of different embodiments or examples.

[0168] The above description is merely a preferred embodiment of the present invention and does not limit the patent scope of the present invention. Any equivalent structural transformations made using the contents of the present invention's specification and drawings under the inventive concept of the present invention, or direct / indirect applications in other related technical fields, are included within the patent protection scope of the present invention.

Claims

1. A spring-loaded pre-assembly welding machine for welding two springs onto a main workpiece, characterized in that, The spring includes a body and an ear attached to the body for gripping; the body has a welding foot; the spring pre-assembly welding machine includes: A fixture mechanism, comprising an X-axis motion module and a rotary fixture platform mounted on the X-axis motion module; A spring feeding mechanism is provided at one end of the X-axis motion module and located on one side of the X-axis motion module, for providing the spring; A main feeding mechanism is provided at one end of the X-axis motion module and on the other side of the X-axis motion module to provide the main workpiece; An assembly mechanism is configured adjacent to the fixture mechanism for transferring springs from the spring feeding mechanism to the rotary fixture platform and transferring the main workpiece from the main body feeding mechanism to the rotary fixture platform. A cover plate picking and placing mechanism is provided at the other end of the X-axis motion module. It is used to press and fix the two spring plates and the main workpiece on the rotating fixture platform after the welding feet of the two spring plates are assembled to the predetermined positions on the main workpiece. A folding mechanism is provided at the other end of the X-axis motion module and located on one side of the X-axis motion module, for breaking off and removing the ears of the two spring pieces after the two spring pieces are welded to the main body workpiece; A welding and blanking mechanism is located at the other end of the X-axis motion module. It is used to weld the spring piece and the main workpiece to form an assembly. After welding, the assembly is transferred to the folding ear mechanism so that the ear part of the spring piece can be broken off and removed by the folding ear mechanism. The rotary fixture platform includes: The support is mounted on the X-axis motion module and has a platform that can pivot around the X-axis. A fixed fixture base is provided on the platform, and the fixed fixture base has a workpiece position suitable for placing the main workpiece; A first movable fixture base is provided on a platform, and the first movable fixture base has a first spring placement position suitable for placing a spring; The second movable fixture is disposed on the platform and forms a first predetermined angle with the first movable fixture. The second movable fixture has a second spring placement position suitable for placing another spring. The first driving device is connected to the first movable fixture seat to drive the first movable fixture seat to slide towards the fixed fixture seat so that the welding feet of the spring are assembled to the first welding position on the main workpiece. The second driving device is connected to the second movable fixture seat and is used to drive the second movable fixture seat to slide towards the fixed fixture seat so that the welding feet of the spring are assembled to the second welding position on the main workpiece. A rotary drive device is connected to the stage to drive the stage to rotate, thereby switching the first movable fixture seat or the second movable fixture seat to a horizontal state.

2. The spring sheet pre-assembly welding machine according to claim 1, characterized in that, The spring feeding mechanism includes: The feeding mechanism is used to load the wound spring strip material; A material transfer mechanism is provided, which is arranged at intervals with the material feeding mechanism in the X-axis direction. It is used to move the spring strip of the material feeding mechanism along the X-axis direction and to make the material feeding mechanism gradually feed the material. A stamping mechanism, disposed between the feeding mechanism and the transferring mechanism, is used to punch the spring sheets on the spring sheet strip to form individual spring sheets; A material suction mechanism is provided below the stamping mechanism and can move along the Y-axis to remove the spring sheet punched by the stamping mechanism from the stamping mechanism; A flipping mechanism is arranged at intervals with the suction mechanism in the X-axis direction and can move along the X-axis direction to grab the spring on the suction mechanism and flip it 180° so that the spring faces upward.

3. The spring sheet pre-assembly welding machine according to claim 2, characterized in that, The stamping mechanism includes a stamping die, and the bottom of the stamping die is provided with a blanking hole; The material suction mechanism includes a dual-axis motion module and a material suction head. The dual-axis motion module can move along the Y-axis and Z-axis directions. The material suction head is disposed on the dual-axis motion module, and the top surface of the material suction head is provided with a positioning groove adapted to the spring sheet. Under the drive of the dual-axis motion module, the material suction head can be inserted into the unloading hole, adsorb the punched spring sheet in the positioning groove, and move it out of the stamping mechanism.

4. The spring sheet pre-assembly welding machine according to claim 1, characterized in that, The assembly mechanism includes: A first gantry crane, the first gantry crane having a first dual-axis moving arm and a second dual-axis moving arm, both the first dual-axis moving arm and the second dual-axis moving arm being movable along the Y-axis and Z-axis directions; The first main robotic arm is mounted on the first dual-axis moving arm and is used to grasp the main workpiece; A shrapnel manipulator, which is mounted on the second dual-axis movable arm, is used to grasp the shrapnel; The X-axis fine-tuning device is mounted on the first dual-axis moving arm and connected to the main manipulator, and is used to drive the first main manipulator to make fine-tuning movements in the X-axis direction.

5. The spring sheet pre-assembly welding machine according to claim 4, characterized in that, The first main robotic arm includes a first pivot seat, a first sliding arm, two grippers, a gripper cylinder, a first lifting cylinder, and a first R-axis drive device. The first pivot seat is mounted on the X-axis fine-tuning device, and the first sliding arm is mounted on the first pivot seat. Two gripper pieces are arranged opposite each other in the horizontal direction at the lower end of the first sliding arm. Each gripper piece has two spaced fingers. The fingers on the two gripper pieces correspond one-to-one to form two pairs of gripping fingers. The two pairs of gripping fingers are respectively adapted to grip both ends of the main workpiece. The first lifting cylinder is connected to the first sliding arm to drive the first sliding arm to move along the Z-axis. The gripper cylinder is connected to the two gripper components to drive the two gripper components to move relative to each other to grip or release the main workpiece. The first R-axis drive device is connected to the first pivot seat to drive the first pivot seat to rotate around the vertically extending R-axis.

6. The spring sheet pre-assembly welding machine according to claim 4, characterized in that, The spring-loaded robotic arm includes a second pivot seat, a second sliding arm, a suction nozzle, a second lifting cylinder, and a second R-axis drive device. The second pivot seat is mounted on the second dual-axis movable arm, and the second sliding arm is mounted on the second pivot seat. The suction nozzle is located at the lower end of the second sliding arm and is adapted to adsorb the ear of the spring piece. The second lifting cylinder is connected to the second sliding arm to drive the second sliding arm to move along the Z-axis. The second R-axis drive device is connected to the second pivot seat to drive the second pivot seat to rotate around the vertically extending R-axis.

7. The spring sheet pre-assembly welding machine according to claim 1, characterized in that, The cover plate loading and unloading mechanism includes: The cover plate has a welding clearance hole on its top surface and elastic sliding latches on both sides of the cover plate. The first movable fixture seat has a locking latch that can lock with the elastic sliding latches. A dual-axis motion platform capable of moving in the Y and Z axes; A carrier plate, which is disposed on the dual-axis motion platform; An elastic floating pressure plate is disposed below the carrier plate and can elastically float relative to the carrier plate in the Z-axis direction to press against the cover plate. A positioning clamping arm mechanism is provided on both sides of the elastic floating pressure plate and is capable of opening and closing to clamp or release the cover plate. The unlocking mechanism is located on both sides of the elastic floating pressure plate and can push the elastic sliding lock to move horizontally, so as to release the cover plate from the locking buckle on the first movable fixture seat.

8. The spring sheet pre-assembly welding machine according to claim 1, characterized in that, The folding mechanism includes: A positioning platform having a placement position suitable for placing the assembly; A clamping mechanism is provided on the outside of the positioning table to clamp and fix the assembly to the placement position; The first rotating clamp is located on one side of the positioning platform and is capable of clamping an ear on one of the spring pieces and rotating to break off the ear. The second rotating clamp is located on the other side of the positioning platform and is capable of clamping the ear on another spring and rotating to break off the ear. The second rotating clamp and the first rotating clamp form a second predetermined angle, which is equal to the first predetermined angle. A third driving device is connected to the first rotary clamp to drive the first rotary clamp to move closer to or away from the positioning table. A fourth driving device is connected to the second rotary clamp to drive the second rotary clamp to move closer to or away from the positioning table.

9. The spring sheet pre-assembly welding machine according to claim 1, characterized in that, The welding blanking mechanism includes: The second gantry crane has a third dual-axis moving arm and a fourth dual-axis moving arm, both of which are movable along the Y-axis and Z-axis directions. A welding robot arm, mounted on the third dual-axis moving arm, is used to weld the spring sheet to the main workpiece; The second main robotic arm, mounted on the fourth dual-axis moving arm, is used to grasp and transfer the assembly.

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