A mining tractor vehicle traction beam welding device

Abstract

The present application relates to the technical field of welding, and discloses a mining tractor towing beam welding device, which comprises a movable gantry, a welding mechanical arm is installed at one end of the movable gantry, and a partition plate delivery mechanism is installed at the other end through a second mechanical arm, the second mechanical arm is used for driving the partition plate delivery mechanism to move up and down, the partition plate delivery mechanism is used for storing multiple partition plates and delivering and positioning the multiple partition plates in respective welding positions in sequence in cooperation with the movable gantry; the partition plate delivery mechanism comprises a supporting cylinder, first positioning blocks, a mounting seat, second positioning blocks and a push block; the supporting cylinder is connected with the multiple partition plates in a penetrating installation mode; the second positioning blocks and a pair of first positioning blocks farthest from the second mechanical arm jointly clamp and position the partition plates; the multiple partition plates to be welded are placed between the cover plate and the two side plates at one time, the multiple partition plates are automatically and equidistantly arranged in the welding process, and the positioning of the multiple partition plates in the welding process is realized.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of welding, in particular to a mining tractor traction beam welding device. BACKGROUND

[0002] A type of mining unmanned tractor, its traction beam, as shown in Figure 1 and 2 , includes a long box girder penetrating the tractor body along the length direction of the tractor, a first connecting part and a second connecting part fixed at the two ends of the box girder in the length direction, two mounting parts fixed on the box girder and perpendicular to the length direction of the box girder, and two connecting seats fixed on the box girder for connecting with the walking mechanism, the box girder includes two side plates, cover plate one, cover plate two and multiple partition plates, the two side plates are collectively welded with the cover plate one and the cover plate two into a box structure, and the multiple partition plates are evenly and spacedly welded on the inner side of the box structure.

[0003] In the prior art, the process of welding the box girder is basically as follows: first, the two side plates are respectively erected on the two sides of the cover plate one, then the side plates and the cover plate are positioned, then the multiple partition plates are evenly and spacedly arranged between the two side plates and the cover plate one, and the partition plates are positioned together with the two side plates, then the partition plates are welded together with the side plates and the cover plate one by the welding mechanism, then the cover plate two is covered on the multiple partition plates, and finally the cover plate two is welded together with the two side plates by the welding structure.

[0004] In the above process, since the number of partition plates is large, and each partition plate needs to be positioned before and after welding, and the positioning is released, it is necessary to consume large labor cost and time cost, and thus the welding efficiency is low. SUMMARY

[0005] In view of the deficiencies of the prior art, the present application provides a mining tractor traction beam welding device, which can effectively solve the problems raised in the background art.

[0006] To achieve the above-mentioned purpose, the present application provides the following technical scheme: a mining tractor traction beam welding device, comprising a movable gantry, a welding mechanical arm is installed at one end of the movable gantry, and a partition plate delivery mechanism is installed at the other end of the movable gantry through a second mechanical arm, the second mechanical arm is used to drive the partition plate delivery mechanism to move up and down, and the partition plate delivery mechanism is used to store multiple partition plates and cooperate with the movable gantry to sequentially deliver and position the multiple partition plates at respective welding positions; the partition plate delivery mechanism comprises a supporting cylinder, a first positioning block, a mounting seat, a second positioning block, a push block and a pair of transverse rods.

[0007] The support cylinder is fixed on one side of the moving end of the second mechanical arm, and is connected with the plurality of partition plates in a penetrating installation manner; the support cylinder is provided with the moving groove two, the moving groove one and the moving groove three for the first positioning block, the second positioning block and the push block to enter and exit the support cylinder;

[0008] The first positioning block is provided with a plurality of pairs and is uniformly spaced along the axial direction of the support cylinder, and the spacing of the two first positioning blocks arranged in pairs can be adjusted; the plurality of partition plates are equally spaced by abutting the plurality of pairs of first positioning blocks located outside the support cylinder with one end of the plurality of partition plates facing the second mechanical arm;

[0009] The second positioning block is provided with two and is oppositely arranged, the spacing of the two second positioning blocks can be adjusted, and the two second positioning blocks and the pair of first positioning blocks farthest from the second mechanical arm cooperatively clamp and position the partition plate;

[0010] The push block is provided with a plurality of pairs and is uniformly spaced along the axial direction of the support cylinder, one end of the push block can abut one end of the partition plate facing the second mechanical arm, and the plurality of partition plates can be sequentially moved to abut the second positioning block by moving the plurality of pairs of push blocks in the moving groove three to the side of the second positioning block;

[0011] One end of the transverse rod extends into the support cylinder along the axial direction of the support cylinder and is uniformly spaced apart to be provided with a plurality of moving grooves four and a plurality of moving grooves five, one push block is installed in each moving groove four, the other end of the push block is rotationally connected with the transverse rod through a rotating shaft, the other end of the rotating shaft extends into the moving groove five and is connected with the elastic member two, and the elastic member two is connected with the transverse rod;

[0012] The other end of the transverse rod penetrates the moving end of the second mechanical arm and is in transmission connection with the moving drive mechanism; the moving drive mechanism comprises a mounting cylinder and a rotating sleeve, wherein the mounting cylinder is fixedly installed on the side of the moving end of the second mechanical arm away from the support cylinder, and one end of the rotating sleeve is coaxially embedded into the opening of the mounting cylinder and can rotate;

[0013] The moving drive mechanism further comprises a sliding block, the sliding block is located in the rotating sleeve and is fixedly connected with the transverse rod, and is coaxially and gap-suitably provided on the drive shaft; the outer circumferential surface of the sliding block is embedded with a plurality of rolling balls, and the rolling balls are movably arranged in the driving grooves provided on the inner circumferential surface of the rotating sleeve;

[0014] The driving grooves are formed by the first guide groove in the shape of an arc coaxial with the rotating sleeve and the second guide groove in the shape of a "V" in orthographic projection, and the "V" shape points to the second mechanical arm.

[0015] Preferably, the partition plate delivery mechanism further comprises a support plate arranged axially in the support cylinder, the support plate is fixedly connected with the moving end of the second mechanical arm, two first positioning blocks arranged in pairs are arranged on the two sides of the support plate, and the end of the first positioning block towards the support plate is fixedly connected with a rack, each rack penetrates the support plate and is meshed with a gear shaft, the gear shaft is rotatably installed in the support plate, and the shaft portion of the gear shaft and the support plate are jointly provided with an elastic member one.

[0016] Preferably, the partition plate delivery mechanism further comprises a drive shaft arranged along the central axis of the support cylinder, one end of the support cylinder penetrates the support plate and is fixedly connected with the mounting seat, and the other end of the drive shaft penetrates the moving end of the second mechanical arm and is in transmission connection with the rotary drive mechanism.

[0017] Preferably, the rotary drive mechanism comprises a transmission sleeve, a drive gear one, a drive gear two and a guide rod; the transmission sleeve is fixedly sleeved on the outer circumferential surface of the other end of the rotary sleeve, a group of teeth are formed on the inner circumferential surface of the transmission sleeve in the circumferential direction, and the teeth are in transmission connection with the drive gear one; the drive gear one is slidably sleeved on the outer circumferential surface of the guide rod and is in meshing connection with the drive gear two; the drive gear two is fixedly sleeved on the outer circumferential surface of the drive shaft; and the guide rod is fixed on the end of the sliding block away from the second mechanical arm.

[0018] Preferably, the transmission connection between the teeth and the drive gear one is intermittent transmission connection, and when the ball is located in the first guide groove, the teeth are in transmission connection with the drive gear one and drive the drive shaft to rotate by one hundred and eighty degrees.

[0019] Compared with the prior art, the present application provides a mine tractor tractor beam welding device, which has the following advantages:

[0020] 1. Through the cooperation of the second mechanical arm and the partition plate delivery mechanism, a plurality of partition plates to be welded can be placed between the cover plate one and the two side plates at one time, and the plurality of partition plates are pre-spaced from each other, so that the plurality of partition plates can play the role of internally supporting the two side plates, and the inward inclination of the erected side plates is avoided; through the cooperation of the two first positioning blocks and the pair of first positioning blocks farthest from the second mechanical arm, the partition plate farthest from the welding mechanical arm is clamped and positioned, so that the positioning of the partition plate between the cover plate one and the two side plates does not need to be realized through an additional positioning structure, and the positioning of the partition plate does not need to be realized through manpower.

[0021] 2. Through the movement of the plurality of pairs of push blocks in the active groove three to the side of the positioning block one, the plurality of partition plates are sequentially moved to abut against the second positioning block, so that the plurality of partition plates can be sequentially clamped and positioned by the second positioning block and the pair of first positioning blocks farthest from the second mechanical arm, the plurality of partition plates are sequentially moved to the respective welding positions through the movement of the movable gantry, the automatic and equidistant arrangement of the plurality of partition plates in the welding process is realized, the positioning of the plurality of partition plates in the welding process is realized, and thus the welding efficiency is increased and the labor cost is reduced. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] Figure 1 Schematic diagram of the overall structure of the traction beam;

[0023] Figure 2 This is a schematic diagram of the internal structure of the traction beam;

[0024] Figure 3 This is a schematic diagram of the structure of the present invention when used;

[0025] Figure 4 It is a structural schematic diagram of the partition delivery mechanism;

[0026] Figure 5 It is a partial structural expansion diagram of the partition delivery mechanism;

[0027] Figure 6 is a structural schematic diagram of the first positioning mechanism and the shifting mechanism;

[0028] Figure 7 It is a structural diagram of the transverse drive mechanism and the rotation drive mechanism;

[0029] Figure 8 It is a structural diagram of the rotary drive mechanism;

[0030] Figure 9 It is a cross-sectional view of the rotating sleeve.

[0031] Wherein: 100, box beam; 200, first connecting portion; 300, second connecting portion; 400, mounting portion; 500, connecting seat; 101, side panel; 102, cover plate 1; 103, cover plate 2; 104, partition;

[0032] 1. Mobile gantry; 2. First robotic arm; 3. Welding robotic arm; 4. Second robotic arm; 41. Mounting cylinder; 5. Support cylinder; 6. First positioning mechanism; 7. Second positioning mechanism; 8. Shifting mechanism; 9. Rotating sleeve; 91. Drive slot; 901. First guide slot; 902. Second guide slot; 10. Motor; 11. Slider; 12. Transmission sleeve; 13. Drive gear 1; 14. Drive gear 2; 15. Guide rod; 16. Limit block; 17. Limit ring;

[0033] 51, activity slot 1; 52, activity slot 2; 53, activity slot 3;

[0034] 61. Support plate; 62. First positioning block; 621. Rack; 63. Gear shaft; 64. Elastic member 1;

[0035] 71. Mounting seat; 72. Drive shaft; 73. Second positioning block; 74. Spring;

[0036] 81, push block; 811, rotating shaft; 82, transverse moving rod; 821, movable slot four; 822, movable slot five; 83, elastic member two. DETAILED DESCRIPTION

[0037] The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all the embodiments of the present application. Based on the embodiments in the present application, all other embodiments obtained by a person of ordinary skill in the art without creative effort fall within the protection scope of the present application.

[0038] Please refer to Figures 3 to 9 A welding device for a mining tractor traction beam, comprising a welding table and a movable gantry 1, the welding table is used to support and clamp a cover plate one 102 and two side plates 101, and make the cover plate one 102 lay on the welding table along the length direction of the welding table, and make the two side plates 101 set along the length direction of the welding table and separately on both sides of the cover plate one 102 in the width direction, and the movable gantry 1 spans the welding table and can move along the length direction of the welding table.

[0039] One end of the movable gantry 1 is provided with a welding mechanical arm 3 through a first mechanical arm 2, the welding mechanical arm 3 can move horizontally and vertically under the driving of the first mechanical arm 2, and the other end of the movable gantry 1 is provided with a partition plate delivery mechanism through a second mechanical arm 4, the second mechanical arm 4 is used to drive the partition plate delivery mechanism to move vertically. Through the movement of the movable gantry 1, the partition plate delivery mechanism and the welding mechanical arm 3 are moved to different working positions.

[0040] The partition plate delivery mechanism has a plurality of storage positions for storing the partition plates 104 and a clamping position for clamping and positioning the partition plates 104, the plurality of storage positions are uniformly distributed along the partition plate delivery direction of the partition plate delivery mechanism, the clamping position is arranged on the side of the partition plate delivery mechanism far away from the second mechanical arm 4, and the distance from the clamping position to the adjacent storage position is equal to the interval between the two adjacent storage positions; the partition plate delivery direction of the partition plate delivery mechanism is opposite to the moving direction of the movable gantry 1.

[0041] When the partition plates 104 are installed on the partition plate delivery mechanism, the partition plates 104 are installed on the partition plate delivery mechanism in a sleeved manner, and each storage position is installed with at most one partition plate 104, and the clamping position is installed with one partition plate 104. The partition plate delivery mechanism and the partition plates 104 are lowered between the two side plates 101 and the cover plate one 102 through the second mechanical arm 4.

[0042] The welding operation is as follows: the welding mechanical arm 3 welds and fixes the baffle 104 located at the welding position between the two side plates 101 and the cover plate 102, then the welding mechanical arm 3 moves away from the welded and fixed baffle 104, the baffle delivery mechanism releases the clamping and positioning of the welded and fixed baffle 104, then the movable gantry 1 moves to separate the baffle delivery mechanism from the welded and fixed baffle 104, then in the process of the movable gantry 1 continuing to move, the baffle delivery mechanism moves the remaining baffles 104 from the respective previous storage positions to the next storage positions in a step-by-step manner, and moves the baffles 104 originally adjacent to the clamping position to the clamping position, after the movable gantry 1 moves the baffle 104 at the clamping position to the welding position, the movable gantry 1 stops moving, and then the above operation is repeated. By repeating the above operation, the plurality of baffles 104 are distributed at equal intervals between the two side plates 101, and automatic positioning of the baffles 104 during welding and automatic release of positioning after welding are realized, and continuous and automatic welding of the plurality of baffles 104 is realized.

[0043] In the above technical solution, the plurality of storage positions and the one clamping and positioning position are provided, so that the baffle delivery mechanism can be used to store a plurality of baffles 104 and cooperate with the movable gantry 1 to sequentially deliver and position the plurality of baffles 104 at the respective welding positions.

[0044] In the above technical solution, the plurality of baffles 104 are placed between the two side plates 101 and the cover plate 102 at one time, and the adjacent two baffles 104 are spaced apart from each other, so that the plurality of baffles 104 cooperate to support the two side plates 101 from the inside to the outside, avoiding the inward tilting of the two side plates 101.

[0045] As a further description of the above technical solution, as shown in Figure 4 The baffle delivery mechanism includes a support cylinder 5, a first positioning mechanism 6, a second positioning mechanism 7, a displacement mechanism 8, a transverse movement driving mechanism, and a rotation driving mechanism.

[0046] As shown in Figure 5 The support cylinder 5 is fixed on one side of the moving end of the second mechanical arm 4, the axial direction of the support cylinder 5 is parallel to the moving direction of the movable gantry 1, and the direction of the end of the support cylinder 5 away from the second mechanical arm 4 is opposite to the moving direction of the movable gantry 1; two oppositely distributed movable grooves one 51 are formed on the end of the support cylinder 5 away from the second mechanical arm 4, two groups of movable grooves two 52 and two movable grooves three 53 are formed on the support cylinder 5 between the movable grooves one 51 and the second mechanical arm 4, each group of movable grooves two 52 is provided and uniformly spaced along the axial direction of the support cylinder 5, the movable grooves three 53 are provided along the axial direction of the support cylinder 5, and the two movable grooves three 53 are respectively connected to the two groups of movable grooves two 52; the support cylinder 5 is connected to the plurality of baffles 104 in a penetrating installation manner.

[0047] The first positioning mechanism 6 comprises a support plate 61, a first positioning block 62, a rack 621, a gear shaft 63 and an elastic member one 64. The support plate 61 is arranged in the support cylinder 5 along the axial direction of the support cylinder 5 and is fixedly connected with the moving end of the second mechanical arm 4. The first positioning block 62 is arranged in pairs and is uniformly and spacedly arranged along the axial direction of the support cylinder 5. The two first positioning blocks 62 arranged in pairs are arranged on the two sides of the support plate 61 respectively, and the ends away from each other can be exposed outside the support cylinder 5 through an active slot two 52 respectively. The ends close to each other are fixedly provided with a rack 621 respectively. Each rack 621 is embedded in the support plate 61 and is meshingly connected with a gear shaft 63. The shaft part of the gear shaft 63 is rotationally connected with the support plate 61, and the gear shaft 63 and the support plate 61 are jointly connected with the elastic member one 64.

[0048] The elastic member one 64 is in a pre-elastic deformation state and applies a pushing force to the first positioning block 62, so that the first positioning block 62 has a tendency to move out of the support cylinder 5 through the active slot two 52.

[0049] For the two first positioning blocks 62 arranged in pairs, when the first positioning block 62 is only subjected to the pushing force from the elastic member one 64, the ends away from each other of the two first positioning blocks 62 are moved out to the outside of the support cylinder 5 through an active slot two 52 respectively.

[0050] The area between the two adjacent pairs of first positioning blocks 62 outside the support cylinder 5 is a storage position for the storage partition 104. The multiple pairs of first positioning blocks 62 outside the support cylinder 5 are respectively abutted with the ends of the multiple storage partitions 104 towards the second mechanical arm 4, so that the multiple storage partitions 104 are equidistantly separated.

[0051] When the storage partition 104 moves from one storage position to another storage position, the first positioning block 62 outside the support cylinder 5 is subjected to the pushing force from the storage partition 104 and moves towards the center of the support cylinder 5, so as to reduce the distance between the two first positioning blocks 62 arranged in pairs, push the rack 621 to move, rotate the gear shaft 63, and further elastically deform the elastic member one 64.

[0052] When the storage partition 104 moves to the storage position or the positioning position, the elastic member one 64 rebounds, pushes the first positioning block 62 to move outwards of the support cylinder 5 through the gear shaft 63 and the rack 621, so that the first positioning block 62 is exposed again, and the distance between the two first positioning blocks 62 arranged in pairs is restored to the distance before being reduced.

[0053] It should be noted that in the first positioning mechanism 6, the elastic member one 64 can be any one of a torsion spring, a coil spring and a cylindrical spring.

[0054] As Figure 5As shown, the second positioning mechanism 7 comprises a mounting seat 71, a driving shaft 72, a second positioning block 73 and a spring 74;

[0055] The mounting seat 71 is arranged in the support cylinder 5 and between the two movable grooves one 51, and one end of the mounting seat 71 towards the support plate 61 abuts against the support plate 61;

[0056] The driving shaft 72 is arranged along the central axis of the support cylinder 5, penetrates the support plate 61 and is fixedly connected with the mounting seat 71, and the driving shaft 72 can rotate around the central axis of the support cylinder 5;

[0057] The two second positioning blocks 73 are oppositely arranged and respectively slidably arranged at two ends of the mounting seat 71, and one end of the two second positioning blocks 73 away from each other can respectively expose the support cylinder 5 through the two movable grooves one 51;

[0058] One end of the two second positioning blocks 73 close to each other is fixedly connected together through the spring 74, and the spring 74 is in a pre-compressed state.

[0059] When the first positioning block 62 and the second positioning block 73 both expose the support cylinder 5, the area between the second positioning block 73 and the first positioning block 62 adjacent to the second positioning block 73 is a positioning position, and the two second positioning blocks 73 and the two first positioning blocks 62 can jointly cooperate to clamp and position the baffle 104.

[0060] In the second positioning mechanism 7, the two second positioning blocks 73 are fixedly connected through the spring 74, and the second positioning block 73 is slidably connected with the mounting seat 71, so that the distance between the two second positioning blocks 73 can be adjusted. When the driving shaft 72 rotates, the second positioning block 73 rotates and moves into the support cylinder 5 with the aid of the movable groove one 51, further compressing the spring 74, when the driving shaft 72 continues to rotate and aligns the two second positioning blocks 73 with the two movable grooves one 51 again, the spring 74 pushes the two second positioning blocks 73, so that the two second positioning blocks 73 expose the support cylinder 5 through the movable groove one 51 again.

[0061] Since the two second positioning blocks 73 are oppositely arranged in the second positioning mechanism 7, the driving shaft 72 rotates one hundred and eighty degrees for each rotation of the driving shaft 72.

[0062] The distance between the two second positioning blocks 73 can be adjusted, and the two second positioning blocks 73 and the pair of first positioning blocks 62 farthest from the second mechanical arm 4 jointly cooperate to clamp and position the baffle 104;

[0063] As shown in the drawings, Figure 6 The displacement mechanism 8 comprises a push block 81, a rotating shaft 811, a transverse moving rod 82, a movable groove four 821, a movable groove five 822 and an elastic member two 83;

[0064] Among them, there are multiple pairs of push blocks 81 and are evenly spaced along the axial direction of the support tube 5. One end of the push block 81 can abut against the end of the partition 104 facing the second robotic arm 4, and by moving the multiple pairs of push blocks 81 in the movable groove 3 53 toward the side of the second positioning block 73, the multiple partitions 104 can be moved in sequence to abut against the second positioning block 73.

[0065] A pair of transverse rods 82 are provided. One end of the transverse rod 82 extends into the support tube 5 along the axial direction of the support tube 5 and is evenly spaced with a plurality of movable grooves 821 and a plurality of movable grooves 822. A push block 81 is installed in each movable groove 821. The other end of the push block 81 is rotatably connected to the transverse rod 82 via a rotating shaft 811. The other end of the rotating shaft 811 extends into the movable groove 822 and is connected to the elastic member 83. The elastic member 83 is connected to the transverse rod 82.

[0066] The second elastic member 83 is in a pre-elastic deformation state and applies a torsional force to the push block 81 through the rotating shaft 811, so that one end of the push block 81 can be exposed from the support tube 5 through the movable groove 3 53 and has a tendency to continue moving toward the support tube 5.

[0067] After the push block 81 pushes the partition 104 to move, when retreating, if it passes through the partition 104, the push block 81 swings toward the center of the support tube 5, further elastically deforming the elastic member 2 83. When the push block 81 is separated from the partition 104, the push block 81 swings out of the support tube 5 and exposes the support tube 5 again.

[0068] It should be noted that in the shifting mechanism 8, the elastic member 83 can be any one of a torsion spring, a coil spring and a cylindrical spring, or a V-shaped elastic piece (such as Figure 6 shown).

[0069] As a further illustration of the above technical solution, the other end of the driving shaft 72 passes through the moving end of the second robotic arm 4 and is transmission-connected to the rotation driving mechanism.

[0070] As a further illustration of the above technical solution, the other ends of the two transverse rods 82 pass through the moving end of the second robotic arm 4 and are transmission-connected to the moving drive mechanism.

[0071] like Figure 7 、 Figure 8 and Figure 9 As shown, the mobile driving mechanism includes a mounting cylinder 41, a rotating sleeve 9, a driving slot 91, a motor 10, a slider 11 and a transmission mechanism.

[0072] The mounting cylinder 41 is fixedly mounted on the side of the movable end of the second robotic arm 4 away from the supporting cylinder 5. One end of the rotating sleeve 9 is coaxially embedded in the opening of the mounting cylinder 41 and is rotatable. The outer circumferential surface of the rotating sleeve 9 is transmission-connected to the output end of the motor 10 via a transmission mechanism. The housing of the motor 10 is fixed to the outer surface of the mounting cylinder 41.

[0073] The inner circumference of the rotating sleeve 9 is provided with a driving groove 91, which is formed by connecting a first arc-shaped guide groove 901 coaxial with the rotating sleeve 9 and a second guide groove 902 in a V-shaped orthographic projection. Figure 9 As shown, the "V" shape points to the second robotic arm 4;

[0074] The slider 11 is located in the rotating sleeve 9 and is fixedly connected to the transverse rod 82 , and is coaxially sleeved on the drive shaft 72 with clearance. Balls are embedded on the outer circumference of the slider 11 , and the balls are movably arranged in the drive groove 91 .

[0075] It should be noted that the transmission mechanism is any one of a cylindrical gear transmission mechanism, a helical gear transmission mechanism, a chain and sprocket transmission mechanism, and a synchronous wheel and synchronous belt transmission mechanism. Figure 4 The spur gear shown is only an example.

[0076] like Figure 7 and Figure 8 As shown, the rotary drive mechanism includes a transmission sleeve 12 , a driving gear 1 13 , a driving gear 2 14 and a guide rod 15 .

[0077] Among them, the transmission sleeve 12 is fixedly sleeved on the outer circumferential surface of the other end of the rotating sleeve 9, and a group of teeth are formed on the inner circumferential surface of the transmission sleeve 12 along the circumferential direction, and is connected to the driving gear 13 through the teeth; the driving gear 13 is slidingly sleeved on the outer circumferential surface of the guide rod 15 and meshes with the driving gear 2 14; the driving gear 2 14 is fixedly sleeved on the outer circumferential surface of the driving shaft 72; the guide rod 15 is fixed on the end of the slider 11 away from the second robotic arm 4.

[0078] The transmission connection between the teeth and the driving gear 13 is an intermittent transmission connection, and when the ball is located in the first guide groove 901, the teeth are connected to the driving gear 13 and drive the driving shaft 72 to rotate one hundred and eighty degrees.

[0079] In use, during the process of welding the fixed partition plate 104, the ball is located in the first guide groove 901, after the welding is completed, the rotating sleeve 9 is driven to rotate by the motor 10, so that the ball moves in the first guide groove 901, the teeth move and engage the driving gear one 13, the driving gear two 14 is driven to rotate, the driving shaft 72 is rotated, the two second positioning blocks 73 are moved from the movable groove one 51 into the supporting barrel 5, after the second positioning block 73 is located in the supporting barrel 5, the rotating sleeve 9 continues to rotate, the movable gantry 1 moves, so that the supporting barrel 5 is separated from the welded fixed partition plate 104, then the rotating sleeve 9 continues to rotate, the two second positioning blocks 73 are exposed from the supporting barrel 5 again through the movable groove one 51, so that the ball moves into the second guide groove 902, then the rotating sleeve 9 continues to rotate, the ball is pushed to move in the second guide groove 902 first close to the second mechanical arm 4 and then away from the second mechanical arm 4, the sliding block 11 is driven to move first close to the second mechanical arm 4 and then away from the second mechanical arm 4, so that the transverse moving rod 82 moves first to the side of the second positioning block 73, the push block 81 is driven to move, so that the partition plate 104 is moved from one storage position to the next storage position or from the storage position to the positioning position, then the transverse moving rod 82 moves back away from the second positioning block 73, so that the push block 81 retreats, finally, the ball is stopped in the first guide groove 901. In this way, during one rotation of the rotating sleeve 9, the positioning of the partition plate 104 is released, and the partition plate 104 is delivered and positioned.

[0080] It should be noted that since the movement of the sliding block 11 is axial movement guided by the transverse moving rod 82 and the moving end of the second mechanical arm 4, relative sliding between the guide rod 15 and the driving gear one 13 occurs, therefore, in order to ensure transmission of the rotary driving mechanism, the limit block 16 is fixedly sleeved on the outer circumferential surface of the driving shaft 72 between the sliding block 11 and the driving gear two 14, the limit block 16 is slidably sleeved on the guide rod 15, the limit ring 17 is fixedly connected to the end of the transmission sleeve 12 away from the rotating sleeve 9, the limit ring 17 abuts against the driving gear one 13, so that the driving shaft 72 and the driving gear one 13 are not axially moved.

[0081] Although embodiments of the present application have been shown and described, it is to be understood that various modifications, substitutions, replacements and changes can be made to these embodiments without departing from the principles and spirit of the present application, the scope of the present application being defined by the appended claims and their equivalents.

Claims

1. A mining haul truck drawbar welding apparatus comprising a mobile gantry (1) characterised in that, The mobile gantry (1) is provided with a welding mechanical arm (3) at one end and a partition plate delivery mechanism at the other end through a second mechanical arm (4), the second mechanical arm (4) is used to drive the partition plate delivery mechanism to move up and down, and the partition plate delivery mechanism is used to store a plurality of partition plates (104) and sequentially deliver and position the plurality of partition plates (104) at respective welding positions in cooperation with the mobile gantry (1); the partition plate delivery mechanism comprises a supporting cylinder (5), a first positioning block (62), a mounting seat (71), a second positioning block (73), a push block (81) and a pair of transverse rods (82); The supporting cylinder (5) is fixed on one side of the moving end of the second mechanical arm (4), and the supporting cylinder (5) is connected with the plurality of partition plates (104) in a penetrating installation mode; the supporting cylinder (5) is provided with a plurality of movable grooves (52, 51 and 53) for the first positioning block (62), the second positioning block (73) and the push block (81) to enter and exit the supporting cylinder (5); The first positioning block (62) is provided with a plurality of pairs and is uniformly and spacedly arranged along the axial direction of the supporting cylinder (5), the spacing of the two first positioning blocks (62) arranged in pairs can be adjusted; the plurality of pairs of first positioning blocks (62) located outside the supporting cylinder (5) respectively abut against one end of the plurality of partition plates (104) facing the second mechanical arm (4) to equally space the plurality of partition plates (104); The second positioning block (73) is provided with two second positioning blocks (73) arranged oppositely, the spacing of the two second positioning blocks (73) can be adjusted, and the two second positioning blocks (73) and the pair of first positioning blocks (62) farthest from the second mechanical arm (4) jointly cooperate to clamp and position the partition plate (104); The push block (81) is provided with a plurality of pairs and is uniformly and spacedly arranged along the axial direction of the supporting cylinder (5), one end of the push block (81) can abut against one end of the partition plate (104) facing the second mechanical arm (4), and the plurality of pairs of push blocks (81) can move in the movable groove three (53) to the side of the second positioning block (73) to sequentially move the plurality of partition plates (104) to abut against the second positioning block (73); One end of the transverse rod (82) extends into the supporting cylinder (5) along the axial direction of the supporting cylinder (5) and is uniformly and spacedly provided with a plurality of movable grooves four (821) and a plurality of movable grooves five (822), one push block (81) is installed in each movable groove four (821), the other end of the push block (81) is rotationally connected with the transverse rod (82) through a rotating shaft (811), the other end of the rotating shaft (811) extends into the movable groove five (822) and is connected with an elastic member two (83), and the elastic member two (83) is connected with the transverse rod (82); The other end of the transverse rod (82) penetrates through the moving end of the second mechanical arm (4) and is drivingly connected with a moving driving mechanism; the moving driving mechanism comprises a mounting cylinder (41) and a rotating sleeve (9), wherein the mounting cylinder (41) is fixedly installed on one side of the moving end of the second mechanical arm (4) away from the supporting cylinder (5), and one end of the rotating sleeve (9) is coaxially embedded in the opening of the mounting cylinder (41) and can rotate; The mobile driving mechanism further comprises a sliding block (11) which is located in the rotating sleeve (9) and fixedly connected with the transverse moving rod (82), and coaxially and gap-set on the driving shaft (72); the outer circumferential surface of the sliding block (11) is embedded with rolling balls which are movably arranged in the driving grooves (91) formed on the inner circumferential surface of the rotating sleeve (9); The driving grooves (91) are connected in sequence by the first guide grooves (901) which are arc-shaped and coaxial with the rotating sleeve (9) and the second guide grooves (902) which are "V"-shaped in orthographic projection shape, and the "V" shape points to the second mechanical arm (4).

2. The mining tractor vehicle tractor beam welding device according to claim 1, characterized in that, The partition plate delivery mechanism further comprises a support plate (61) which is arranged in the support cylinder (5) in the axial direction, the support plate (61) is fixedly connected with the moving end of the second mechanical arm (4), a pair of first positioning blocks (62) are arranged on both sides of the support plate (61), and the end of the first positioning block (62) facing the support plate (61) is fixedly connected with a rack (621), each rack (621) penetrates the support plate (61) and is engaged with a gear shaft (63), the gear shaft (63) is rotatably installed in the support plate (61), and the elastic member one (64) is jointly installed between the shaft part of the gear shaft (63) and the support plate (61).

3. The mining tractor vehicle tractor beam welding apparatus of claim 2, wherein, The partition plate delivery mechanism further comprises a driving shaft (72) which is arranged along the central axis of the support cylinder (5), one end of the support cylinder (5) penetrates the support plate (61) and is fixedly connected with the mounting seat (71), and the other end of the driving shaft (72) penetrates the moving end of the second mechanical arm (4) and is in transmission connection with the rotating driving mechanism.

4. The mining tractor vehicle tractor beam welding apparatus of claim 3, wherein, The rotating driving mechanism comprises a transmission sleeve (12), a driving gear one (13), a driving gear two (14) and a guide rod (15); the transmission sleeve (12) is fixedly sleeved on the other end outer circumferential surface of the rotating sleeve (9), a group of teeth are formed on the inner circumferential surface of the transmission sleeve (12) in the circumferential direction, and the teeth are in transmission connection with the driving gear one (13); the driving gear one (13) is slidably sleeved on the outer circumferential surface of the guide rod (15) and engaged with the driving gear two (14); the driving gear two (14) is fixedly sleeved on the outer circumferential surface of the driving shaft (72); and the guide rod (15) is fixed on one end of the sliding block (11) away from the second mechanical arm (4).

5. The mining tractor vehicle tractor beam welding apparatus of claim 4, wherein, The transmission connection between the teeth and the driving gear one (13) is intermittent transmission connection, and when the rolling balls are located in the first guide grooves (901), the teeth are in transmission connection with the driving gear one (13) and drive the driving shaft (72) to rotate one hundred and eighty degrees.

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