Frame welding device and welding method

Abstract

The invention relates to the technical field of welding devices, and proposes a frame welding device and a welding method. The device and a welding method adopt a mode of creating a centrifugal environment for frame welding, apply centrifugal force to the welding molten pool, form auxiliary control on the flow direction of the molten pool, improve the structural tightness of the weld, and improve the welding quality. The device and a welding method adopt a form of automatic loading without stopping the machine. During the loading and unloading process, the impact on the frame welding operation is small, and the welding efficiency is ensured while being more practical. The device and a welding method include a welding gun and a frame structure. The frame structure includes a supporting frame, a rotating cylinder and a rotating frame. The rotating cylinder and the rotating frame are both rotatably connected in the supporting frame, and the rotating cylinder and the rotating frame are rotatably matched. A first servo motor and a second servo motor are installed in the supporting frame. The first servo motor is used for rotationally driving the rotating cylinder, and the second servo motor is used for rotationally driving the rotating frame. Two vertically mounted rotating frames are rotatably connected in the rotating cylinder, and positioning fixtures can be detachably installed in both vertically mounted rotating frames.

Description

Technical Field

[0001] The invention relates to the technical field of welding devices, and in particular to a vehicle frame welding device and a welding method. Background Art

[0002] As we all know, the frame is the skeleton of the vehicle body, which bears the main load of the vehicle body. It can be said that the quality of the frame basically determines the quality of the vehicle body. In most cases, the frame is welded with parts such as longitudinal beams and cross beams, so the welding quality between the parts also determines the quality of the frame. In order to facilitate the welding operation of the frame and improve the welding quality of the frame, we propose a frame welding device and a welding method.

[0003] After searching, the Chinese patent publication number CN118455798A discloses a frame welding device, which is roughly described as including a manipulator, a laser welding head, a bracket, a rotating structure, a wiring structure, a welding table, a mounting hole, a docking tool, a fixed tool and a frame. The fixed tool is installed in the mounting hole of the welding table through the docking tool. The welding table is connected to the bracket through the rotating structure. The internal cables of the fixed tool are stored in the wiring structure through the docking tool. The cables are stored through the wiring structure. When in use, the position of the fixed tool is adjusted according to the size and shape of the frame, and the frame is clamped and installed by the fixed tool. After that, the laser welding head is driven to move relative to the frame by the operation of the manipulator to realize the welding operation of the frame. The Chinese patent publication number CN118664229A discloses a subframe welding device, which is roughly described as follows: The invention comprises a positioning device and a clamp, wherein the positioning device comprises a first mounting platform, a driving mechanism and two positioning mechanisms slidably arranged on the first mounting platform, the positioning mechanism comprises a connecting piece, the connecting pieces of the two positioning mechanisms are arranged relatively to each other, the driving mechanism drives the two positioning mechanisms to be closer to or farther away from each other, the clamp comprises a clamp body and a clamping assembly arranged on the clamp body, the clamp body comprises a positioning piece cooperating with a bushing hole of a sub-frame, the clamping assembly is used to clamp the sub-frame to the clamp body, the clamp body comprises a connecting hole cooperating with the connecting piece, and when in use, the positioning piece on the clamp body cooperates with the bushing hole of the sub-frame, and the sub-frame is clamped by the clamping assembly, so that the sub-frame is fixed to the clamp body, the position of the clamp is positioned by the positioning device, so that the position of the sub-frame on the clamp is positioned, and after the positioning is completed, the welding operation of the sub-frame is realized by dragging the welding gun by the welding robot.

[0004] Although the above two sets of existing technical solutions can both realize the auxiliary welding operation of the frame, they are similar to a certain extent, that is, both of them use a rotatable workbench to clamp and position the frame, and use a welding gun to realize the welding operation after the frame is clamped and positioned. The angle of the frame can be adjusted during the welding process, but the welding state of both is an open welding form. During the welding process, the corresponding welding molten pool only bears the binding force between molecules and its own gravity. The welding tightness needs to be further improved, and the welding quality needs to be further improved. Summary of the invention

[0005] In view of the shortcomings of the prior art, the present invention provides a frame welding device and a welding method, which adopt a mode of creating a centrifugal environment for frame welding, apply centrifugal force to the welding molten pool, form auxiliary control on the flow direction of the molten pool, improve the structural tightness of the weld, and further improve the welding quality. In addition, the device and method adopt the form of automatic loading without stopping the machine. During the loading and unloading process, the impact on the frame welding operation is small, which ensures the welding efficiency and is more practical.

[0006] To achieve the above-mentioned purpose, the present invention provides the following technical solutions: a vehicle frame welding device, comprising a welding gun and a frame structure, wherein the frame structure comprises a supporting frame, a rotating cylinder and a rotating frame, wherein the rotating cylinder and the rotating frame are both rotatably connected in the supporting frame, and the rotating cylinder and the rotating frame are rotatably matched, a first servo motor and a second servo motor are installed in the supporting frame, the first servo motor is used for rotationally driving the rotating cylinder, and the second servo motor is used for rotationally driving the rotating frame, two vertically mounted rotating frames are rotatably connected in the rotating cylinder, positioning fixtures are detachably installed in the two vertically mounted rotating frames, and two A third servo motor, the two third servo motors are respectively used for the rotation drive and control of the two vertically mounted rotating frames, a rotating column frame is rotatably connected in the support frame, a fourth servo motor is installed in the support frame, the fourth servo motor is used for the rotation drive of the rotating column frame, a lifting frame is slidably connected to the rotating column frame, a driving structure for driving the lifting frame to move is installed on the rotating column frame, an adjusting grasping assembly is installed on the lifting frame, the adjusting grasping assembly is detachably connected to the positioning fixture, a mechanical arm is installed on the top of the rotating frame, the welding gun is installed at the execution end of the mechanical arm, and a machine identification system is installed at the execution end of the mechanical arm.

[0007] Preferably, the adjustment grabbing assembly includes a suspension frame, on which two upper parallel rods and two lower parallel rods are rotatably connected, the two upper parallel rods and the two lower parallel rods are all connected to the lifting frame, and a fifth servo motor is installed on the lifting frame, an open gear ring is installed on the output shaft of the fifth servo motor, the open gear ring is meshed with a fan-shaped gear, the fan-shaped gear is fixedly connected to one of the two lower parallel rods, and the positioning fixture matches the suspension frame.

[0008] Preferably, two lower connecting shafts are fixedly connected to the lifting frame, and lower connecting holes are opened on the two lower parallel rods. The two lower connecting shafts are respectively rotatably connected in the two lower connecting holes. An electric lifting rod is installed on the lifting frame, and the lifting rod of the electric lifting rod is connected to a synchronous frame. The synchronous frame is rotatably connected to two driving rods, and the two driving rods are rotatably connected to the upper connecting shaft. The two lower connecting shafts are rotatably connected to two transmission rods, and the two transmission rods are rotatably connected to the lifting frame. The two lower parallel rods are respectively rotatably connected to the two lower connecting shafts.

[0009] Preferably, the positioning fixture is fixedly connected to an iron frame on the outside, a plurality of electromagnets matching the iron frame are installed in the suspension frame and the two vertically mounted rotating frames, a plurality of inner extension frames are fixedly connected in the suspension frame and the two vertically mounted rotating frames, an open mounting cavity is opened in the plurality of inner extension frames, and pressure sensors are installed in the plurality of open mounting cavities.

[0010] Preferably, a plurality of the open mounting cavities are fixedly connected with coil springs, a plurality of the coil springs are fixedly connected with detection columns, the plurality of detection columns are respectively slidably matched with the plurality of the open mounting cavities, and the plurality of detection columns are respectively matched with the plurality of pressure sensors.

[0011] Preferably, the driving structure includes a sixth servo motor and a vertical screw, the sixth servo motor is installed at the top of the rotating column frame, the vertical screw is rotatably connected in the rotating column frame, a threaded barrel is threadedly connected on the vertical screw, and the threaded barrel is fixedly connected in the lifting frame.

[0012] Preferably, a driving gear is installed on the output shaft of the first servo motor and the output shaft of the second servo motor, and a driven gear ring is fixedly connected to the outside of the rotating cylinder and the outside of the rotating frame, and the two driving gears are respectively meshed with the two driven gear rings.

[0013] Preferably, two first hanging support plates and two second hanging support plates are fixedly connected in the rotating cylinder, the two vertically mounted rotating frames are rotatably connected to the two first hanging support plates respectively, and the two vertically mounted rotating frames are rotatably connected to the two second hanging support plates respectively.

[0014] Preferably, two guide bars are fixedly connected to the lifting frame, two guide grooves are provided on the synchronous frame, and the two guide bars are slidably connected to the two guide grooves respectively.

[0015] A welding operation method of a frame welding device comprises the following steps:

[0016] S1. Before use, first complete the fixed installation of the frame welding device, and at the same time, install the welding machine for the welding gun, and form the electrical equipment of the frame welding device and the welding machine. The first servo motor and the second servo motor are powered on to drive the rotation of the rotating cylinder and the rotating frame respectively. In the process of the rotation of the rotating cylinder and the rotating frame, by controlling the running speed of the first servo motor and the second servo motor, the same speed rotation and differential speed rotation of the rotating cylinder and the rotating frame can be achieved, so that the welding gun on the robot arm forms a matching adjustment relative to the positioning fixture;

[0017] S2, the fourth servo motor is powered on to realize the rotation of the rotating column frame, so that the lifting frame forms the same rotation speed as the rotating cylinder, and the grabbing assembly and the rotating cylinder are adjusted to rotate at the same speed, that is, the relative rotation of the grabbing assembly and the rotating cylinder is adjusted to be stationary, and then the driving structure is operated to control the lifting frame to fall with reference to the rotating column frame, that is, the lifting frame enters the rotating cylinder, the grabbing assembly is adjusted to operate to remove the positioning fixture in the vertical rotating frame, and then the driving structure is operated to make the lifting frame extend from the rotating cylinder, and the positioning fixture is controlled to extend with reference to the rotating cylinder;

[0018] S3, after the positioning fixture is completely extended out of the rotating cylinder, the fourth servo motor is controlled to stop running to achieve the stationary state of the adjusting grabbing assembly, and then the positioning fixture inside is made to enter a horizontal state by adjusting the grabbing assembly, that is, the positioning fixture first stops rotating and then enters a horizontal state from an upright state, and the parts corresponding to the frame to be welded are completely and matchedly installed on the positioning fixture in the adjusting grabbing assembly, and then the adjusting grabbing assembly is controlled to move to transport the positioning fixture with the frame installed into the vertical rotating frame where it was originally located, and then the adjusting grabbing assembly is retreated away with reference to the corresponding vertical rotating frame, and the rotating frame is differentially rotated with reference to the rotating cylinder, so that the mechanical arm enters a welding position matching the frame, and the operation of the mechanical arm drives the welding gun thereon to perform a welding operation on the frame;

[0019] S4. During the welding operation, according to the welding requirements, the third servo motor is powered on to realize the rotation adjustment of the vertically mounted rotating frame in the rotating cylinder, so as to facilitate the adjustment of the welding angle between the welding gun and the welded frame, and realize the welding of the frame. After the welding is completed, the rotating frame is controlled to form a differential rotation with reference to the rotating cylinder, so that the robot arm moves away with reference to the welded frame, and the gripping assembly is adjusted to move into the rotating cylinder again, and the positioning fixture corresponding to the welded frame is removed, and finally the welded frame is removed relative to the positioning fixture;

[0020] S5. When the welding gun is welding, the machine recognition system identifies the welding gap, and based on the welding operation program pre-stored in the robot arm, the welding trajectory is specifically corrected and optimized. Since there are two vertical rotating frames in the rotating cylinder, there are also two installation positions for the positioning fixture. Therefore, in the process of the welding gun welding the frame, the other positioning fixture can be clamped and installed by adjusting the operation of the grabbing component, and the operation and movement of the grabbing component can also be adjusted to achieve the movement of the other positioning fixture into the vertical rotating frame where it was originally located, so as to facilitate the continuous welding operation of the frame while maintaining the rotating operation of the rotating cylinder, optimize the steps of repeatedly rotating, starting and stopping the rotating cylinder during welding, and ensure production efficiency.

[0021] Compared with the prior art, the present invention provides a frame welding device and a welding method, which have the following beneficial effects:

[0022] (1) In the present invention, a welding environment creating structure of the frame welding device is formed through the design of the frame structure. The frame adopts a mode of creating a centrifugal environment for frame welding, applies centrifugal force to the welding molten pool, and forms auxiliary control on the flow direction of the molten pool, thereby improving the structural tightness of the weld and further improving the welding quality.

[0023] (2) In the present invention, a loading structure is formed during the loading frame welding operation by cooperating with the lifting frame, the driving structure and the adjusting grabbing assembly, and the loading is carried out automatically without stopping the machine. During the loading and unloading process, the impact on the frame welding operation is small, thereby ensuring the welding efficiency.

[0024] (3) In the present invention, the robot arm and the machine identification system are equipped, which facilitates the installation of the welding gun and can also form autonomous identification and active correction according to the weld trajectory during the frame welding operation, which is more practical. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] Figure 1 It is a schematic diagram of the overall three-dimensional structure of the present invention;

[0026] Figure 2 For the present invention Figure 1 A schematic diagram of the local enlarged structure at point A in the middle;

[0027] Figure 3 For the present invention Figure 1 A schematic diagram of the local enlarged structure at B in the middle;

[0028] Figure 4 It is a schematic diagram of the three-dimensional structure of the rotating column frame, the fourth servo motor and the lifting frame of the present invention;

[0029] Figure 5It is a schematic diagram of the three-dimensional structure of the rotating cylinder, the third servo motor and the first suspension support plate of the present invention;

[0030] Figure 6 It is a partially cutaway three-dimensional structural schematic diagram of the cooperation of the vertically mounted rotating frame, the electromagnet and the inner extension frame of the present invention;

[0031] Figure 7 For the present invention Figure 6 A schematic diagram of the local enlarged structure at C in the middle;

[0032] Figure 8 It is a schematic diagram of the three-dimensional structure of the lifting frame, the lower connecting shaft and the threaded cylinder of the present invention;

[0033] Fig. 9 It is a schematic diagram of the three-dimensional structure of the synchronous frame of the present invention;

[0034] Fig.10 It is a schematic diagram of the three-dimensional structure of the rotating cylinder, the electromagnet and the second suspension support plate of the present invention;

[0035] Fig.11 It is a schematic diagram of the three-dimensional structure of the welding gun, rotating frame and mechanical arm of the present invention;

[0036] Fig.12 It is a schematic diagram of the three-dimensional structure of the present invention as a whole from the rear side;

[0037] Fig.13 It is a schematic diagram of the three-dimensional structure of the suspension frame of the present invention adjusted to a horizontal state;

[0038] Fig.14 It is a schematic diagram of the overall three-dimensional structure of the present invention when viewed from above.

[0039] In the figure: 1, welding gun; 2, support frame; 3, rotating cylinder; 4, rotating frame; 5, first servo motor; 6, second servo motor; 7, vertical rotating frame; 8, positioning fixture; 9, third servo motor; 10, rotating column frame; 11, fourth servo motor; 12, lifting frame; 13, mechanical arm; 14, machine identification system; 15, hanging frame; 16, upper parallel rod; 17, lower parallel rod; 18, fifth servo motor; 19, sector gear; 20, open gear ring; 21, lower connecting shaft; 22 , lower connecting hole; 23, electric lifting rod; 24, synchronous frame; 25, driving rod; 26, upper connecting shaft; 27, transmission rod; 28, iron frame; 29, electromagnet; 30, inner extension frame; 31, opening mounting cavity; 32, pressure sensor; 33, coil spring; 34, detection column; 35, sixth servo motor; 36, vertical screw; 37, threaded cylinder; 38, driving gear; 39, driven gear ring; 40, first suspension plate; 41, second suspension plate; 42, guide strip; 43, guide groove. DETAILED DESCRIPTION

[0040] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0041] For examples, see Figure 1-Figure 14 A vehicle frame welding device includes a welding gun 1 and a frame structure. The frame structure includes a support frame 2, a rotating cylinder 3 and a rotating frame 4. The rotating cylinder 3 and the rotating frame 4 are both rotatably connected in the support frame 2, and the rotating cylinder 3 and the rotating frame 4 are rotatably matched. A first servo motor 5 and a second servo motor 6 are installed in the support frame 2. A driving gear 38 is installed on the output shaft of the first servo motor 5 and the output shaft of the second servo motor 6. A driven gear ring 39 is fixedly connected to the outside of the rotating cylinder 3 and the outside of the rotating frame 4. The two driving gears 38 are respectively meshed with the two driven gear rings 39. The first servo motor 5 is used for rotational driving of the rotating cylinder 3, and the second servo motor 6 is used for rotational driving of the rotating frame 4. Through the design of the frame structure, the welding environment of the vehicle frame welding device is created. The structure adopts a mode of creating a centrifugal environment for frame welding, applies centrifugal force to the welding molten pool, and forms auxiliary control on the flow direction of the molten pool, thereby improving the structural tightness of the weld and further improving the welding quality. Two vertically mounted rotating frames 7 are rotatably connected in the rotating cylinder 3, and two first hanging support plates 40 and two second hanging support plates 41 are fixedly connected in the rotating cylinder 3. The two vertically mounted rotating frames 7 are rotatably connected to the two first hanging support plates 40 respectively, and the two vertically mounted rotating frames 7 are rotatably connected to the two second hanging support plates 41 respectively. Positioning fixtures 8 can be detachably installed in the two vertically mounted rotating frames 7 for the installation of frame components. The specific image in the attached drawing of this embodiment shows a flat plate frame with holes. When the frame components are installed, other specific auxiliary positioning structures can be enriched according to the structure of the specific components.

[0042] It should be further explained that two third servo motors 9 are installed in the rotating cylinder 3, and the two third servo motors 9 are respectively used for the rotation drive and control of the two vertically mounted rotating frames 7. A rotating column frame 10 is rotatably connected in the support frame 2, and a fourth servo motor 11 is installed in the support frame 2. The fourth servo motor 11 is used for the rotation drive of the rotating column frame 10. A lifting frame 12 is slidably connected to the rotating column frame 10, and two guide bars 42 are fixedly connected to the lifting frame 12. Two guide grooves 43 are provided on the synchronous frame 24, and the two guide bars 42 are respectively slidably connected to the two guide grooves 43. A driving structure for driving the movement of the lifting frame 12 is installed on the rotating column frame 10, and the driving structure includes a sixth servo motor 35 and a vertical screw 36. The sixth servo motor 35 is installed at the top of the rotating column frame 10, and the vertical screw 36 is rotatably connected in the rotating column frame 10. The vertical screw 36 has a thread A threaded barrel 37 is connected, and the threaded barrel 37 is fixedly connected in the lifting frame 12. An adjusting grabbing assembly is installed on the lifting frame 12, and the adjusting grabbing assembly includes a suspension frame 15. Two upper parallel rods 16 and two lower parallel rods 17 are rotatably connected to the suspension frame 15. The two upper parallel rods 16 and the two lower parallel rods 17 are all connected to the lifting frame 12, and a fifth servo motor 18 is installed on the lifting frame 12. An open gear ring 20 is installed on the output shaft of the fifth servo motor 18. The open gear ring 20 is meshed with a fan gear 19. The fan gear 19 is fixedly connected to one of the two lower parallel rods 17. The positioning fixture 8 matches the suspension frame 15. Two lower connecting shafts 21 are fixedly connected to the lifting frame 12. Lower connecting holes 22 are opened on the two lower parallel rods 17. The two lower connecting shafts 21 are rotatably connected in the two lower connecting holes 22 respectively.

[0043] It should be further explained that an electric lifting rod 23 is installed on the lifting frame 12, and the lifting rod of the electric lifting rod 23 is connected to a synchronous frame 24. The synchronous frame 24 is rotatably connected to two driving rods 25, and the two driving rods 25 are rotatably connected to an upper connecting shaft 26. The two lower connecting shafts 21 are rotatably connected to two transmission rods 27, and the two transmission rods 27 are rotatably connected to the lifting frame 12. The two lower parallel rods 17 are rotatably connected to the two lower connecting shafts 21 respectively. An iron frame 28 is fixedly connected to the outside of the positioning fixture 8, and a plurality of electromagnets 29 matching the iron frame 28 are installed in the suspension frame 15 and the two vertical rotating frames 7. A plurality of inner extension frames 30 are fixedly connected in the suspension frame 15 and the two vertical rotating frames 7. An open mounting cavity 31 is opened in the plurality of inner extension frames 30, and a pressure sensor 32 is installed in the plurality of open mounting cavities 31. A disk is fixedly connected in the plurality of open mounting cavities 31. Spring 33, multiple disc springs 33 are fixedly connected with detection columns 34, multiple detection columns 34 are respectively slidably matched with multiple open installation cavities 31, multiple detection columns 34 are respectively matched with multiple pressure sensors 32, and the adjustment grabbing assembly is detachably connected to the positioning fixture 8. Through the cooperation of the lifting frame 12, the driving structure and the adjustment grabbing assembly, a feeding structure in the feeding frame welding operation process is formed, and the form of automatic feeding without stopping the machine is adopted. During the loading and unloading process, the impact on the frame welding operation is small, which ensures the welding efficiency. A mechanical arm 13 is installed on the top of the rotating frame 4, and the welding gun 1 is installed at the execution end of the mechanical arm 13, and the execution end of the mechanical arm 13 is installed with a machine recognition system 14. Through the configuration of the mechanical arm 13 and the machine recognition system 14, it is convenient to install the welding gun 1, and it can form autonomous recognition and active correction according to the weld trajectory during the frame welding operation, which is more practical.

[0044] The welding gun 1, the first servo motor 5, the second servo motor 6, the third servo motor 9, the fourth servo motor 11, the robot arm 13, the machine identification system 14, the fifth servo motor 18, the electromagnet 29, the pressure sensor 32 and the sixth servo motor 35 in this embodiment are all conventional equipment purchased on the market and well known to those skilled in the art. In the present invention, we only use them and do not improve their structure and function. For those skilled in the art, their setting method, installation method and electrical connection method only need to be debugged according to the requirements of their instruction manual, and they will not be described in detail here.

[0045] In summary, the working principle of the frame welding device and the welding method is that before use, the frame welding device is first fixedly installed, and the welding machine is installed for the welding gun 1, and the electrical equipment of the frame welding device and the welding machine is formed. The first servo motor 5 and the second servo motor 6 are powered on to drive the rotating cylinder 3 and the rotating frame 4 to rotate respectively, and during the rotation of the rotating cylinder 3 and the rotating frame 4, the operating speed of the first servo motor 5 and the second servo motor 6 is controlled, so that the same speed rotation and differential speed rotation of the rotating cylinder 3 and the rotating frame 4 can be achieved, so that the welding gun 1 on the robot arm 13 is matched with the positioning fixture 8, which is convenient for the welding gun 1 to rotate relative to the positioning fixture 8. The welding posture is adjusted on the frame, and the rotation of the rotating column frame 10 is realized by powering on the fourth servo motor 11, so that the lifting frame 12 forms the same speed as the rotating cylinder 3, and the same speed rotation of the adjusting grabbing assembly and the rotating cylinder 3 is realized, that is, the relative rotation and stillness of the adjusting grabbing assembly and the rotating cylinder 3 is achieved, and then the driving structure is operated to control the lifting frame 12 to fall with reference to the rotating column frame 10, that is, the lifting frame 12 enters the rotating cylinder 3, and the grabbing assembly is adjusted to operate to remove the positioning fixture 8 in the vertical rotating frame 7, and then the driving structure is operated to make the lifting frame 12 extend from the rotating cylinder 3, and the positioning fixture 8 is controlled to extend with reference to the rotating cylinder 3. After the positioning fixture 8 is completely extended from the rotating cylinder 3 , the fourth servo motor 11 is controlled to stop running to achieve the stationary state of the adjusting grabbing assembly, and then the positioning fixture 8 inside is made to enter a horizontal state by adjusting the grabbing assembly, that is, the positioning fixture 8 first stops rotating and then enters a horizontal state from an upright state, and the parts corresponding to the frame to be welded are completely installed on the positioning fixture 8 in the adjusting grabbing assembly, and then the adjusting grabbing assembly is controlled to move to transport the positioning fixture 8 with the frame installed into the vertical rotating frame 7 where it was originally located, and then the adjusting grabbing assembly is retreated away with reference to the corresponding vertical rotating frame 7, and the rotating frame 4 is differentially rotated with reference to the rotating cylinder 3, so that the mechanical arm 13 enters a welding position matching the frame, and the mechanical arm 13 The operation drives the welding gun 1 thereon to perform a welding operation on the frame. During the welding operation, the third servo motor 9 is powered on and operated to realize the rotation adjustment of the vertically mounted rotating frame 7 in the rotating cylinder 3 according to the welding requirements, so as to facilitate the adjustment of the welding angle between the welding gun 1 and the welded frame and realize the welding of the frame. After the welding is completed, the rotating frame 4 is controlled to form a differential rotation with reference to the rotating cylinder 3, so that the mechanical arm 13 moves away with reference to the welded frame, and provides space for the adjustment grasping component to enter the rotating cylinder 3 again. The adjustment grasping component moves into the rotating cylinder 3 again, and the positioning fixture 8 corresponding to the welded frame is removed. Finally, the welded frame can be removed relative to the positioning fixture 8.

[0046] Furthermore, when the welding gun 1 is welding, the machine recognition system 14 identifies the welding gap, and based on the welding operation program pre-stored in the robot arm 13, the welding trajectory is specifically corrected and optimized according to the actual situation. Since there are two vertically mounted rotating frames 7 in the rotating cylinder 3, there are also two installation positions for the positioning fixture 8. Therefore, during the welding process of the welding gun 1 on the frame, the other positioning fixture 8 can be clamped and installed by adjusting the operation of the grabbing component, and the other positioning fixture 8 can be moved into the vertically mounted rotating frame 7 where it was originally located by adjusting the operation and movement of the grabbing component, so as to facilitate the continuous welding operation of the frame while the rotating cylinder 3 maintains the rotating operation, thereby optimizing the rotating cylinder during the welding process. 3 repeatedly rotates to start the movement and stop steps to ensure production efficiency. The operating principle of the driving structure is that the sixth servo motor 35 in the driving structure is powered on to realize the rotation drive of the vertical screw 36. Under the threaded connection between the vertical screw 36 and the threaded cylinder 37, the rotation of the vertical screw 36 drives the threaded cylinder 37 to form a height change, thereby achieving the high-end adjustment of the lifting frame 12. The operating principle of the adjustment grabbing component is that when the adjustment grabbing component enters the rotating cylinder 3, the fifth servo motor 18 is operated to realize the rotation drive of the corresponding lower parallel rod 17 through the mutual meshing transmission of the fan gear 19 and the open gear ring 20. Since the two lower parallel rods 17 and the two upper parallel rods 16 cooperate to form two sets of parallelogram structures, so in a lower parallel rod 17 movement realizes the state of motion driving of the suspension frame 15, under the transmission action of the two lower parallel rods 17 and the two upper parallel rods 16, the suspension frame 15 can maintain an upright state during the movement, so as to facilitate the suspension frame 15 to form a relatively parallel approach with respect to the corresponding vertical rotating frame 7, thereby facilitating the insertion of the corresponding positioning fixture 8 installed in the vertical rotating frame 7 relative to the suspension frame 15. After the detection column 34 in the suspension frame 15 and the iron frame 28 outside the positioning fixture 8 form mutual contact and generate a mutual pushing force, the pressure sensor 32 in the suspension frame 15 will form a reading display. At this time, the surface iron frame 28 is inserted into the suspension frame 15 and meets the required insertion depth. In this process, the fifth servo motor 18 and the sixth servo motor 35 are connected. The suspension frame 15 is equipped with a plurality of servomotors 18, and the plurality of servomotors 18 are connected to the plurality of servomotors 18. The plurality of servomotors 18 are connected to the ...This allows the suspension frame 15 and the positioning fixture 8 therein to be synchronously withdrawn from the rotating cylinder 3.

[0047] Furthermore, when the suspension frame 15 and the positioning fixture 8 therein are synchronously withdrawn from the rotating cylinder 3, the electric lifting rod 23 is powered on to realize the height adjustment of the synchronous frame 24 relative to the lifting frame 12. Under the synchronous transmission action of the two driving rods 25 and the support action of the two transmission rods 27, the top of the suspension frame 15 will protrude outward. During this process, the fifth servo motor 18 is powered on to realize the rotation adjustment of the corresponding lower parallel rod 17. Since the upper parallel rod 16 and the lower parallel rod 17 are no longer in a relatively parallel state during this process, the suspension frame 15 can be brought into a horizontal state, as shown in the attached figure. Fig.13 In the state shown, the iron frame 28 and the positioning fixture 8 in the suspension frame 15 are also in a horizontal state to facilitate the installation of the frame parts to be welded relative to the positioning fixture 8. When the suspension frame 15 carrying the positioning fixture 8 re-enters the rotating cylinder 3, the suspension frame 15 should be adjusted to enter the upright state again, and the fourth servo motor 11 is operated to make the suspension frame 15 and the rotating cylinder 3 have the same rotation speed. At the same time, the suspension frame 15 and the vertically mounted rotating frame 7 are in a relatively parallel state, and the suspension frame 15 is relatively close to a vertically mounted rotating frame 7 in which the positioning fixture 8 is required to be inserted. At the same time, the mechanical arm 13 is adjusted to a position away from the aforementioned vertically mounted rotating frame 7. Only then can the lifting frame 12 be inserted relative to the rotating cylinder 3. In the process of reinserting the positioning fixture 8 in the suspension frame 15 into the corresponding vertically mounted rotating frame 7, the fifth servo motor 18 and the sixth servo motor 35 are required to cooperate with each other. Operation is performed to ensure the smooth insertion of the iron frame 28 relative to the corresponding vertical rotating frame 7. After the detection column 34 in the vertical rotating frame 7 and the iron frame 28 outside the positioning fixture 8 form mutual contact and generate a mutual pushing force, the pressure sensor 32 in the vertical rotating frame 7 will form a reading display. At this time, the surface iron frame 28 is inserted into the vertical rotating frame 7 and meets the required insertion depth. Then, the electromagnet 29 in the vertical rotating frame 7 is energized to generate an electromagnetic field, which acts on the iron frame 28 and forms a magnetic adsorption on the iron frame 28. Then, the electromagnet 29 in the corresponding suspension frame 15 is controlled to be de-energized so that the electromagnet 29 in the suspension frame 15 no longer generates an electromagnetic field to form a magnetic adsorption on the iron frame 28. Then, the suspension frame 15 is controlled to move so that the positioning fixture 8 and the iron frame 28 outside it are completely pulled out relative to the suspension frame 15. Finally, the suspension frame 15 is raised and retreated relative to the rotating cylinder 3.

[0048] Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. A vehicle frame welding device, comprising a welding gun (1), characterized in that: The invention also comprises a frame structure, wherein the frame structure comprises a support frame (2), a rotating cylinder (3) and a rotating frame (4), wherein the rotating cylinder (3) and the rotating frame (4) are both rotatably connected in the support frame (2), and the rotating cylinder (3) and the rotating frame (4) are rotatably matched, wherein a first servo motor (5) and a second servo motor (6) are installed in the support frame (2), wherein the first servo motor (5) is used for driving the rotating cylinder (3) in rotation, and the second servo motor (6) is used for driving the rotating frame (4) in rotation, wherein two vertically mounted rotating frames (7) are rotatably connected in the rotating cylinder (3), and positioning fixtures (8) are detachably installed in the two vertically mounted rotating frames (7), and wherein two third servo motors (9) are installed in the rotating cylinder (3), and the two third servo motors (9) are respectively The invention is particularly used for rotational drive and control of the two vertically mounted rotating frames (7); a rotating column frame (10) is rotatably connected in the support frame (2); a fourth servo motor (11) is installed in the support frame (2); the fourth servo motor (11) is used for rotational drive of the rotating column frame (10); a lifting frame (12) is slidably connected to the rotating column frame (10); a driving structure for driving the lifting frame (12) is installed on the rotating column frame (10); an adjusting grasping component is installed on the lifting frame (12); the adjusting grasping component is detachably connected to the positioning fixture (8); a mechanical arm (13) is installed at the top of the rotating frame (4); the welding gun (1) is installed at the execution end of the mechanical arm (13); and a machine identification system (14) is installed at the execution end of the mechanical arm (13).

2. A vehicle frame welding device according to claim 1, characterized in that: The adjustable grabbing assembly comprises a suspension frame (15), two upper parallel rods (16) and two lower parallel rods (17) are rotatably connected to the suspension frame (15), the two upper parallel rods (16) and the two lower parallel rods (17) are both connected to the lifting frame (12), and a fifth servo motor (18) is installed on the lifting frame (12), an open gear ring (20) is installed on the output shaft of the fifth servo motor (18), the open gear ring (20) is meshed with a fan-shaped gear (19), and the fan-shaped gear (19) is fixedly connected to one of the two lower parallel rods (17), and the positioning fixture (8) matches the suspension frame (15).

3. A vehicle frame welding device according to claim 2, characterized in that: The lifting frame (12) is fixedly connected to two lower connecting shafts (21), the two lower parallel rods (17) are each provided with a lower connecting hole (22), the two lower connecting shafts (21) are respectively rotatably connected in the two lower connecting holes (22), the lifting frame (12) is provided with an electric lifting rod (23), the lifting rod of the electric lifting rod (23) is connected to a synchronous frame (24), the synchronous frame (24) is rotatably connected to two driving rods (25), the two driving rods (25) are both rotatably connected to an upper connecting shaft (26), the two lower connecting shafts (21) are both rotatably connected to two transmission rods (27), the two transmission rods (27) are both rotatably connected to the lifting frame (12), and the two lower parallel rods (17) are respectively rotatably connected to the two lower connecting shafts (21).

4. A vehicle frame welding device according to claim 3, characterized in that: The positioning fixture (8) is fixedly connected to an iron frame (28) on the outside, and a plurality of electromagnets (29) matching the iron frame (28) are installed in the suspension frame (15) and the two vertical rotating frames (7). A plurality of inner extension frames (30) are fixedly connected in the suspension frame (15) and the two vertical rotating frames (7), and an open mounting cavity (31) is provided in the plurality of inner extension frames (30), and a pressure sensor (32) is installed in the plurality of open mounting cavities (31).

5. A vehicle frame welding device according to claim 4, characterized in that: A plurality of the open mounting cavities (31) are each fixedly connected with a coil spring (33), a plurality of the coil springs (33) are each fixedly connected with a detection column (34), the plurality of detection columns (34) are respectively slidably matched with the plurality of the open mounting cavities (31), and the plurality of detection columns (34) are respectively matched with the plurality of pressure sensors (32).

6. A vehicle frame welding device according to claim 5, characterized in that: The driving structure comprises a sixth servo motor (35) and a vertical lead screw (36), wherein the sixth servo motor (35) is mounted on the top of the rotating column frame (10), the vertical lead screw (36) is rotatably connected in the rotating column frame (10), a threaded barrel (37) is threadedly connected to the vertical lead screw (36), and the threaded barrel (37) is fixedly connected in the lifting frame (12).

7. A vehicle frame welding device according to claim 6, characterized in that: A driving gear (38) is mounted on the output shaft of the first servo motor (5) and the output shaft of the second servo motor (6); a driven gear ring (39) is fixedly connected to the outside of the rotating cylinder (3) and the outside of the rotating frame (4); the two driving gears (38) are respectively meshed with the two driven gear rings (39).

8. A vehicle frame welding device according to claim 7, characterized in that: Two first hanging support plates (40) and two second hanging support plates (41) are fixedly connected inside the rotating cylinder (3); the two vertically mounted rotating frames (7) are respectively rotatably connected to the two first hanging support plates (40); and the two vertically mounted rotating frames (7) are respectively rotatably connected to the two second hanging support plates (41).

9. A vehicle frame welding device according to claim 8, characterized in that: Two guide bars (42) are fixedly connected to the lifting frame (12), and two guide grooves (43) are provided on the synchronous frame (24). The two guide bars (42) are slidably connected to the two guide grooves (43) respectively.

10. A welding method for a vehicle frame welding device, characterized in that: A frame welding device according to any one of claims 1 to 9 is used, comprising the following steps: S1. Before use, the frame welding device is first fixedly installed, and a welding machine is installed to match the welding gun (1), and the electrical equipment of the frame welding device and the welding machine is formed. The first servo motor (5) and the second servo motor (6) are powered on to drive the rotating cylinder (3) and the rotating frame (4) to rotate respectively. During the rotating movement of the rotating cylinder (3) and the rotating frame (4), the operating speed of the first servo motor (5) and the second servo motor (6) is controlled to achieve the same speed rotation and differential speed rotation of the rotating cylinder (3) and the rotating frame (4), so that the welding gun (1) on the robot arm (13) is matched and adjusted relative to the positioning fixture (8); S2, the fourth servo motor (11) is powered on to realize the rotation of the rotating column frame (10), so that the lifting frame (12) forms the same rotation speed as the rotating cylinder (3), and the adjusting grasping assembly and the rotating cylinder (3) are rotated at the same speed, that is, the adjusting grasping assembly and the rotating cylinder (3) are relatively rotated and stopped, and then the driving structure is operated to control the lifting frame (12) to fall with reference to the rotating column frame (10), that is, the lifting frame (12) enters the rotating cylinder (3), and the adjusting grasping assembly is operated to remove the positioning fixture (8) in the vertical rotating frame (7), and then the driving structure is operated to make the lifting frame (12) extend from the rotating cylinder (3), and the positioning fixture (8) is controlled to extend with reference to the rotating cylinder (3); S3, after the positioning fixture (8) is completely extended out of the rotating cylinder (3), the fourth servo motor (11) is controlled to stop running to achieve the stationary state of the adjusting grasping assembly, and then the positioning fixture (8) inside the adjusting grasping assembly is operated to enter a horizontal state, that is, the positioning fixture (8) first stops rotating and then enters a horizontal state from an upright state, and the parts corresponding to the frame to be welded are completely mounted on the positioning fixture (8) in the adjusting grasping assembly, and then the adjusting grasping assembly is controlled to move to transport the positioning fixture (8) with the frame installed into the vertical rotating frame (7) where it is originally located, and then the adjusting grasping assembly is retreated away with reference to the corresponding vertical rotating frame (7), and the rotating frame (4) is differentially rotated with reference to the rotating cylinder (3), so that the mechanical arm (13) enters a welding position matching the frame, and the mechanical arm (13) drives the welding gun (1) thereon to perform a welding operation on the frame; S4, during the welding operation, according to the welding requirements, the third servo motor (9) is powered on to realize the rotation adjustment of the vertically mounted rotating frame (7) in the rotating cylinder (3), so as to facilitate the adjustment of the welding angle between the welding gun (1) and the welded frame, and realize the welding of the frame. After the welding is completed, the rotating frame (4) is controlled to form a differential rotation with reference to the rotating cylinder (3), so that the mechanical arm (13) moves away with reference to the welded frame, and the gripping assembly is adjusted to move into the rotating cylinder (3) again, and the positioning fixture (8) corresponding to the welded frame is removed, and finally the welded frame is removed relative to the positioning fixture (8); S5. When the welding gun (1) is in welding operation, the machine identification system (14) identifies the welding gap, and based on the welding operation program pre-stored in the robot arm (13), specifically corrects and optimizes the welding trajectory. Since there are two vertically mounted rotating frames (7) in the rotating cylinder (3), there are also two installation positions for the positioning fixture (8). Therefore, during the welding process of the frame by the welding gun (1), another frame component can be clamped and installed by adjusting the operation of the grabbing component, and the operation and movement of the grabbing component can also be adjusted to achieve the movement of the other positioning fixture (8) into the vertically mounted rotating frame (7) where it was originally located, so as to facilitate the rotating cylinder (3) to achieve continuous welding of the frame while maintaining the rotating operation, optimize the steps of repeatedly rotating, starting, moving and stopping the rotating cylinder (3) during the welding process, and ensure production efficiency.

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