An automatic welding robot for automobile rear floor

Abstract

The present invention relates to the technical field of automobile sheet metal welding equipment, and specifically proposes an automatic welding robot for automobile rear floor, including a welding manipulator and a welding fixture for welding and positioning the rear floor, the welding fixture including an expandable frame, four corner fixtures assembled on the expandable frame, multiple expansion mechanisms distributed along a straight line and assembled on the expandable frame, and multiple groups of adaptive support members assembled one-to-one on multiple expansion mechanisms; the welding fixture provided in the present invention can be used for welding and positioning the rear floor of a type of structure, thereby improving the overall versatility and applicability of the welding fixture, effectively improving the overall stability of the adaptive support, and can effectively and evenly disperse the stress on the rear floor, avoid stress concentration, reduce local deformation caused by welding, and thus improve the welding forming quality; the retractable structural design greatly improves the convenience of the fixture transportation process, and also effectively reduces the space occupied by the fixture storage.

Description

Technical Field

[0001] The invention relates to the technical field of automobile sheet metal welding equipment, and particularly provides an automatic welding robot for an automobile rear floor. Background Art

[0002] The rear floor of a car is part of the vehicle's body structure, located at the bottom and rear of the cabin, typically beneath the rear seats and in front of the trunk. It is a crucial component of the vehicle's chassis and plays a key role in the vehicle's overall rigidity, safety, and sound insulation. In the structural design of a car's rear floor, an axisymmetric design is typically adopted to ensure overall structural symmetry, driven by a combination of factors, including simplified manufacturing, balanced vehicle weight distribution, vehicle safety, and ease of assembly.

[0003] In addition to the assembly and welding of the rear floor of a car, the corresponding accessory structures need to be welded and assembled. In order to ensure the accuracy and efficiency of welding and assembly and to adapt to automated welding operations, the rear floor of a car needs to be welded and positioned by a welding fixture. Under the existing technology, the rear floors of cars with different structures are generally designed with corresponding welding fixtures. Such special welding fixtures have the following disadvantages: (1) Different welding fixtures are usually not universal and applicable. Some parts need to be replaced and re-debugged before they can be welded and positioned for rear floors of other sizes. The overall flexibility of the fixture is low, the overall cost of the fixture is high, and the service life is short.

[0004] (2) Existing welding fixtures usually only support and position the edges of the floor, but do not effectively support the middle of the floor. The supporting force is unevenly distributed, and the overall stress of the floor after welding cannot be effectively and evenly dispersed, affecting the quality of welding forming.

[0005] (3) In actual production, when welding different workpieces, the welding fixtures of the corresponding workpieces need to be replaced. The rear floor is usually a sheet metal part with a large size and area. The overall layout of the existing welding fixtures is generally relatively fixed. Therefore, in the actual processing process, the convenience of fixture transportation is greatly affected, and the fixtures occupy a large area of ​​the workshop when stored. Summary of the Invention

[0006] In order to solve the above problems, the present invention provides an automatic welding robot for automobile rear floor, which is used to solve the problems mentioned in the above background technology.

[0007] In order to achieve the above-mentioned purpose, the present invention adopts the following technical solutions: an automatic welding robot for the rear floor of an automobile, comprising a welding manipulator and a welding fixture for welding and positioning the rear floor, the welding fixture comprising: an expandable frame, comprising a slide rail base, two longitudinal telescopic members are slidably mounted on both sides of the slide rail base, the telescopic ends of each longitudinal telescopic member are vertically fixed with a support column, a transverse telescopic member is assembled between the support columns on the two longitudinal telescopic members on the same side, the transverse telescopic member is provided with two telescopic ends which are vertically slidably mounted on the two support columns in a one-to-one manner; four corner fixtures are fixed one-to-one on the four support columns The top of the rear floor is used to clamp and position the four corners of the rear floor; multiple unfolding mechanisms are distributed in the transverse direction and are all fixed horizontally between the two transverse telescopic members; a lifting assembly is installed on the slide rail base, and multiple unfolding mechanisms are jointly fixed at the lifting end of the lifting assembly; and multiple groups of adaptive support members are installed one by one on multiple unfolding mechanisms, which are jointly used to provide adaptive support for the rear floor; each group of adaptive support members includes multiple members, and are evenly distributed along the longitudinal straight line; when the distance between the two transverse telescopic members is opened, each unfolding mechanism drives multiple adaptive support members to unfold synchronously, and multiple adaptive support members always maintain an equidistant distribution.

[0008] Preferably, the unfolding mechanism includes a central slide rail fixed to the lifting end of the lifting assembly, and two side slide rails are installed on the central slide rail in a longitudinal sliding manner and are staggered and distributed on both sides thereof, and the two side slide rails are fixed one-to-one on the non-telescopic ends of the two transverse telescopic members; a reference component is fixed in the center of the upper end of the central slide rail, and the two side slide rails are respectively equipped with unfolding components, and the two unfolding components are hinged to the reference component; among the multiple adaptive support members distributed longitudinally, the adaptive support member located in the center is assembled on the reference component, and the two groups of adaptive support members located on both sides of the adaptive support member at the center position are assembled one-to-one on the two unfolding components.

[0009] Preferably, the reference component includes a central guide column vertically fixed on the central slide rail and a sliding sleeve hinge seat slidably installed on the central guide column; the unfolding component includes multiple sliding hinge seats and multiple supporting hinge seats, and the sliding hinge seats and the supporting hinge seats are all installed on the side slide rails in a longitudinal sliding manner and are alternately distributed, and one of the sliding hinge seats away from the reference component is fixed on the side slide rail; connecting rods are hinged between the sliding sleeve hinge seat and the adjacent sliding hinge seats, as well as between the adjacent sliding hinge seats and the supporting hinge seats; a telescopic connecting plate is vertically fixed on the side slide rail, and a guide shaft is horizontally fixed to the top of the telescopic connecting plate, and the sliding sleeve hinge seat and the multiple supporting hinge seats are slidably installed on the guide shaft together; the top of the sliding sleeve hinge seat and the top of each supporting hinge seat are equipped with adaptive support members.

[0010] Preferably, the adaptive support member includes a support rod vertically slidably mounted on a sliding sleeve hinge or a support hinge, a support block for supporting contact with the rear floor is fixed to the top of the support rod, and a plurality of disc springs are overlappedly provided on the support rod, and the plurality of disc springs are clamped between the bottom end face of the support block and the upper end face of the sliding sleeve hinge or the upper end face of the support hinge.

[0011] Preferably, the corner clamp includes a sliding rail base horizontally fixed to the top of the support column, and a positioning block for horizontally supporting the rear floor and clamping the side ends is slidably installed on the sliding rail base. The sliding rail base is also equipped with a pressing assembly for pressing down the rear floor; when the positioning block slides to position the rear floor, the pressing assembly is synchronously pressed on the rear floor.

[0012] Preferably, the positioning block includes a supporting plate and a side clamping plate fixed on the upper end surface of the supporting plate, the side clamping plate is a right-angle plate structure, and the side clamping plate is provided with a side clamping surface for synchronously clamping the longitudinal end and the transverse end of the rear floor, and a sliding part that slides with the slide rail base is fixed between the supporting plate and the side clamping plate.

[0013] Preferably, the down-pressing assembly includes a flip plate horizontally mounted on the slide rail base, a driven connecting rod is hinged between the flip plate and the sliding part, a down-pressing rod is mounted on the flip plate for vertical sliding relative to the plate surface, a pressure contact is fixed to the down-pressing end of the down-pressing rod, a compression spring is sleeved on the down-pressing rod, and both ends of the compression spring are respectively fixed to the flip plate and the pressure contact.

[0014] Preferably, the longitudinal telescopic member includes a slider seat installed on the slide rail base along the transverse sliding direction, a conduit fixed horizontally on the slider seat, and a cross bar installed in the conduit along the longitudinal sliding direction. A connecting plate is fixed at one end of the cross bar extending out of the conduit, and the support column is vertically fixed on the connecting plate.

[0015] Preferably, the transverse telescopic member includes a transverse slide rail horizontally fixed between a plurality of side slide rails and two guide sleeve slide plates horizontally mounted on the transverse slide rail for relative sliding movement, wherein the guide sleeve slide plates are slidably mounted on the support column.

[0016] The above technical solution has the following advantages or beneficial effects: the present invention provides an automatic welding robot for automobile rear floor, which is provided with an expandable and retractable expandable frame, and four corner clamps are mounted on the expandable frame for four-point clamping and supporting positioning of the four corners of the rear floor. At the same time, a plurality of expansion mechanisms are evenly distributed on the expandable frame, and a plurality of self-adaptive support members are evenly spaced and distributed in a straight line on each expansion mechanism; the expandable frame can be adjusted to cope with rear floors of different sizes, so that it can be suitable for welding and positioning rear floors of a type of structure, thereby improving the versatility and applicability of the welding fixture as a whole, and realizing rapid adjustment and cyclic turnover; multiple sets of self-adaptive support members can It makes up for the deficiency of the four-point positioning support of the four corner clamps, realizes the overall adaptive support of the middle area of ​​the rear floor, and during the deployment process, each set of adaptive support parts is evenly dispersed through the cooperation of the deployment mechanism, and can ensure that the adaptive support parts are always equidistantly distributed, so that the middle support range can be adaptively adjusted to cope with rear floors of different area sizes. On the basis of ensuring uniform support of the support points, the overall stability of the adaptive support is effectively improved, and the stress of the rear floor can be effectively and evenly dispersed during the welding process, avoiding stress concentration, reducing local deformation caused by welding, and improving the welding forming quality; in addition, the retractable structural design greatly improves the convenience of the fixture transportation process, and effectively reduces the space occupied by the fixture storage. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] The present invention and its features, configurations and advantages will become more apparent from the detailed description of non-limiting embodiments made with reference to the following drawings, in which like reference numerals indicate like parts throughout the drawings, which are not drawn to scale, with emphasis placed on illustrating the subject matter of the present invention.

[0018] Figure 1 This is a three-dimensional structure and working status diagram of an automobile rear floor automatic welding robot provided by the present invention.

[0019] Figure 2 This is a three-dimensional structural diagram of the welding fixture.

[0020] Figure 3 This is a top view of the welding fixture.

[0021] Figure 4 It is a three-dimensional structural diagram of the assembly of four corner clamps and the expandable frame.

[0022] Figure 5 It is a three-dimensional structural diagram of a set of self-adaptive support members assembled on the deployment mechanism.

[0023] Figure 6 yes Figure 5 Side view of the assembly shown in a longitudinal perspective.

[0024] Figure 7 yes Figure 5 A partial structural diagram of the assembly structure shown in .

[0025] In the figure: 1. Expandable frame; 11. Slide rail base; 12. Longitudinal telescopic member; 121. Slider seat; 122. Guide tube; 123. Crossbar; 124. Connecting plate; 13. Support column; 14. Horizontal telescopic member; 141. Horizontal slide rail; 142. Guide sleeve slide; 15. Lifting assembly; 151. Lifting cylinder; 152. Lifting plate; 2. Corner clamp; 21. Slide rail base; 22. Positioning block; 221. Sliding part; 222. Support plate; 223. Side clamp; 23. Pressing assembly; 231. Flip Rotating plate; 232. Driven connecting rod; 233. Down-pressing rod; 234. Pressure contact; 235. Compression spring; 24. Driving cylinder; 3. Deployment mechanism; 31. Center slide rail; 32. Side slide rail; 33. Reference component; 331. Center guide column; 332. Sliding sleeve hinge; 4. Deployment assembly; 41. Sliding hinge; 42. Support hinge; 43. Connecting rod; 44. Guide shaft; 45. Telescopic connecting plate; 5. Adaptive support; 51. Support rod; 52. Support block; 53. Disc spring; 6. Welding manipulator; 7. Rear floor. DETAILED DESCRIPTION

[0026] The following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of the present invention.

[0027] In order to enable those skilled in the art to better understand the present invention, the present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments.

[0028] See Figure 1 , an automatic welding robot for the rear floor of an automobile, including a welding manipulator 6 and a welding fixture for welding and positioning the rear floor 7; it should be noted here that the welding manipulator 6 is an existing and widely used industrial robot, which can be programmed to automatically find the welding point, and the welding fixture is used to clamp and position the rear floor 7 to cooperate with the welding manipulator 6 to achieve point alignment; the welding fixture provided by the present invention is mainly for Figure 1 The rear floor panel 7 of the automobile shown in the figure is an axisymmetric structure or an approximately axisymmetric structure and is welded, clamped and positioned. The rear floor panel 7 has four corner positions in total and is arranged symmetrically in pairs.

[0029] Note: Regarding the horizontal and vertical directions in the following content: horizontal and vertical directions are two directions on the horizontal plane and perpendicular to each other.

[0030] See Figure 1 、 Figure 2 、 Figure 3 and Figure 4 The welding fixture includes an expandable frame 1 that can be expanded or retracted as a whole; the expandable frame 1 includes a slide rail base 11, which is a transverse guiding structure. Two longitudinal telescopic members 12 are correspondingly installed on both sides of the slide rail base 11; the longitudinal telescopic members 12 are distributed in two groups, totaling four; the longitudinal telescopic rod 12 includes a slider seat 121 installed on the slide rail base 11 along the transverse sliding direction, a guide tube 122 horizontally welded to the slider seat 121, and a cross bar 123 slidably installed in the guide tube 122, and the cross bar 123 is longitudinally installed in the guide tube 122. The end of the crossbar 123 extending from the guide tube 122 is horizontally welded to a connecting plate 124; the upper end surfaces of the connecting plates 124 of the four longitudinal telescopic members 12 are vertically welded to support columns 13; a transverse telescopic member 14 is assembled between the support columns 13 of the two longitudinal telescopic members 12 located on the same side of the slide rail base 11; the transverse telescopic member 14 includes a horizontally arranged transverse slide rail 141 and two guide sleeve slides 142 that slide horizontally relative to each other on the transverse slide rail 141, and the two guide sleeve slides 142 are vertically slidably mounted on the two support columns 13 in a one-to-one correspondence. In the expandable frame 1, based on the slide rail base 11, the two longitudinal telescopic members 12 and the two transverse telescopic members 14 together form a frame that can be expanded both horizontally and vertically. It should be added that the expansion and contraction operation of the expandable frame 1 can be automatically driven by assembling cylinders. Specifically, two No. 1 cylinders can be installed horizontally and relatively fixed on both sides of the slide rail base 11 through cylinder fixing seats, and the output ends of the two No. 1 cylinders are fixed one-to-one on the transverse slide rails 141 of the two transverse telescopic parts 14 by bolts, and two No. 2 cylinders can be fixed horizontally and relatively on the transverse guide rails of the two transverse telescopic parts 14, and the output ends of the two No. 2 cylinders are fixed one-to-one on the two guide sleeve slides 142. Here, the No. 1 cylinder and the No. 2 cylinder are not shown in the figure, which is the preferred driving scheme in this embodiment. When actually driving the expansion and contraction, the two No. 1 cylinders are driven synchronously. There are two groups of No. 2 cylinders on the two transverse telescopic parts 14, and the two No. 2 cylinders in each group are driven synchronously, but the drives of the two groups of No. 2 cylinders remain independent.

[0031] The top ends of the four support columns 13 are fixed with corner clamps 2. The four corner clamps 2 are used to clamp and position the four corners of the rear floor 7 to achieve four-point clamping and support positioning. The distribution layout of the four corner clamps 2 in the welding fixture can be seen in the following figure: Figure 3 shown.

[0032] See Figure 1 、 Figure 2 、 Figure 3 and Figure 4The corner fixture 2 includes a slide rail base 21 horizontally welded to the top of the support column 13. A driving cylinder is horizontally fixed to the slide rail base 21 by bolts, and the output direction of the driving cylinder is at a 45° angle to the horizontal direction. A positioning block 22 for horizontally supporting and side clamping the rear floor 7 is slidably installed on the slide rail base 21. The slide rail base 21 is also equipped with a pressing assembly 23 for pressing down the rear floor 7. The positioning block 22 includes a supporting plate 22 for horizontally supporting the rear floor 7. 2 and a side clamping plate 223 fixed to the upper end surface of the supporting plate 222. The side clamping plate 223 is a right-angled plate structure and is provided with side clamping surfaces for synchronously clamping the longitudinal and transverse ends of the rear floor 7. A sliding portion 221 that slidably cooperates with the slide rail base 21 is fixed between the supporting plate 222 and the side clamping plate 223. The supporting plate 222, the side clamping plate 223 and the sliding portion 221 are integrally formed. The sliding portion 221 is fixed to the output end of the driving cylinder by bolts. The down-pressing assembly 23 includes a flip plate 231 mounted on the slide rail base 21 through a horizontal rotation of a rotating shaft. The flip plate 231 is located above the positioning block 22. A driven connecting rod 232 is hinged between the flip plate 231 and the sliding portion 221. A down-pressing rod 233 is mounted on the flip plate 231 to slide vertically relative to the plate surface. A pressure contact 234 is welded to the down-pressing end of the down-pressing rod 233. A compression spring 235 is sleeved on the down-pressing rod 233. The two ends of the compression spring 235 are respectively welded to the flip plate 231 and the pressure contact 234.

[0033] See Figure 3 and Figure 4 The cam 152 is a vertically extending, horizontally extending frame 11, and the cam 153 is a horizontally extending frame 11, and the cam 154 is a vertically extending frame 11, and the cam 153 is a vertically extending frame 11, and the cam 153 is a vertically extending frame 11, and the cam 153 is a vertically extending frame 11, and the cam 153 is a vertically extending frame 11, and the cam 153 is a vertically extending frame 11, and the cam 153 is a vertically extending frame 11, and the cam 153 is a vertically extending frame 11, and the cam 153 is a vertically extending frame 11, and the cam 153 is a vertically extending frame 11

[0034] See Figure 1 、 Figure 2 、 Figure 3 、 Figure 5 、 Figure 6 and Figure 7The unfolding mechanism 3 includes a central slide rail 31 horizontally fixed to the upper end surface of the lifting plate 152 by bolts, and two side slide rails 32 are installed on the central slide rail 31 in a longitudinal sliding manner and are staggered and distributed on both sides thereof, and the bottom ends of the two side slide rails 32 that are away from each other are welded one by one to the two transverse slide rails 141; a reference component 33 is fixed in the center of the upper end of the central slide rail 31, and the reference component 33 includes a central guide column 331 with a square cross-section vertically welded on the central slide rail 31 and a sliding sleeve hinge seat 332 slidably installed on the central guide column 331; the two side slide rails 32 are respectively equipped with an unfolding component 4, and the unfolding component 4 includes a plurality of sliding hinge seats 41 and a support hinge seat 42, which is one less than the number of the sliding hinge seats 41, the sliding hinge seat 41 and the support hinge seat 42 are all installed on the side slide rail 32 in a longitudinal sliding manner and are alternately distributed. One of the sliding hinge seats 41 away from the reference component 33 is further fixed to the side slide rail 32 by bolts; a connecting rod 43 is hinged between the sliding sleeve hinge seat 332 and the adjacent sliding hinge seat 41 and between the adjacent sliding hinge seat 41 and the support hinge seat 42; a telescopic connecting plate 45 is vertically fixed on the side slide rail 32, and the telescopic connecting plate 45 is composed of two plates that slide with each other. A guide shaft 44 is horizontally welded to the top of the telescopic connecting plate 45, and the sliding sleeve hinge seat 332 and multiple support hinge seats 42 are slidably installed on the guide shaft 44; the top of the sliding sleeve hinge seat 332 and the top of each hinge seat plate are equipped with self-adaptive support members 5, and multiple self-adaptive support members 5 are evenly distributed in the longitudinal straight line direction. In the unfolding assembly 4, the guide shaft 44 is arranged parallel to the side slide rail 32, the reference component 33 is fixed as a whole with the central slide rail 31, and one of the sliding hinges 41 is fixed on the side slide rail 32. When the side slide rail 32 is pulled to an unfolded state relative to the central slide rail 31, the telescopic connecting plate 45 and the reference component 33 are synchronously contracted, so that under the drive of the connecting rod 43, multiple support hinges 42 slide and unfold at equal intervals on the guide shaft 44, and multiple self-adaptive support members 5 are synchronously unfolded with the multiple support hinges 42, and the spacing between them gradually increases. Obviously, when the side slide rail 32 is pulled to a retracted state relative to the central slide rail 31, the spacing between the multiple self-adaptive support members 5 is synchronously reduced, and the spacing between the multiple self-adaptive support members 5 is always in an equidistant distribution state during the change process.

[0035] See Figure 1 、 Figure 6 and Figure 7The adaptive support member 5 includes a support rod 51 that is vertically slidably mounted on the sliding sleeve hinge seat 332 or the hinge seat plate, and a support block 52 for supporting and contacting the rear floor 7 is welded to the top of the support rod 51. A plurality of disc springs 53 are overlapped and sleeved on the support rod 51. The plurality of disc springs 53 are clamped between the bottom end surface of the support block 52 and the upper end surface of the sliding sleeve hinge seat 332 or the upper end surface of the hinge seat plate. In this embodiment, the plurality of disc springs 53 cooperate with the support block 52 to achieve adaptive elastic support. The total compression stroke of the plurality of disc springs 53 is greater than the sum of the initial stroke when elastically supporting the rear floor 7 and the stroke compressed during the welding process to cope with thermal stress deformation. The disc springs 53 are placed alternately and overlapped, and the outer edge of the topmost disc spring 53 contacts the bottom end of the support block 52. The disc springs 53 are reasonably overlapped and placed to ensure the stability of the support of the disc spring 53.

[0036] The welding fixture provided by the present invention is mainly suitable for welding and positioning a rear floor 7 of a symmetrical structure. When positioning and clamping a rear floor 7 of a specific size, the expandable frame 1 needs to be unfolded to position and clamp the rear floor 7. Specifically, the expandable frame 1 is driven to expand in the longitudinal direction by the synchronous driving of the two No. 1 cylinders to adjust the relative spacing of the two groups of corner clamps 2 in the longitudinal direction. The spacing of the two pairs of corner clamps 2 in the transverse direction can be independently adjusted by the independent adjustment of the two groups of No. 2 cylinders. It should be noted that, on the one hand, through adjustment, the rear floor 7 can be placed as a whole on the supporting plates 222 of the four corner clamps 2. On the other hand, in order to ensure that the side clamps 223 of each corner clamp 2 can achieve effective clamping at the two vertical side ends, in the actual adjustment process, according to the side end width data to be clamped at the four corners of the rear floor 7, it is ensured that the difference between the adjusted width in the longitudinal and transverse widths and the side clamp width corresponding to the rear floor 7 after adjustment is equal. This process can be completed through equipment debugging.

[0037] After the equipment debugging is completed, the process of positioning, clamping and welding the rear floor 7 is as follows: the rear floor 7 is placed horizontally on the four support plates 222 through the grasping of the robotic arm, and then the driving cylinder is started synchronously, so that the four side clamps 223 are synchronously clamped at the four corner side ends of the rear floor 7. During the side clamping process, the sliding of the positioning block 22 will synchronously drive the driven connecting rod 232, and the driven connecting rod 232 will then drive the flip plate 231 to flip, and with the elastic force of the compression spring 235, the lower pressure rod 233 is adaptively pressed on the rear floor 7 through the pressure contact 234; at this point, through the cooperation of the four corner clamps 2 and the four end point positioning method, the rear floor 7 completes the overall clamping positioning of horizontal support, side clamping and downward pressing.

[0038] Subsequently, the lifting plate 152 is driven upward by the lifting assembly 15, and under the common vertical guidance of the two columns and the four support columns 13, the lifting plate 152 drives the multiple unfolding mechanisms 3 together with the two horizontal telescopic members 14 to move upward synchronously, so that the support block 52 in each adaptive support member 5 contacts the bottom end of the rear floor 7, and the multiple overlapping disc springs 53 produce adaptive compression, and then the multiple groups of adaptive support members 5 that are synchronously unfolded with the unfolding frame 1 provide flexible support for the rear floor 7, so as to improve the stability of the clamping and supporting positioning of the rear floor 7 during the welding process, and make up for the insufficient support of the four corner clamps 2 for the middle part of the rear floor 7. In the present invention, each group of adaptive support members 5 can be synchronously unfolded with the unfolding frame 1 when it is unfolded, and always maintain an equal spacing distribution. On the one hand, it can provide a larger support range for the larger rear floor 7, and the uniform distribution of support points can effectively and evenly disperse the stress distribution of the rear floor 7 during welding on the basis of ensuring support stability, avoiding stress concentration and causing local deformation.

[0039] During formal welding, based on the precise clamping and positioning of the rear floor 7 by the welding fixture, the welding robot 6 automatically performs welding according to the set points. During the welding process, as the thermal stress deformation generated at the welding point of the rear floor 7 occurs, the disc spring 53 of the adaptive support member 5 near this point will further produce adaptive compression. When the welding point gradually cools down, the deformation and contraction will occur, and the disc spring 53 will automatically rebound to ensure continuous adaptive support for the rear floor 7.

[0040] After welding is completed, the welding fixture is released and the rear floor panel 7 is removed by the robotic arm. After welding of a batch of rear floor panels 7 is completed, the welding fixture can be removed from the welding process and the entire fixture can be retracted to its smallest position using the deployable frame 1 to facilitate transportation and reduce the space occupied by the fixture during storage.

[0041] In the description of the present invention, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise", "axial", "radial", "circumferential" and the like to indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as limiting the present invention.

[0042] In the description of the present invention, it should also be noted that, unless otherwise expressly specified or limited, the terms "disposed," "connected," "installed," and "connected" should be understood in a broad sense. For example, they may refer to fixed connections, detachable connections, or integral connections; they may refer to mechanical connections or electrical connections; they may refer to direct connections or indirect connections through an intermediate medium; and they may refer to internal communication between two components. Those skilled in the art will understand the specific meanings of the above terms in the present invention based on specific circumstances.

[0043] The above describes the preferred embodiments of the present invention. It should be understood that the present invention is not limited to the above-mentioned specific embodiments, and the devices and structures that are not described in detail should be understood to be implemented in a common manner in the art; any technician familiar with the art can make many possible changes and modifications without departing from the technical solution of the present invention, or modify them into equivalent embodiments with equivalent changes, which does not affect the essential content of the present invention. Therefore, any simple modifications, equivalent changes and modifications made to the above embodiments based on the technical essence of the present invention that do not depart from the content of the technical solution of the present invention are still within the scope of protection of the technical solution of the present invention.

Claims

1. An automatic welding robot for the rear floor of an automobile, comprising a welding manipulator and a welding fixture for welding and positioning the rear floor, characterized in that: Welding fixture includes: The expandable frame includes a slide rail base, two longitudinal telescopic members are slidably mounted on both sides of the slide rail base, and the telescopic ends of each longitudinal telescopic member are vertically fixed to a support column. A transverse telescopic member is assembled between the support columns of the two longitudinal telescopic members on the same side, and the transverse telescopic member is provided with two telescopic ends that are vertically slidably mounted on the two support columns in a one-to-one correspondence; Four corner clamps are fixed one by one on the top of the four support columns to clamp and position the four corners of the rear floor; Multiple deployment mechanisms are distributed along the transverse direction and are all horizontally fixed between the two transverse telescopic members; a lifting assembly is assembled on the slide rail base, and multiple deployment mechanisms are jointly fixed at the lifting end of the lifting assembly; and multiple sets of adaptive support members, each correspondingly mounted on multiple deployment mechanisms, collectively used to provide adaptive support for the rear floor; each set of adaptive support members comprises multiple members, evenly distributed along a longitudinal straight line; when the distance between the two transverse telescopic members is opened, each deployment mechanism drives the multiple adaptive support members to synchronously expand, and the multiple adaptive support members always maintain an equidistant distribution; The deployment mechanism includes a central slide rail fixed to the lifting end of the lifting assembly, on which two side slide rails are mounted for longitudinal sliding cooperation and staggered on both sides, and the two side slide rails are fixed one-to-one to the non-telescopic ends of the two transverse telescopic members; a reference component is fixed in the center of the upper end of the central slide rail, and the two side slide rails are respectively equipped with deployment components, and the two deployment components are hinged to the reference component; among the multiple self-adaptive support members distributed in the longitudinal direction, the self-adaptive support member located in the center is assembled on the reference component, and the two groups of self-adaptive support members located on both sides of the self-adaptive support member at the central position are assembled one-to-one to the two deployment components; The reference component includes a central guide column vertically fixed on the central slide rail and a sliding sleeve hinge seat slidably installed on the central guide column; the expansion component includes multiple sliding hinge seats and multiple supporting hinge seats, and the sliding hinge seats and the supporting hinge seats are all installed on the side slide rails in a longitudinal sliding manner and are alternately distributed, and one of the sliding hinge seats away from the reference component is fixed on the side slide rail; connecting rods are hinged between the sliding sleeve hinge seat and the adjacent sliding hinge seats, as well as between the adjacent sliding hinge seats and the supporting hinge seats; a telescopic connecting plate is vertically fixed on the side slide rail, and a guide shaft is horizontally fixed to the top of the telescopic connecting plate, and the sliding sleeve hinge seat and multiple supporting hinge seats are slidably installed on the guide shaft together; the top of the sliding sleeve hinge seat and the top of each supporting hinge seat are equipped with adaptive support members.

2. An automatic welding robot for automobile rear floor according to claim 1, characterized in that: The self-adaptive support member includes a support rod vertically slidably mounted on a sliding sleeve hinge or a support hinge, a support block for supporting contact with the rear floor is fixed to the top of the support rod, and a plurality of disc springs are overlapped on the support rod, and the plurality of disc springs are clamped between the bottom end surface of the support block and the upper end surface of the sliding sleeve hinge or the upper end surface of the support hinge.

3. An automatic welding robot for automobile rear floor according to claim 1, characterized in that: The corner clamp includes a slide rail base horizontally fixed to the top of the support column, and a positioning block for horizontally supporting the rear floor and clamping the side ends is slidably installed on the slide rail base. The slide rail base is also equipped with a pressing assembly for pressing down the rear floor; when the positioning block slides to position the rear floor, the pressing assembly is synchronously pressed on the rear floor.

4. An automatic welding robot for rear floor of an automobile according to claim 3, characterized in that: The positioning block includes a supporting plate and a side clamping plate fixed on the upper end surface of the supporting plate. The side clamping plate is a right-angle plate structure. The side clamping plate is provided with a side clamping surface for synchronously clamping the longitudinal end and the transverse end of the rear floor. A sliding part that slides with the slide rail base is fixed between the supporting plate and the side clamping plate.

5. An automatic welding robot for automobile rear floor according to claim 4, characterized in that: The down-pressing assembly includes a flip plate horizontally mounted on the slide rail base, a driven connecting rod is hinged between the flip plate and the sliding part, a down-pressing rod is mounted on the flip plate for vertical sliding relative to the plate surface, a pressure contact is fixed to the down-pressing end of the down-pressing rod, a compression spring is sleeved on the down-pressing rod, and both ends of the compression spring are respectively fixed to the flip plate and the pressure contact.

6. An automatic welding robot for automobile rear floor according to claim 1, characterized in that: The longitudinal telescopic member includes a slider seat installed on the slide rail base along the transverse sliding direction, a guide tube fixed horizontally on the slider seat, and a cross bar installed in the guide tube along the longitudinal sliding direction. One end of the cross bar extending out of the guide tube is fixed with a connecting plate, and the support column is vertically fixed on the connecting plate.

7. An automatic welding robot for automobile rear floor according to claim 1, characterized in that: The transverse telescopic member comprises a transverse slide rail fixed horizontally between a plurality of side slide rails and two guide sleeve slide plates horizontally mounted on the transverse slide rail for relative sliding movement, wherein the guide sleeve slide plates are slidably mounted on the support column.

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