Automatic robot welding system based on adjustable metal plate box fixing device

Abstract

The invention discloses an automatic robot welding system based on an adjustable sheet metal box fixing device, and relates to the technical field of sheet metal machining, the automatic robot welding system comprises the sheet metal box fixing device, the sheet metal box fixing device comprises a loading table and two clamping and fixing devices arranged side by side, and the arrangement direction of the two clamping and fixing devices is set to be transverse; the clamping and fixing device comprises a sliding frame and a clamping mechanism, the sliding frame is in sliding connection with the loading table in the transverse direction, the sliding frame is provided with a first positioning piece, and the first positioning piece is used for preventing the sliding frame from moving relative to the loading table; the clamping mechanisms of the two clamping and fixing devices are respectively used for correspondingly clamping two opposite side plates of the sheet metal box; the sliding frame is provided with two side pressing mechanisms, the two side pressing mechanisms can oppositely apply pressure to the outer side face of the metal plate box, and the force application direction of the side pressing mechanisms is the longitudinal direction. The metal plate box welding device can meet the welding requirements of metal plate boxes of different specifications.

Description

Technical Field

[0001] The present application relates to the field of sheet metal processing technology, and in particular to an automatic robot welding system based on an adjustable sheet metal box fixing device. Background Art

[0002] During the production process of sheet metal boxes, welding is one of the key processes. Traditional welding methods usually adopt manual welding or fixed jigs in cooperation with semi-automatic welding equipment. During the welding process of sheet metal boxes, fixtures, tooling, etc. are required for fixation.

[0003] In actual production, there are many size specifications of sheet metal boxes, and the tooling of sheet metal boxes cannot flexibly adapt to sheet metal boxes of different size specifications. Therefore, when welding sheet metal boxes of different size specifications, corresponding specifications of tooling are required for fixation. Manufacturing tooling for sheet metal boxes of multiple specifications requires a high manufacturing cost, and the process of replacing different sheet metal box tooling requires corresponding working hours, which still needs to be improved. Summary of the Invention

[0004] In order to enable the welding tooling of sheet metal boxes to adapt to sheet metal boxes of different specifications, the present application provides an automatic robot welding system based on an adjustable sheet metal box fixing device.

[0005] The automatic robot welding system based on an adjustable sheet metal box fixing device provided by the present application adopts the following technical solutions: An automatic robot welding system based on an adjustable sheet metal box fixing device includes a sheet metal box fixing device. The sheet metal box fixing device includes a loading table and two clamping and fixing devices arranged side by side. The arrangement direction of the two clamping and fixing devices is set to be horizontal. The clamping and fixing device includes a sliding frame and a clamping mechanism. The sliding frame is slidably connected to the loading table in the horizontal direction. The sliding frame is provided with a first positioning member for preventing the sliding frame from moving relative to the loading table. The clamping mechanisms of the two clamping and fixing devices are respectively used for clamping two opposite side plates of the sheet metal box. The sliding frame is provided with two side pressing mechanisms, and the two side pressing mechanisms can apply pressure to the outer side surface of the sheet metal box in opposite directions. The force application direction of the side pressing mechanism is longitudinal.

[0006] By adopting the above technical solution, before welding and processing the sheet metal box, first move the sliding frames of the two clamping and fixing devices according to the size of the sheet metal box, and use the first positioning member for positioning. When welding and processing the sheet metal box, first preliminarily assemble and combine the sheet metal box on the loading table. Two opposite side plates of the sheet metal box are pre-bent and formed integrally with the bottom plate, and the other two side plates to be assembled later are held between the two side plates integrally provided on the bottom plate by friction. When the fitting combination of the sheet metal box is completed, use the clamping mechanisms of the two clamping and fixing devices to clamp the two side plates to be assembled later. At the same time, use the side pressing mechanisms to apply pressure to the two side plates integrally provided on the bottom plate respectively, so that the two side plates integrally provided on the bottom plate are respectively clamped against the two side plates to be assembled later. Subsequently, use a welding robot to weld and connect the seams between adjacent side plates. During the process of the sliding frame moving relative to the loading, the first positioning member can be used to position at different positions on the loading table, so as to be able to change the distance between the two fixed clamping devices to adapt to sheet metal boxes of different sizes.

[0007] Optionally, the clamping mechanism is slidably installed on the sliding frame longitudinally, and the clamping mechanism is provided with a second positioning member for preventing the clamping mechanism from moving relative to the sliding frame; there are two groups of the clamping mechanisms, and the two groups of clamping mechanisms are arranged at intervals longitudinally, and the positions of the two side pressing mechanisms respectively correspond to the two groups of clamping mechanisms.

[0008] By adopting the above technical solution, when the two side pressing mechanisms apply opposite clamping forces to the sheet metal box, the two groups of clamping mechanisms can bear the pressure of the side pressing mechanisms, and can reliably position the side plates of the sheet metal box. The two groups of clamping mechanisms can be positioned at different positions on the sliding frame by using the second positioning member, and can adapt to sheet metal boxes of different sizes.

[0009] Optionally, the clamping mechanism includes two splint assemblies. Among the two splint assemblies, one is an inner splint assembly and the other is an outer splint assembly. The inner splint assembly and the outer splint assembly can jointly clamp the side plate of the sheet metal box from the inside and outside of the sheet metal box; the splint assembly includes a pneumatic clamping cylinder and a splint. The pneumatic clamping cylinder is slidably installed on the sliding frame longitudinally, and the pneumatic clamping cylinder is used to drive the splint to rotate and swing up and down to approach or move away from the side plate of the sheet metal box to be clamped. The splint of the inner splint assembly is an inner splint, and the splint of the outer splint assembly is an outer splint.

[0010] By adopting the above technical solution, the splint of the inner splint assembly and the splint of the outer splint assembly respectively clamp the side plate of the sheet metal box from the inside and outside of the sheet metal box, making the position of the side plate of the sheet metal box relatively reliable. After the sheet metal box is welded, the inner splint and the outer splint rotate in the opposite direction and leave the sheet metal box, so that the two clamping and fixing devices can move away from the sheet metal box transversely.

[0011] Optionally, the clamping mechanism further includes two scissor frames. One of the scissor frames is connected to two adjacent outer clamping plates, and the other scissor frame is connected to two adjacent inner clamping plates. The scissor frames can abut against the side plates of the sheet metal box. Each scissor frame has two hinged ends and two sliding ends. The two hinged ends of one scissor frame are respectively hinged to two adjacent outer clamping plates, and the two sliding ends are respectively slidably connected to two adjacent outer clamping plates. The two hinged ends of the other scissor frame are respectively hinged to two adjacent inner clamping plates, and the two sliding ends are respectively slidably connected to two adjacent inner clamping plates.

[0012] By adopting the above technical solution, during the process of adjusting the distance between the two clamping mechanisms according to the size of the sheet metal box, the scissor frames can adaptively open and close with the change of the distance between the two clamping mechanisms. Among the two scissor frames, one is connected to two adjacent outer clamping plates, and the other is connected to two adjacent inner clamping plates, so that the two outer clamping plates are integrated into a whole, and the two inner clamping plates are integrated into a whole, which is beneficial to improving the clamping effect of the two clamping mechanisms on the side plates of the sheet metal box.

[0013] Optionally, the sliding frame is provided with an auxiliary clamping mechanism. The auxiliary clamping mechanism is located between the two clamping mechanisms. The auxiliary clamping mechanism includes two auxiliary clamping plate assemblies. Among the two auxiliary clamping plate assemblies, one is an inner auxiliary clamping plate assembly, and the other is an outer auxiliary clamping plate assembly. The auxiliary clamping plate assembly includes an auxiliary pneumatic clamping cylinder and an auxiliary clamping plate. The auxiliary pneumatic clamping cylinder is fixedly installed on the sliding frame. The auxiliary pneumatic clamping cylinder is used to drive the auxiliary clamping plate to rotate and swing up and down to approach or move away from the clamped side plate of the sheet metal box. The auxiliary clamping plate can abut against the scissor frame. The auxiliary clamping plate is provided with an inlay block assembly. The inlay block assembly includes an inlay block plate and four inlays fixed on the inlay block plate. The four inlays are respectively used for embedding into the four triangular areas of the scissor frame. The auxiliary clamping plate is provided with an avoidance opening for avoiding the four inlays. A return spring is arranged between the inlay block plate and the auxiliary clamping plate. The return spring is used to force the four inlays to withdraw from the avoidance opening. The auxiliary clamping plate is provided with an electromagnet. When the electromagnet is energized, a magnetic attraction effect can be formed between the electromagnet and the inlay block plate to force the inlay block plate to approach the sheet metal box, so that the four inlays are respectively embedded into the four triangular areas of the scissor frame.

[0014] By adopting the above technical solution, the auxiliary clamping mechanism can apply pressure to the scissors frame through the auxiliary clamping plates to strengthen the clamping effect on the middle area of the side plate of the sheet metal box. When the two auxiliary clamping plates of the auxiliary clamping mechanism respectively abut against the two scissors frames, when the electromagnet is energized, a magnetic attraction force is formed between the electromagnet and the insert plate, so that the insert component moves close to the side plate of the sheet metal box against the elastic force of the return spring, and the four insert components of the insert component are respectively embedded into the four triangular areas of the scissors frame and abut against the side plate of the sheet metal box, making the shape of the scissors frame more stable, and at the same time making the four inserts respectively abut tightly against the side plate of the sheet metal box.

[0015] Optionally, the inner clamping plate is provided with an upper supporting mechanism, and the outer clamping plate is provided with a lower pressing mechanism. The upper supporting mechanism and the lower pressing mechanism can jointly clamp the inner edge of the sheet metal box.

[0016] By adopting the above technical solution, the sheet metal box is usually bent to be provided with an inner edge. When welding the sheet metal box, the lower pressing mechanism and the upper supporting structure are used to jointly clamp the inner edge of the sheet metal box, so that the inner edge of the rear-assembled side plate is aligned with the inner edge of the side plate integrally provided on the bottom plate, so as to facilitate welding the inner edge of the sheet metal box into one body.

[0017] Optionally, the upper supporting mechanism includes an upper supporting driving part and a supporting plate. The upper supporting driving part is used to drive the supporting plate to move up and down reciprocally. A longitudinal telescopic driving part is connected between the upper supporting mechanism and the inner clamping plate. The supporting plate has a corner, and the corner is used to abut against the inner corner of the sheet metal box.

[0018] By adopting the above technical solution, the longitudinal telescopic driving part drives the corner of the upper supporting plate to abut against the inner corner of the sheet metal box, so that the upper supporting plate can play a shaping role on the inner corner of the sheet metal box, which is beneficial to ensuring the dimensional accuracy of the sheet metal box.

[0019] Optionally, the outer clamping plate is provided with a plurality of laser rangefinders. The automatic robot welding system based on the adjustable sheet metal box fixing device further includes a sheet metal box model. Avoidance holes are opened on the side plate of the sheet metal box model, and the edge of the avoidance hole can play a limiting role on the detection end of the laser rangefinder; the laser rangefinder can measure the lateral dimension of the inner space of the sheet metal box model through the avoidance hole.

[0020] By adopting the above technical solution, before welding the sheet metal box, first place the sheet metal box model on the loading table for clamping, and then use the laser rangefinder to measure the lateral dimension of the inner space of the sheet metal box model, so as to judge the fixing effect of the clamping and fixing device on the sheet metal box, so as to adjust the clamping and fixing device according to the result measured by the laser rangefinder until the measurement result of the laser rangefinder meets the requirements. By setting the sheet metal box model to verify the clamping effect of the fixing and clamping device, the defective products in the initial stage of sheet metal box welding can be reduced.

[0021] Optionally, in the first positioning hole group of the loading platform, a plurality of first positioning holes are provided in the first positioning hole group and are arranged at intervals in the transverse direction. The first positioning holes are for the first positioning members to be movably inserted; the sliding frame is provided with a second positioning hole group, and a plurality of second positioning holes are provided in the second positioning hole group and are arranged at intervals in the longitudinal direction. The second positioning holes are for the second positioning members to be movably inserted.

[0022] By adopting the above technical solution, during the process of the sliding frame moving relative to the loading, by using the cooperation between the first positioning members and different first positioning holes, the sliding frame can stay at different positions on the loading platform, thereby changing the distance between the two fixed clamping devices. Similarly, by using the cooperation between the second positioning members and different second positioning holes, the distance between the two clamping mechanisms can be changed.

[0023] Optionally, the sheet metal box fixing device further includes a rotation driving mechanism, and the rotation driving mechanism is used to drive the loading platform to rotate around a vertical axis.

[0024] By adopting the above technical solution, the rotation driving mechanism can drive the loading platform to rotate around a vertical axis, so that the seams on different sides of the sheet metal box can be rotated to the side where the welding robot is located, facilitating the welding robot to weld the various seams of the sheet metal parts.

[0025] In summary, the present application includes at least one of the following beneficial technical effects: Before welding the sheet metal box, first move the sliding frames of the two clamping and fixing devices according to the size of the sheet metal box and use the first positioning members for positioning, so as to change the distance between the two fixed clamping devices to adapt to sheet metal boxes of different sizes.

[0026] Among the two scissor frames, one is connected to two adjacent outer clamping plates, and the other is connected to two adjacent inner clamping plates, so that the two outer clamping plates are connected into a whole, and the two inner clamping plates are connected into a whole, which is beneficial to improving the clamping effect of the two clamping mechanisms on the side plates of the sheet metal box. Description of the Drawings

[0027] Figure 1 is the overall structural schematic diagram of Embodiment 1.

[0028] Figure 2 is the structural schematic diagram of the sheet metal box fixing device of Embodiment 1.

[0029] Figure 3 is the structural schematic diagram of the sheet metal box of Embodiment 1.

[0030] Figure 4 is the structural schematic diagram of the clamping and fixing device of Embodiment 1.

[0031] Figure 5 is the structural schematic diagram of the clamping mechanism of Embodiment 1.

[0032] Figure 6 It is a schematic diagram of the clamping and fixing device in Example 2 in the state of removing the auxiliary clamping mechanism.

[0033] Figure 7 It is a schematic structural diagram of the clamping and fixing device in Example 2.

[0034] Figure 8 It is a schematic diagram of the auxiliary clamping mechanism in the working state in Example 2.

[0035] Figure 9 It is a schematic diagram for showing the cooperation relationship between the inlay block assembly and the auxiliary splint in Example 2.

[0036] Figure 10 It is a schematic structural diagram of the sheet metal box fixing device in Example 3.

[0037] Figure 11 It is a schematic structural diagram of the sheet metal box model in Example 3.

[0038] Explanation of reference numerals: 10. Sheet metal box fixing device; 1. Loading table; 11. Pad groove; 12. Pad; 13. Limit reference block; 14. Transverse slide rail slider assembly; 15. First positioning hole group; 151. First positioning hole; 2. Clamping and fixing device; 21. Sliding frame; 211. First positioning member; 22. Clamping mechanism; 221. Sliding seat; 222. Splint assembly; 2221. Pneumatic clamping cylinder; 2222. Splint; 2223. Rib; 22201. Inner splint assembly; 22202. Outer splint assembly; 223. Scissor lift; 2231. Hinge end; 2232. Sliding end; 2233. Socket; 2234. Triangular area; 23. Longitudinal slide rail slider assembly; 24. Second positioning member; 25. Second positioning hole group; 251. Second positioning hole; 27. Auxiliary clamping mechanism; 271. Auxiliary splint assembly; 27101. Inner auxiliary splint assembly; 27102. Outer auxiliary splint assembly; 2711. Auxiliary pneumatic clamping cylinder; 2712. Auxiliary splint; 2713. Avoidance opening; 2714. Return spring; 2715. Electromagnet; 272. Inlay block assembly; 2721. Inlay block plate; 2722. Inlay block; 3. Side pressing mechanism; 31. Side pressing cylinder; 32. Side pressing plate; 4. Upper supporting mechanism; 41. Upper supporting driving member; 42. Support plate; 421. Corner; 43. Longitudinal telescopic driving member; 5. Lower pressing mechanism; 51. Lower pressing driving member; 52. Pressing block; 6. Rotary driving mechanism; 7. Laser rangefinder; 8. Auxiliary lower pressing mechanism; 20. Automatic welding robot; 40. Sheet metal box; 401. Inner edge; 50. Sheet metal box model; 501. Avoidance hole. Detailed implementation manners

[0039] The following will further elaborate on this application in conjunction with the attached drawings. Figures 1-11 A further detailed description of this application will be given below. Embodiment 1

[0040] The embodiment of this application discloses an automatic robot welding system based on an adjustable sheet metal box fixing device. Referring to Figure 1 , the automatic robot welding system based on the adjustable sheet metal box fixing device includes a sheet metal box fixing device 10, an automatic welding robot 20, and a control unit; the sheet metal box fixing device 10 is used to clamp and fix the sheet metal box 40, the automatic welding robot 20 is used to weld the sheet metal box 40, and the control unit is used to control the clamping and fixing actions of the sheet metal box fixing device 10 and the operation of the automatic welding robot 20.

[0041] Referring to Figure 2 and Figure 3 , the sheet metal box fixing device 10 includes a loading table 1 and two clamping and fixing devices 2 arranged side by side. The arrangement direction of the two clamping and fixing devices 2 is set to be horizontal, and the two clamping and fixing devices 2 are respectively used to clamp two opposite side plates of the sheet metal box 40.

[0042] The loading table 1 is used to place the sheet metal box 40. A backing plate groove 11 is provided on the upper surface of the loading table 1. A backing plate 12 is detachably installed in the backing plate groove 11 of the loading table 1. Two limit reference blocks 13 are provided on the backing plate 12. The two limit reference blocks 13 are arranged at intervals in the horizontal direction. The limit reference blocks 13 are used as the placement reference for the sheet metal box 40 to make the longitudinal position of the sheet metal box 40 on the loading table 1 more accurate. The backing plate 12 can be disassembled and replaced as needed to adapt to sheet metal boxes 40 of different specifications.

[0043] Before welding and processing the sheet metal box 40, first preliminarily assemble and combine the sheet metal box 40 on the loading table 1. Two opposite side plates of the sheet metal box 40 are pre-bent into a U-shaped structure with the bottom plate integrally. The other two side plates to be assembled later are held between the two side plates integrally provided on the bottom plate by friction. The clamping and fixing device 2 is used to clamp the two side plates to be assembled later of the sheet metal box.

[0044] Referring to Figure 2 and Figure 4 , the clamping and fixing device 2 includes a sliding frame 21 and a clamping mechanism 22. The sliding frame 21 is of a gantry structure. Two horizontal slide rail slider assemblies 14 are arranged side by side along the longitudinal direction of the loading table 1. The two sides of the sliding frame 21 are respectively connected to the two horizontal slide rail slider assemblies 14, so that a sliding connection is formed between the sliding frame 21 and the loading table 1.

[0045] The sliding frame 21 is provided with a first positioning member 211. The first positioning member 211 is threadedly connected to the bottom of the sliding frame 21. The loading platform 1 is provided with a first positioning hole group 15. A plurality of first positioning holes 151 of the first positioning hole group 15 are provided and are arranged at intervals in the transverse direction. The first positioning holes 151 are for the first positioning member 211 to be movably inserted.

[0046] The position of the sliding frame 21 on the loading platform 1 can be adjusted by sliding. After the position of the sliding frame 21 changes, by using the cooperation of the first positioning member 211 and the first positioning hole 151, the relative movement of the sliding frame 21 with respect to the loading platform 1 can be hindered, so that the position of the sliding frame 21 on the loading platform 1 is kept fixed. By cooperating the first positioning member 211 with different first positioning holes 151, the distance between the two clamping and fixing devices 2 can be changed to adapt to sheet metal boxes 40 with different transverse dimensions.

[0047] It is worth mentioning that in another embodiment, the positioning method of the first positioning member 211 can be replaced by using a friction damping method for positioning. And in another embodiment, the position of the sliding frame 21 can also be adjusted and limited by using a linear module or an electric cylinder.

[0048] Refer to Figure 2 、 4 and Figure 5 As shown in

[0049] Two sets of clamping mechanisms 22 are provided. The two sets of clamping mechanisms 22 are arranged at intervals in the longitudinal direction. The sliding frame 21 is provided with a longitudinal slide rail and slider assembly 23. The clamping mechanism 22 is slidably mounted on the sliding frame 21 through the longitudinal slide rail and slider assembly 23.

[0050] The clamping mechanism 22 can be adjusted longitudinally on the sliding frame 21. After the position of the clamping mechanism 22 is adjusted, positioning is carried out by using the cooperation of the second positioning member 24 and the second positioning hole 251. The two sets of clamping mechanisms 22 can be positioned at different positions on the sliding frame 21 by using the second positioning member 24, and can adapt to sheet metal boxes 40 with different sizes.

[0051] Among the two clamping plate assemblies 222, one is the inner clamping plate assembly 22201 and the other is the outer clamping plate assembly 22202. The inner clamping plate assembly 22201 and the outer clamping plate assembly 22202 can jointly clamp the side plate of the sheet metal box 40 from the inside and outside of the sheet metal box 40. The clamping plate assembly 222 includes a pneumatic clamping cylinder 2221 and a clamping plate 2222. The pneumatic clamping cylinder 2221 is slidably mounted along the longitudinal direction on the sliding frame 21. The pneumatic clamping cylinder 2221 is used to drive the clamping plate 2222 to rotate and swing up and down to approach or move away from the clamped side plate of the sheet metal box 40. The clamping plate 2222 of the inner clamping plate assembly 22201 is an inner clamping plate, and the clamping plate 2222 of the outer clamping plate assembly 22202 is an outer clamping plate. Both the inner clamping plate and the outer clamping plate are provided as hollow plate frame structures to save materials and reduce the weight of the equipment.

[0052] It is worth mentioning that the pneumatic clamping cylinders 2221 of the two clamping plate assemblies 222 in this embodiment can be replaced by linear actuators that can gradually incline towards each other from top to bottom.

[0053] Refer to Figure 2 , the sliding frame 21 is provided with two side pressing mechanisms 3. The side pressing mechanism 3 includes a side pressing cylinder 31 and a side pressing plate 32. The side pressing cylinder 31 is installed at a position close to the bottom of the sliding frame 21. The side pressing cylinder 31 is used to drive the side pressing plate 32 to expand and contract; the two side pressing mechanisms 3 can apply pressure to the outer side surface of the sheet metal box 40 in opposite directions. The force application direction of the side pressing mechanism 3 is longitudinal, and the positions of the two side pressing mechanisms 3 respectively correspond to two groups of clamping mechanisms 22.

[0054] When the two side pressing mechanisms 3 apply a clamping force to the sheet metal box 40 in opposite directions, the two groups of clamping mechanisms 22 can bear the pressure of the side pressing mechanisms 3, and can reliably position the side plate of the sheet metal box 40.

[0055] Refer to Figure 2 and Figure 5 , the inner clamping plate is provided with an upper supporting mechanism 4. The upper supporting mechanism 4 includes an upper supporting driving member 41 and a supporting plate 42. The upper supporting driving member 41 is used to drive the supporting plate 42 to reciprocate up and down. A longitudinal telescopic driving member 43 is connected between the upper supporting mechanism 4 and the inner clamping plate. The longitudinal telescopic driving member 43 is a cylinder. The supporting plate 42 has a corner 421, and the corner 421 is used to abut against the inner corner of the sheet metal box 40.

[0056] Refer to Figure 5 , the outer clamping plate is provided with a downward pressing mechanism 5. The downward pressing mechanism 5 includes a downward pressing driving member 51 and a pressing block 52. The downward pressing driving member 51 is a cylinder. The downward pressing driving member 51 is installed on the outer clamping plate. The downward pressing driving member 51 is used to drive the pressing block 52 to reciprocate up and down. The downward pressing mechanism 5 and the upper supporting mechanism 4 can jointly clamp the inner edge 401 of the sheet metal box 40, so as to align the inner edges 401 of different side plates of the sheet metal box 40 and then weld them. The inner edge 401 of the sheet metal box 40 is the hem of the side plate.

[0057] Reference Figure 2 Figure 2 , the sliding seat 221 is provided with an auxiliary pressing mechanism 8, the auxiliary pressing mechanism 8 is a cylinder, and the auxiliary pressing mechanism 8 is used to apply a downward pressure to the inner edge 401 of the sheet metal box 40.

[0058] The sheet metal box fixing device 10 further includes a rotation driving mechanism 6. The rotation driving mechanism 6 can be a motor or a rotary cylinder. The rotation driving mechanism 6 is used to drive the loading table 1 to rotate around a vertical axis, so that the automatic welding robot 20 can easily weld the seams on different sides of the sheet metal box 40.

[0059] In this embodiment, the welding robot adopts a six-axis robotic arm. The automatic welding robot 20 is equipped with a welding head and a vision recognition module. The automatic welding robot 20 is linked with the sheet metal box fixing device 10, and can automatically adjust the welding parameters and motion trajectory according to the size of the sheet metal box 40 and the welding path. The control unit is integrated with a PLC controller and a touch screen operation interface. The user can set parameters such as the size of the sheet metal box 40 and the welding path through the interface, and the control unit supports the switching between the automatic and manual modes.

[0060] The implementation principle of an automatic robot welding system based on an adjustable sheet metal box fixing device in an embodiment of the present application is as follows: Before welding the sheet metal box 40, first move the sliding frames 21 of the two clamping and fixing devices 2 according to the size of the sheet metal box 40, and use the first positioning member 211 for positioning. When welding the sheet metal box 40, first preliminarily assemble and combine the sheet metal box 40 on the loading table 1. When the fitting combination of the sheet metal box 40 is completed, use the clamping mechanisms 22 of the two clamping and fixing devices 2 to clamp the two later-assembled side plates, and at the same time use the side pressing mechanisms 3 to apply pressure to the two side plates integrally provided on the bottom plate respectively, so that the two side plates integrally provided on the bottom plate are respectively clamped against the two later-assembled side plates. Subsequently, use the welding robot to weld and connect the seams between adjacent side plates. During the process of the sliding frame 21 moving relative to the loading, different positions on the loading table 1 can be positioned by using the first positioning member 211, so as to change the distance between the two fixed clamping devices to adapt to sheet metal boxes 40 of different sizes. Embodiment 2

[0061] Reference Figure 6 Figure 6 , the difference between this embodiment and Embodiment 1 is that the clamping mechanism 22 further includes two scissor frames 223. One scissor frame 223 connects two adjacent outer clamping plates, and the other scissor frame 223 connects two adjacent inner clamping plates. The scissor frame 223 can abut against the side plate of the sheet metal box 40.

[0062] The scissors frame 223 has two hinged ends 2231 and two sliding ends 2232. Sockets 2233 are provided at both the hinged ends 2231 and the sliding ends 2232 of the scissors frame 223. On the opposite sides of two adjacent clamping plates 2222 on the same side, convex strips 2223 for inserting the sockets 2233 are respectively provided. The two hinged ends 2231 of the scissors frame 223 are hinged to the convex strip 2223 parts of two adjacent clamping plates 2222, and the two sliding ends 2232 of the scissors frame 223 are respectively slidably connected to the convex strip 2223 parts of two adjacent clamping plates 2222; that is, among the two scissors frames 223, the two hinged ends 2231 of one scissors frame 223 are respectively hinged to two adjacent outer clamping plates, and the two sliding ends 2232 are respectively slidably connected to two adjacent outer clamping plates; the two hinged ends 2231 of the other scissors frame 223 are respectively hinged to two adjacent inner clamping plates, and the two sliding ends 2232 are respectively slidably connected to two adjacent inner clamping plates.

[0063] Referring to Figure 6 and Figure 8 , the sliding frame 21 is provided with an auxiliary clamping mechanism 27. The auxiliary clamping mechanism 27 is located between the two clamping mechanisms 22. The auxiliary clamping mechanism 27 includes two auxiliary clamping plate assemblies 271. Among the two auxiliary clamping plate assemblies 271, one is an inner auxiliary clamping plate assembly 27101 and the other is an outer auxiliary clamping plate assembly 27102; the auxiliary clamping plate assembly 271 includes an auxiliary pneumatic clamping cylinder 2711 and an auxiliary clamping plate 2712. The auxiliary pneumatic clamping cylinder 2711 is fixedly installed on the sliding frame 21. The auxiliary pneumatic clamping cylinder 2711 is used to drive the auxiliary clamping plate 2712 to rotate and swing up and down to approach or move away from the clamped side plate of the sheet metal box 40. The auxiliary clamping plate 2712 can abut against the scissors frame 223.

[0064] Referring to Figure 8 and Figure 9 , the auxiliary clamping plate 2712 is provided with an inlay block assembly 272. The inlay block assembly 272 includes an inlay block plate 2721 and four inlay blocks 2722 fixed on the inlay block plate 2721. The four inlay blocks 2722 are respectively used for embedding into the four triangular areas 2234 of the scissors frame 223. The auxiliary clamping plate 2712 is provided with an avoidance opening 2713 for avoiding the four inlay blocks 2722. The inlay block plate 2721 is located on the side of the auxiliary clamping plate 2712 away from the scissors frame 223. A return spring 2714 is provided between the inlay block plate 2721 and the auxiliary clamping plate 2712. The return spring 2714 is used to force the four inlay blocks 2722 to withdraw from the avoidance opening 2713. The auxiliary clamping plate 2712 is provided with an electromagnet 2715. When the electromagnet 2715 is energized, a magnetic attraction effect can be formed between the electromagnet 2715 and the inlay block plate 2721 to force the inlay block plate 2721 to approach the sheet metal box 40, so that the four inlay blocks 2722 are respectively embedded into the four triangular areas 2234 of the scissors frame 223.

[0065] The principle of this embodiment is as follows: During the process of adjusting the distance between the two clamping mechanisms 22 according to the size of the sheet metal box 40, the scissor frame 223 can adaptively open and close according to the change in the distance between the two clamping mechanisms 22. Among the two scissor frames 223, one is connected to two adjacent outer clamping plates, and the other is connected to two adjacent inner clamping plates, so that the two outer clamping plates are connected into a whole, and the two inner clamping plates are connected into a whole, which is beneficial to improving the clamping effect of the two clamping mechanisms 22 on the side plates of the sheet metal box 40.

[0066] The auxiliary clamping mechanism 27 can apply pressure to the scissor frame 223 through the auxiliary clamping plates 2712 to strengthen the clamping effect on the middle area of the side plate of the sheet metal box 40. When the two auxiliary clamping plates 2712 of the auxiliary clamping mechanism 27 respectively abut against the two scissor frames 223, when the electromagnet 2715 is energized, the electromagnet 2715 and the inlay plate 2721 form a magnetic attraction force, so that the inlay assembly 272 moves close to the side plate of the sheet metal box 40 against the elastic force of the return spring 2714, so that the four inlay assemblies 272 of the inlay assembly 272 are respectively embedded in the four triangular areas 2234 of the scissor frame 223 and abut against the side plate of the sheet metal box 40, making the shape of the scissor frame 223 more stable, and at the same time making the four inlays 2722 respectively abut tightly against the side plate of the sheet metal box 40. Embodiment 3

[0067] Refer to Figure 10 and Figure 11 In this embodiment, the difference from Embodiment 1 is that several laser rangefinders 7 are provided on the outer clamping plate. The automatic robot welding system based on the adjustable sheet metal box fixing device further includes a sheet metal box model 50. The side plate of the sheet metal box model 50 is provided with an avoidance hole 501, and the edge of the avoidance hole 501 can play a limiting role on the edge of the detection end of the laser rangefinder 7; the laser rangefinder 7 can measure the lateral dimension of the inner space of the sheet metal box model 50 through the avoidance hole 501.

[0068] In this embodiment, the sheet metal box model 50 is made of a sheet metal box 40 to be welded, so that the structure of the sheet metal box model 50 is as consistent as possible with that of the sheet metal box 40.

[0069] Before welding the sheet metal box 40, first place the sheet metal box model 50 on the loading table 1 for clamping, and then use the laser rangefinder 7 to measure the lateral dimension of the inner space of the sheet metal box model 50. It is possible to judge the fixing effect of the clamping and fixing device 2 on the sheet metal box 40, so as to adjust the clamping and fixing device 2 according to the result measured by the laser rangefinder 7 until the measurement result of the laser rangefinder 7 meets the requirements. By setting the sheet metal box model 50 to verify the clamping effect of the fixed clamping device, the number of defective products in the initial stage of welding the sheet metal box 40 can be reduced.

[0070] The above are all preferred embodiments of the present application, and the protection scope of the present application is not limited thereby. Therefore, all equivalent changes made according to the structure, shape, and principle of the present application shall be covered within the protection scope of the present application.

Claims

1. An automatic robot welding system based on an adjustable sheet metal box fixture, characterized in that: The invention comprises a sheet metal box fixing device, the sheet metal box fixing device comprises a loading platform (1) and two clamping fixing devices (2) arranged side by side, the arrangement direction of the two clamping fixing devices (2) is set to be horizontal, the clamping fixing device (2) comprises a sliding frame (21) and a clamping mechanism (22), the sliding frame (21) is connected to the loading platform (1) in a horizontal sliding manner, the sliding frame (21) is provided with a first positioning member (211), the first positioning member (211) is used to prevent the sliding frame (21) from moving relative to the loading platform (1); the clamping mechanisms (22) of the two clamping fixing devices (2) are respectively used to clamp two opposite sides of the sheet metal box (40) side plate; the sliding frame (21) is provided with two side pressure mechanisms (3), the two side pressure mechanisms (3) can apply pressure to the outer side surface of the sheet metal box (40) in opposite directions, and the force application direction of the side pressure mechanisms (3) is longitudinal; the clamping mechanism (22) is installed on the sliding frame (21) along the longitudinal sliding direction, and the clamping mechanism (22) is provided with a second positioning member (24), and the second positioning member (24) is used to prevent the clamping mechanism (22) from moving relative to the sliding frame (21); the clamping mechanism (22) is provided with two groups, and the two groups of the clamping mechanisms (22) are arranged at intervals along the longitudinal direction, and the positions of the two side pressure mechanisms (3) correspond to the two groups of clamping mechanisms (22) respectively.

2. An automatic robot welding system based on an adjustable sheet metal box fixing device according to claim 1, characterized in that: The clamping mechanism (22) comprises two clamping plate assemblies (222), one of the two clamping plate assemblies (222) being an inner clamping plate assembly (22201) and the other being an outer clamping plate assembly (22202), the inner clamping plate assembly (22201) and the outer clamping plate assembly (22202) being capable of clamping the side panels of the sheet metal box (40) from the inner and outer sides of the sheet metal box (40) together; the clamping plate assembly (222) comprises a pneumatic clamping cylinder (2221 ) and a clamping plate (2222), the pneumatic clamping cylinder (2221) is slidably mounted on the sliding frame (21) along the longitudinal direction, the pneumatic clamping cylinder (2221) is used to drive the clamping plate (2222) to rotate and swing up and down to approach or move away from the clamped side plate of the sheet metal box (40), the clamping plate (2222) of the inner clamping plate assembly (22201) is an inner clamping plate, and the clamping plate (2222) of the outer clamping plate assembly (22202) is an outer clamping plate.

3. The automatic robot welding system based on the adjustable sheet metal box fixing device according to claim 2 is characterized in that: The clamping mechanism (22) further comprises two scissor frames (223), wherein one of the scissor frames (223) is connected to two adjacent outer clamping plates, and the other of the scissor frames (223) is connected to two adjacent inner clamping plates, and the scissor frames (223) are capable of abutting against the side plates of the sheet metal box (40); the scissor frames (223) have two hinged ends (2231) and two sliding ends (2232), wherein the two hinged ends (2231) of one of the scissor frames (223) are respectively hinged to the two adjacent outer clamping plates, and the two sliding ends (2232) are respectively slidingly connected to the two adjacent outer clamping plates; the two hinged ends (2231) of the other of the scissor frames (223) are respectively hinged to the two adjacent inner clamping plates, and the two sliding ends (2232) are respectively slidingly connected to the two adjacent inner clamping plates.

4. The automatic robot welding system based on the adjustable sheet metal box fixing device according to claim 3 is characterized in that: The sliding frame (21) is provided with an auxiliary clamping mechanism (27), the auxiliary clamping mechanism (27) is located between the two clamping mechanisms (22), the auxiliary clamping mechanism (27) comprises two auxiliary clamping plate assemblies (271), one of the two auxiliary clamping plate assemblies (271) is an inner auxiliary clamping plate assembly (27101), and the other is an outer auxiliary clamping plate assembly (27102); the auxiliary clamping plate assembly (271) comprises an auxiliary pneumatic clamping cylinder (2711) and an auxiliary clamping The auxiliary pneumatic clamping cylinder (2711) is fixedly mounted on the sliding frame (21), and the auxiliary pneumatic clamping cylinder (2711) is used to drive the auxiliary clamping plate (2712) to rotate and swing up and down to approach or move away from the clamped side plate of the sheet metal box (40), and the auxiliary clamping plate (2712) can abut against the scissor frame (223); the auxiliary clamping plate (2712) is provided with an insert assembly (272), and the insert assembly (272) includes an insert plate (272 1) and four inserts (2722) fixed on the insert plate (2721), the four inserts (2722) are respectively used to be embedded in the four triangular areas (2234) of the scissor frame (223), the auxiliary clamping plate (2712) is provided with an avoidance opening (2713) for avoiding the four inserts (2722), and a return spring (2714) is provided between the insert plate (2721) and the auxiliary clamping plate (2712), and the return spring (2714) is used to To force the four inserts (2722) to withdraw from the avoidance opening (2713), the auxiliary clamping plate (2712) is provided with an electromagnet (2715). When the electromagnet (2715) is energized, a magnetic attraction can be formed between the electromagnet (2715) and the insert plate (2721), so as to force the insert plate (2721) to approach the sheet metal box (40), so that the four inserts (2722) are respectively embedded in the four triangular areas (2234) of the scissor frame (223).

5. The automatic robot welding system based on the adjustable sheet metal box fixing device according to claim 2 is characterized in that: The inner clamping plate is provided with an upper supporting mechanism (4), and the outer clamping plate is provided with a lower pressing mechanism (5), and the upper supporting mechanism (4) and the lower pressing mechanism (5) can jointly clamp the inner edge (401) of the sheet metal box (40).

6. The automatic robot welding system based on the adjustable sheet metal box fixing device according to claim 5 is characterized in that: The upper support mechanism (4) comprises an upper support driving member (41) and a support plate (42), wherein the upper support driving member (41) is used to drive the support plate (42) to move reciprocatingly up and down, and a longitudinal telescopic driving member (43) is connected between the upper support mechanism (4) and the inner clamping plate, and the support plate (42) has a corner (421), and the corner (421) is used to abut against the inner corner of the sheet metal box (40).

7. The automatic robot welding system based on the adjustable sheet metal box fixing device according to claim 2 is characterized in that: The outer clamping plate is provided with a plurality of laser rangefinders (7). The automatic robot welding system based on the adjustable sheet metal box fixing device also includes a sheet metal box model (50). The side plate of the sheet metal box model (50) is provided with avoidance holes (501). The edges of the avoidance holes (501) can play a limiting role on the detection end of the laser rangefinder (7); the laser rangefinder (7) can measure the lateral dimensions of the inner space of the sheet metal box model (50) through the avoidance holes (501).

8. The automatic robot welding system based on the adjustable sheet metal box fixing device according to claim 1 is characterized in that: The loading platform (1) is provided with a first positioning hole group (15), a plurality of first positioning holes (151) of the first positioning hole group (15) are provided and are arranged at intervals in the transverse direction, and the first positioning holes (151) are used for the first positioning member (211) to be movably inserted; the sliding frame (21) is provided with a second positioning hole group (25), a plurality of second positioning holes (251) of the second positioning hole group (25) are provided and are arranged at intervals in the longitudinal direction, and the second positioning holes (251) are used for the second positioning member (24) to be movably inserted.

9. The automatic robot welding system based on the adjustable sheet metal box fixing device according to claim 1, characterized in that: The sheet metal box fixing device further comprises a rotation driving mechanism (6), wherein the rotation driving mechanism (6) is used to drive the loading platform (1) to rotate around a vertical axis.

Images