An automatic robotic welding system based on an adjustable sheet metal box fixture

Abstract

The present application discloses an automatic robotic welding system based on an adjustable sheet metal box fixture, relating to the field of sheet metal processing technology, including a sheet metal box fixture, the sheet metal box fixture including a loading platform and two clamping fixtures arranged side by side, the two clamping fixtures being arranged in a horizontal direction, the clamping fixture including a sliding frame and a clamping mechanism, the sliding frame being connected to the loading platform in a horizontal sliding manner, the sliding frame being provided with a first positioning member, the first positioning member being used to prevent the sliding frame from moving relative to the loading platform; the clamping mechanisms of the two clamping fixtures being respectively used to clamp two opposite side panels of the sheet metal box; the sliding frame being provided with two side pressure mechanisms, the two side pressure mechanisms being able to apply pressure to the outer side surfaces of the sheet metal box in opposite directions, the force applied by the side pressure mechanisms being in the longitudinal direction. The present application can adapt to the welding needs of sheet metal 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 fixture. Background Art

[0002] Welding is a key process in the production of sheet metal boxes. Traditional welding methods typically use manual welding or fixed fixtures combined with semi-automatic welding equipment. During the welding process, sheet metal boxes require the use of jigs and tooling to fix them.

[0003] In actual production, sheet metal boxes come in a wide variety of sizes, and the tooling for sheet metal boxes cannot flexibly adapt to different sizes. Therefore, when welding sheet metal boxes of different sizes, corresponding tooling is required for fixing. Producing tooling for sheet metal boxes of various sizes incurs high production costs, and the process of changing different tooling for sheet metal boxes requires considerable man-hours, which needs to be improved. Summary of the Invention

[0004] In order to reduce the welding tooling of sheet metal boxes and 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 present application provides an automatic robot welding system based on an adjustable sheet metal box fixing device, which adopts the following technical solutions:

[0006] 14. The invention relates to an automatic robot welding system based on an adjustable sheet metal box fixing device, comprising a sheet metal box fixing device, wherein the sheet metal box fixing device comprises a loading platform and two clamping fixing devices arranged side by side, the arrangement direction of the two clamping fixing devices is set to be horizontal, the clamping fixing device comprises a sliding frame and a clamping mechanism, the sliding frame is connected to the loading platform along a horizontal sliding direction, the sliding frame is provided with a first positioning member, and the first positioning member is used to hinder the sliding frame from moving relative to the loading platform; the clamping mechanisms of the two clamping fixing devices are respectively used to clamp the two opposite side panels of the sheet metal box; the sliding frame is provided with two side pressure mechanisms, and the two side pressure mechanisms can apply pressure to the outer side surfaces of the sheet metal box in opposite directions, and the force application direction of the side pressure mechanism is longitudinal.

[0007] By adopting the above technical solution, before welding the sheet metal box, the sliding frames of the two clamping fixtures are first moved according to the size of the sheet metal box and positioned using the first positioning member. During welding, the sheet metal box is initially assembled on the loading platform. Two opposing side panels of the sheet metal box are pre-bent and integrally formed with the base panel, while the other two side panels, which are assembled later, are retained by friction between the two side panels integrally mounted on the base panel. After the assembly of the sheet metal box components is complete, the clamping mechanisms of the two clamping fixtures clamp the two side panels, while the side pressure mechanisms simultaneously apply pressure to the two side panels integrally mounted on the base panel, respectively, clamping the two side panels integrally mounted on the base panel. Subsequently, a welding robot welds the seams between adjacent side panels. During the movement of the sliding frame relative to the loading platform, the first positioning member can be used to position the sliding frame at different locations on the loading platform, thereby varying the spacing between the two clamping devices to accommodate sheet metal boxes of varying sizes.

[0008] Optionally, the clamping mechanism is installed on the sliding frame along the longitudinal sliding direction, and the clamping mechanism is provided with a second positioning member, which is used to prevent the clamping mechanism from moving relative to the sliding frame; the clamping mechanism is provided with two groups, and the two groups of clamping mechanisms are arranged at intervals along the longitudinal direction, and the positions of the two side pressure mechanisms correspond to the two groups of clamping mechanisms respectively.

[0009] By adopting this technical solution, when the two side pressure mechanisms apply opposing clamping forces to the sheet metal box, the two sets of clamping mechanisms can bear the pressure of the side pressure mechanisms, reliably positioning the side panels of the sheet metal box. The two sets of clamping mechanisms can be positioned at different locations on the sliding frame using the second positioning member, accommodating sheet metal boxes of different sizes.

[0010] Optionally, the clamping mechanism includes two clamping plate assemblies, one of the two clamping plate assemblies is an inner clamping plate assembly, and the other is an outer clamping plate assembly, and the inner clamping plate assembly and the outer clamping plate assembly can jointly clamp the side panel of the sheet metal box from the inside and outside of the sheet metal box; the clamping plate assembly includes a pneumatic clamping cylinder and a clamping plate, and the pneumatic clamping cylinder is installed on the sliding frame along the longitudinal sliding, and the pneumatic clamping cylinder is used to drive the clamping plate to rotate and swing up and down to approach or move away from the clamped side panel of the sheet metal box, the clamping plate of the inner clamping plate assembly is an inner clamping plate, and the clamping plate of the outer clamping plate assembly is an outer clamping plate.

[0011] By employing this technical solution, the inner and outer clamping plates of the inner and outer clamping plates respectively clamp the side panels of the sheet metal box from both the inner and outer sides, ensuring a more secure position of the side panels. Once the box is welded, the inner and outer clamping plates rotate in opposite directions away from the box, allowing the two clamping devices to move laterally away from the box.

[0012] Optionally, the clamping mechanism also includes two scissor frames, one of which is connected to two adjacent outer plates, and the other is connected to two adjacent inner plates, and the scissor frames can abut the side panels of the sheet metal box; the scissor frames have two hinged ends and two sliding ends, one of which has two hinged ends hinged to the two adjacent outer plates, and the two sliding ends are slidingly connected to the two adjacent outer plates; the other of which has two hinged ends hinged to the two adjacent inner plates, and the two sliding ends are slidingly connected to the two adjacent inner plates.

[0013] By adopting this technical solution, as the spacing between the two clamping mechanisms is adjusted according to the size of the sheet metal box, the scissor frames can adaptively open and close in response to the change in spacing between the two clamping mechanisms. One of the two scissor frames connects two adjacent outer clamping plates, while the other connects two adjacent inner clamping plates, thereby integrally connecting the two outer clamping plates and the two inner clamping plates. This helps to improve the clamping effect of the two clamping mechanisms on the side panels of the sheet metal box.

[0014] 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, one of the two auxiliary clamping plate assemblies 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, and the auxiliary clamping plate can abut against the scissor frame; the auxiliary clamping plate is provided with an insert The insert assembly includes an insert plate and four inserts fixed on the insert plate, the four inserts are respectively used to embed in the four triangular areas of the scissor frame, the auxiliary splint is provided with an avoidance opening for avoiding the four inserts, a reset spring is provided between the insert plate and the auxiliary splint, the reset spring is used to force the four inserts to withdraw from the avoidance opening, the auxiliary splint is provided with an electromagnet, when the electromagnet is energized, a magnetic attraction can be formed between the electromagnet and the insert plate to force the insert plate to approach the sheet metal box, so that the four inserts are respectively embedded in the four triangular areas of the scissor frame.

[0015] By adopting the above technical solution, the auxiliary clamping mechanism can apply pressure to the scissor frame through the auxiliary clamping plates, thereby strengthening the clamping effect on the middle area of ​​the side panels of the sheet metal box. When the two auxiliary clamping plates of the auxiliary clamping mechanism respectively abut the two scissor frames, the electromagnet is energized, and the electromagnet and the insert plate form a magnetic attraction, causing the insert assembly to overcome the elastic force of the return spring and move closer to the side panel of the sheet metal box. The four insert assemblies of the insert assembly are respectively embedded in the four triangular areas of the scissor frame and abut the side panels of the sheet metal box, thereby making the scissor frame more stable and at the same time, the four inserts are pressed against the side panels of the sheet metal box.

[0016] Optionally, the inner clamping plate is provided with an upper supporting mechanism, and the outer clamping plate is provided with a downward pressing mechanism, and the upper supporting mechanism and the downward pressing mechanism can jointly clamp the inner edge of the sheet metal box.

[0017] By adopting the above technical solution, the sheet metal box is usually bent and provided with an inner edge. When welding the sheet metal box, the inner edge of the sheet metal box is clamped together by the downward pressure mechanism and the upper support structure, so that the inner edge of the side panel assembled later is aligned with the inner edge of the side panel integrally provided on the bottom plate, so as to facilitate welding the inner edge of the sheet metal box into one piece.

[0018] Optionally, the upper support mechanism includes an upper support driving member and a support plate, the upper support driving member is used to drive the support plate to move back and forth up and down, a longitudinal telescopic driving member is connected between the upper support mechanism and the inner clamping plate, and the support plate has a corner, which is used to support the inner corner of the sheet metal box.

[0019] By adopting the above technical solution, the longitudinal telescopic drive member drives the corner of the upper support plate to abut the inner corner of the sheet metal box, so that the upper support plate can play a shaping role on the inner corner of the sheet metal box, which is conducive to ensuring the dimensional accuracy of the sheet metal box.

[0020] Optionally, the outer clamping plate is provided with several laser rangefinders, and the automatic robot welding system based on the adjustable sheet metal box fixing device also includes a sheet metal box model, and the side panel of the sheet metal box model is provided with an avoidance hole, 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 dimensions of the inner space of the sheet metal box model through the avoidance hole.

[0021] By adopting this technical solution, before welding a sheet metal box, a sheet metal box model is placed on the loading platform and clamped. The horizontal dimensions of the space inside the sheet metal box model from the side of the laser rangefinder are then used to determine the effectiveness of the clamping device in securing the sheet metal box. Adjustments to the clamping device are then made based on the laser rangefinder's measurements until the laser rangefinder's measurements meet the requirements. By setting up a sheet metal box model to verify the clamping device's effectiveness, defective products can be reduced in the early stages of sheet metal box welding.

[0022] Optionally, the loading platform has a first positioning hole group, and the first positioning holes of the first positioning hole group are provided with multiple first positioning holes, and are arranged at intervals along the horizontal direction, and the first positioning holes are provided for the first positioning member to be movably plugged in; the sliding frame is provided with a second positioning hole group, and the second positioning holes of the second positioning hole group are provided with multiple second positioning holes, and are arranged at intervals along the longitudinal direction, and the second positioning holes are provided for the second positioning member to be movably plugged in.

[0023] By adopting the above technical solution, during the movement of the sliding frame relative to the loading platform, the first positioning member can be used to cooperate with different first positioning holes to allow the sliding frame to stay at different positions on the loading platform, thereby changing the distance between the two fixed clamping devices. Similarly, the second positioning member can be used to cooperate with different second positioning holes to change the distance between the two clamping devices.

[0024] Optionally, the sheet metal box fixing device further includes a rotation drive mechanism, and the rotation drive mechanism is used to drive the loading platform to rotate around a vertical axis.

[0025] By adopting the above technical solution, the rotary drive mechanism can drive the loading platform to rotate around a vertical axis, and the seams on different sides of the sheet metal box can be rotated to the side where the welding robot is located, making it easier for the welding robot to weld the various seams of the sheet metal parts.

[0026] In summary, this application includes at least one of the following beneficial technical effects:

[0027] Before welding the sheet metal box, the sliding frames of the two clamping devices are moved according to the size of the sheet metal box and positioned using the first positioning member. The spacing between the two clamping devices can be changed to accommodate sheet metal boxes of different sizes.

[0028] Among the two scissor frames, one connects two adjacent outer plywoods, and the other connects two adjacent inner plywoods, so that the two outer plywoods are connected as a whole, and the two inner plywoods are connected as a whole, which is beneficial to improve the clamping effect of the two clamping mechanisms on the side panels of the sheet metal box. BRIEF DESCRIPTION OF THE DRAWINGS

[0029] Figure 1 It is a schematic diagram of the overall structure of Example 1.

[0030] Figure 2 Schematic diagram of the structure of the sheet metal box fixing device of Example 1.

[0031] Figure 3 Schematic diagram of the structure of the sheet metal box of Example 1.

[0032] Figure 4 Schematic diagram of the structure of the clamping and fixing device of Example 1.

[0033] Figure 5It is a structural schematic diagram of the clamping mechanism of Example 1.

[0034] Figure 6 This is a schematic diagram of the clamping and fixing device of Example 2 in the state where the auxiliary clamping mechanism is removed.

[0035] Figure 7 It is a structural schematic diagram of the clamping and fixing device of Example 2.

[0036] Figure 8 Schematic diagram of the auxiliary clamping mechanism in use in Example 2.

[0037] Figure 9 This is a schematic diagram of Example 2 used to illustrate the matching relationship between the insert assembly and the auxiliary splint.

[0038] Figure 10 3 is a schematic structural diagram of the sheet metal box fixing device of Example 3.

[0039] Figure 11 Schematic diagram of the structure of the sheet metal box model of Example 3.

[0040] Description of reference numerals:

[0041] 10. Sheet metal box fixing device; 1. Loading platform; 11. Pad groove; 12. Pad; 13. Limit reference block; 14. Horizontal slide rail slider assembly; 15. First positioning hole group; 151. First positioning hole; 2. Clamping fixture; 21. Sliding frame; 211. First positioning member; 22. Clamping mechanism; 221. Sliding seat; 222. Clamping plate assembly; 2221. Pneumatic clamping cylinder; 2222. Clamping plate; 2223. Raised strip; 22201. Inner clamping plate assembly; 22202. Outer clamping plate assembly; 223. Scissor frame; 2231. Articulated 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; 2 71. 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. Insert assembly; 2721. Insert plate; 2722. Insert; 3. Side pressure mechanism; 31. Side pressure cylinder; 32. Side pressure plate; 4. Upper support mechanism; 41. Upper support drive member; 42. Support plate; 421. Corner; 43. Longitudinal telescopic drive member; 5. Down-pressing mechanism; 51. Down-pressing drive member; 52. Pressing block; 6. Rotational drive mechanism; 7. Laser rangefinder; 8. Auxiliary down-pressing mechanism; 20. Automatic welding robot; 40. Sheet metal box; 401. Inner edge; 50. Sheet metal box model; 501. Avoidance hole. DETAILED DESCRIPTION

[0042] The following is combined with Figure 1-11 This application is described in further detail. Example 1

[0043] The embodiment of the present application discloses an automatic robot welding system based on an adjustable sheet metal box fixing device. 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 action of the sheet metal box fixing device 10 and the operation of the automatic welding robot 20.

[0044] Reference Figure 2 and Figure 3 The sheet metal box fixing device 10 includes 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 two clamping fixing devices 2 are respectively used to clamp two opposite side panels of the sheet metal box 40.

[0045] The loading platform 1 is used to place the sheet metal box 40. A pad groove 11 is provided on the upper surface of the loading platform 1. A pad 12 is removably mounted on the pad groove 11 of the loading platform 1. The pad 12 is provided with two limit reference blocks 13, which are spaced laterally. These limit reference blocks 13 serve as a reference for the placement of the sheet metal box 40, ensuring a more precise longitudinal position of the sheet metal box 40 on the loading platform 1. The pad 12 can be removed and replaced as needed to accommodate sheet metal boxes 40 of different specifications.

[0046] Before welding the sheet metal box 40, it is preliminarily assembled on the loading platform 1. Two opposing side panels of the box 40 are pre-bent integrally with the base plate into a U-shaped structure. The other two later-assembled side panels are held in place by friction between the two side panels integrally mounted on the base plate. A clamping fixture 2 is used to hold the two later-assembled side panels of the box.

[0047] Reference 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 a gantry structure. The loading platform 1 is provided with two transverse slide rail slider assemblies 14 side by side in the longitudinal direction. The two sides of the sliding frame 21 are respectively connected to the two transverse slide rail slider assemblies 14, so that a sliding connection is formed between the sliding frame 21 and the loading platform 1.

[0048] The sliding frame 21 is provided with a first positioning member 211, which is threadedly connected to the bottom of the sliding frame 21. The loading platform 1 has a first positioning hole group 15, and the first positioning holes 151 of the first positioning hole group 15 are provided with multiple and are arranged at intervals along the horizontal direction. The first positioning holes 151 are provided for the first positioning member 211 to be movably inserted.

[0049] The position of the sliding frame 21 on the loading platform 1 can be adjusted by sliding. When the position of the sliding frame 21 changes, the first positioning member 211 cooperates with the first positioning hole 151 to prevent the sliding frame 21 from moving relative to the loading platform 1, thereby maintaining the sliding frame 21 in a fixed position on the loading platform 1. The first positioning member 211 cooperates with different first positioning holes 151 to change the spacing between the two clamping devices 2 to accommodate sheet metal boxes 40 of different horizontal dimensions.

[0050] It is worth mentioning that, in another embodiment, the positioning method of the first positioning member 211 can be replaced by positioning using friction damping. In another embodiment, the position of the sliding frame 21 can also be adjusted and limited using a linear module or an electric cylinder.

[0051] Reference Figure 2 、 4 and Figure 5 There are two groups of clamping mechanisms 22, and the two groups of clamping mechanisms 22 are arranged at intervals along the longitudinal direction. The sliding frame 21 is provided with a longitudinal slide rail slider assembly 23, and the clamping mechanism 22 is slidably installed on the sliding frame 21 through the longitudinal slide rail slider assembly 23.

[0052] The clamping mechanism 22 includes a sliding seat 221 and two clamping plate assemblies 222. The sliding seat 221 is connected to the longitudinal slide rail slider assembly 23, and the two clamping plate assemblies 222 are mounted on the sliding seat 221. The sliding seat 221 is threadedly connected to the second positioning member 24. The sliding frame 21 is provided with a second positioning hole group 25. The second positioning hole group 25 has multiple second positioning holes 251 arranged at intervals along the longitudinal direction. The second positioning holes 251 are used for the second positioning member 24 to be movably inserted.

[0053] The longitudinal position of the clamping mechanism 22 on the sliding frame 21 can be adjusted by sliding. After the position of the clamping mechanism 22 is adjusted, the second positioning member 24 cooperates with the second positioning hole 251 to maintain positioning. The two sets of clamping mechanisms 22 can be positioned at different positions on the sliding frame 21 using the second positioning member 24, thereby accommodating sheet metal boxes 40 of different sizes.

[0054] The two clamping plate assemblies 222, one of which is an inner clamping plate assembly 22201 and the other is an outer clamping plate assembly 22202, can jointly clamp the side panels of the sheet metal box 40 from both the inside and outside. The clamping plate assemblies 222 include a pneumatic clamping cylinder 2221 and a clamping plate 2222. The pneumatic clamping cylinder 2221 is longitudinally slidably mounted on the sliding frame 21 and is used to drive the clamping plate 2222 to rotate and swing upward and downward, moving it closer to or away from the clamped side panel of the sheet metal box 40. The clamping plate 2222 of the inner clamping plate assembly 22201 is the inner clamping plate, while the clamping plate 2222 of the outer clamping plate assembly 22202 is the outer clamping plate. Both the inner and outer clamping plates are configured as hollow plate-frame structures to save material and reduce equipment weight.

[0055] It is worth mentioning that the pneumatic clamping cylinders 2221 of the two clamping plate assemblies 222 in this embodiment can be replaced by a linear drive that can gradually tilt and approach each other from top to bottom.

[0056] Reference Figure 2 The sliding frame 21 is provided with two side pressure mechanisms 3, and the side pressure mechanisms 3 include a side pressure cylinder 31 and a side pressure plate 32. The side pressure cylinder 31 is installed near the bottom of the sliding frame 21, and the side pressure cylinder 31 is used to drive the side pressure plate 32 to move telescopically; the two side pressure mechanisms 3 can apply pressure to the outer side surfaces of the sheet metal box 40 in opposite directions, and the force direction of the side pressure mechanism 3 is longitudinal. The positions of the two side pressure mechanisms 3 correspond to the two groups of clamping mechanisms 22 respectively.

[0057] When the two side pressure mechanisms 3 apply opposite clamping forces to the sheet metal box 40 , the two sets of clamping mechanisms 22 can bear the pressure of the side pressure mechanisms 3 , thereby enabling the side panels of the sheet metal box 40 to be reliably positioned.

[0058] Reference Figure 2 and Figure 5 The inner splint is provided with an upper support mechanism 4, the upper support mechanism 4 includes an upper support driving member 41 and a support plate 42, the upper support driving member 41 is used to drive the support plate 42 to move back and forth up and down, and a longitudinal telescopic driving member 43 is connected between the upper support mechanism 4 and the inner splint. The longitudinal telescopic driving member 43 is a cylinder, and the support plate 42 has a corner 421, which is used to resist the inner corner of the sheet metal box 40.

[0059] Reference Figure 5 The outer clamping plate is provided with a downward pressing mechanism 5, which includes a downward pressing driver 51 and a pressing block 52. The downward pressing driver 51 is a pneumatic cylinder mounted on the outer clamping plate and is used to drive the pressing block 52 to move back and forth. The downward pressing mechanism 5 and the upper supporting mechanism 4 can jointly clamp the inner edge 401 of the sheet metal box 40, facilitating alignment of the inner edges 401 of the different side panels of the sheet metal box 40 before welding. The inner edge 401 of the sheet metal box 40 is the folded edge of the side panel.

[0060] Reference Figure 2 The sliding seat 221 is provided with an auxiliary pressing mechanism 8, which is a cylinder. The auxiliary pressing mechanism 8 is used to apply downward pressure to the inner edge 401 of the sheet metal box 40.

[0061] The sheet metal box fixing device 10 also includes a rotary drive mechanism 6, which can be a motor or a rotary cylinder. The rotary drive mechanism 6 is used to drive the loading platform 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.

[0062] In this embodiment, the welding robot adopts a six-axis robotic arm, and the automatic welding robot 20 is equipped with a welding head and a visual 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 and welding path of the sheet metal box 40; the control unit is integrated with a PLC controller and a touch screen operation interface, and the user can set the size, welding path and other parameters of the sheet metal box 40 through the interface. The control unit supports switching between automatic and manual modes.

[0063] The present invention relates to an automatic robotic welding system based on an adjustable sheet metal box fixture. The principle of implementation is as follows: Before welding a sheet metal box 40, the sliding frames 21 of the two clamping fixtures 2 are moved according to the size of the box 40 and positioned using the first positioning member 211. During welding, the box 40 is initially assembled on the loading platform 1. Once the assembly of the box 40 components is complete, the clamping mechanisms 22 of the two clamping fixtures 2 clamp the two side panels to be assembled later. Simultaneously, the side pressure mechanism 3 applies pressure to the two side panels integrally mounted on the bottom plate, clamping the two side panels to the two side panels to be assembled later. Subsequently, a welding robot welds the seams between adjacent side panels. As the sliding frame 21 moves relative to the loading platform, the first positioning member 211 can be used to position the sliding frame 21 at different locations on the loading platform 1, thereby varying the spacing between the two clamping devices to accommodate sheet metal boxes 40 of varying sizes. Example 2

[0064] Reference Figure 6 The difference between this embodiment and embodiment 1 is that the clamping mechanism 22 also includes two scissor frames 223, one of which is connected to two adjacent outer clamping plates, and the other is connected to two adjacent inner clamping plates. The scissor frames 223 can abut against the side panels of the sheet metal box 40.

[0065] The scissor frame 223 has two hinged ends 2231 and two sliding ends 2232. The hinged ends 2231 and the sliding ends 2232 of the scissor frame 223 are both provided with sockets 2233. The opposite sides of the two adjacent clamping plates 2222 on the same side are respectively provided with convex strips 2223 for plugging into the sockets 2233. The two hinged ends 2231 of the scissor frame 223 are hinged to the convex strips 2223 of the two adjacent clamping plates 2222. The two sliding ends 2232 of the scissor frame 223 are respectively connected to the convex strips 2223 of the adjacent clamping plates 2222. The convex strips 2223 of two adjacent splints 2222 are slidingly connected; that is, among the two scissor frames 223, the two hinged ends 2231 of one scissor frame 223 are respectively hinged to the two adjacent outer splints, and the two sliding ends 2232 are respectively slidingly connected to the two adjacent outer splints; the two hinged ends 2231 of the other scissor frame 223 are respectively hinged to the two adjacent inner splints, and the two sliding ends 2232 are respectively slidingly connected to the two adjacent inner splints.

[0066] Reference Figure 6 and Figure 8 The sliding frame 21 is provided with an auxiliary clamping mechanism 27, which 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 panel of the sheet metal box 40. The auxiliary clamping plate 2712 can abut against the scissor frame 223.

[0067] Reference Figure 8 and Figure 9 The auxiliary splint 2712 is provided with an insert assembly 272, which includes an insert plate 2721 and four inserts 2722 fixed on the insert plate 2721. The four inserts 2722 are respectively used to embed in the four triangular areas 2234 of the scissor frame 223. The auxiliary splint 2712 is provided with an avoidance opening 2713 for avoiding the four inserts 2722. The insert plate 2721 is located on the side of the auxiliary splint 2712 away from the scissor frame 223. The insert plate 2721 A return spring 2714 is provided between the auxiliary splint 2712 and the auxiliary splint 2712. The return spring 2714 is used to force the four blocks 2722 to withdraw from the avoidance opening 2713. The auxiliary splint 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 block plate 2721 to force the block plate 2721 to approach the sheet metal box 40, so that the four blocks 2722 are respectively embedded in the four triangular areas 2234 of the scissor frame 223.

[0068] The principle behind this embodiment is that as the spacing between the two clamping mechanisms 22 is adjusted based on the dimensions of the sheet metal box 40, the scissor frames 223 can adaptively open and close in response to the change in spacing between the two clamping mechanisms 22. One of the two scissor frames 223 connects two adjacent outer clamping plates, while the other connects two adjacent inner clamping plates. This integrally connects the two outer clamping plates and the two inner clamping plates, effectively enhancing the clamping effect of the two clamping mechanisms 22 on the side panels of the sheet metal box 40.

[0069] The auxiliary clamping mechanism 27 can apply pressure to the scissor frames 223 via the auxiliary clamping plates 2712 to strengthen the clamping effect on the middle areas of the side panels of the sheet metal box 40. When the two auxiliary clamping plates 2712 of the auxiliary clamping mechanism 27 respectively abut the two scissor frames 223, the electromagnet 2715 is energized to form a magnetic attraction between the electromagnet 2715 and the insert plate 2721, causing the insert assembly 272 to overcome the elastic force of the return spring 2714 and move closer to the side panels of the sheet metal box 40. The four insert assemblies 272 of the insert assembly 272 are respectively embedded in the four triangular areas 2234 of the scissor frames 223 and abut the side panels of the sheet metal box 40, thereby further stabilizing the shape of the scissor frames 223 and simultaneously causing the four inserts 2722 to press against the side panels of the sheet metal box 40. Example 3

[0070] Reference Figure 10 and Figure 11 The difference between this embodiment and embodiment 1 is that the outer clamping plate is provided with a plurality of laser rangefinders 7, and the automatic robot welding system based on the adjustable sheet metal box fixing device further includes a sheet metal box model 50, and the side panels of the sheet metal box model 50 are provided with avoidance holes 501. The edges of the avoidance holes 501 can play a limiting role on the edges of the detection ends of the laser rangefinders 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.

[0071] In this embodiment, the sheet metal box model 50 is made using a sheet metal box 40 to be welded, so that the structures of the sheet metal box model 50 and the sheet metal box 40 are as consistent as possible.

[0072] Before welding the sheet metal box 40, the sheet metal box model 50 is placed on the loading platform 1 and clamped. The laser rangefinder 7 then uses the lateral dimensions of the space inside the sheet metal box model 50 to determine the effectiveness of the clamping device 2 in securing the sheet metal box 40. Adjustments to the clamping device 2 are then made based on the results obtained by the laser rangefinder 7 until the results meet the requirements. Verifying the clamping device's effectiveness by setting up the sheet metal box model 50 can reduce defective products during the initial stages of welding the sheet metal box 40.

[0073] The above are all preferred embodiments of the present application, and are not intended to limit the scope of protection of the present application. Therefore, any equivalent changes made based on the structure, shape, and principle of the present application should be included in the scope of protection of the present application.

Claims

1. An automatic robotic welding system based on an adjustable sheet metal box fixture, characterized by: The invention comprises a sheet metal box fixing device, wherein the sheet metal box fixing device comprises a loading platform (1) and two clamping fixing devices (2) arranged side by side, wherein the arrangement direction of the two clamping fixing devices (2) is set to be horizontal, and the clamping fixing device (2) comprises a sliding frame (21) and a clamping mechanism (22), wherein the sliding frame (21) is connected to the loading platform (1) in a horizontal sliding manner, and the sliding frame (21) is provided with a first positioning member (211), wherein 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 mechanism (3) is longitudinal; the clamping mechanism (22) is mounted on the sliding frame (21) in a longitudinal sliding manner, 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 in the longitudinal direction, and the positions of the two side pressure mechanisms (3) correspond to the two groups of clamping mechanisms (22) respectively; The clamping mechanism (22) includes two clamping plate assemblies (222), one of which is an inner clamping plate assembly (22201) and the other is an outer clamping plate assembly (22202), and the inner clamping plate assembly (22201) and the outer clamping plate assembly (22202) can clamp the side panels of the sheet metal box (40) from the inner and outer sides 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 mounted on the sliding frame (21) in a longitudinal sliding manner, 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; The outer clamping plate is provided with a plurality of laser rangefinders (7), and the automatic robot welding system based on the adjustable sheet metal box fixing device further comprises a sheet metal box model (50), and 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 detection end of the laser rangefinder (7); the laser rangefinder (7) can measure the lateral size of the inner space of the sheet metal box model (50) through the avoidance hole (501); Before welding the sheet metal box (40), the sheet metal box model (50) is placed on the loading platform (1) and clamped, and then the lateral dimensions of the inner space of the sheet metal box model (50) are measured using a laser rangefinder (7). The clamping fixture (2) is adjusted according to the result measured by the laser rangefinder (7) until the measurement result of the laser rangefinder (7) meets the requirements.

2. The automatic robot welding system based on the adjustable sheet metal box fixing device according to claim 1, 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 scissor frame (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 scissor frame (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.

3. The automatic robot welding system based on the adjustable sheet metal box fixing device according to claim 2, 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), and the auxiliary clamping mechanism (27) includes 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) includes 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 embed into the four triangular areas (2234) of the scissor frame (223), the auxiliary splint (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 splint (2712), and the return spring (2714) is used to The four inserts (2722) are forced to exit the avoidance opening (2713). The auxiliary splint (2712) is provided with an electromagnet (2715). When the electromagnet (2715) is energized, a magnetic attraction is 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).

4. The automatic robot welding system based on the adjustable sheet metal box fixing device according to claim 1, 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). The upper supporting mechanism (4) and the lower pressing mechanism (5) can jointly clamp the inner edge (401) of the sheet metal box (40).

5. The automatic robot welding system based on the adjustable sheet metal box fixing device according to claim 4, characterized in that: The upper support mechanism (4) includes 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 up and down reciprocatingly, 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).

6. The automatic robot welding system based on the adjustable sheet metal box fixing device according to claim 1, characterized in that: The loading platform (1) is provided with a first positioning hole group (15), wherein 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 provided for the first positioning member (211) to be movably inserted; the sliding frame (21) is provided with a second positioning hole group (25), wherein 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 provided for the second positioning member (24) to be movably inserted.

7. 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 drive mechanism (6), and the rotation drive mechanism (6) is used to drive the loading platform (1) to rotate around a vertical axis.

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