Visual identification line drawing assembly welding equipment

Abstract

The present application relates to a kind of visual identification line drawing assembly welding equipment, including welding conveying assembly, the welding conveying assembly includes platform frame and is installed on platform frame and is used to convey the conveying roller of baling press plate piece, the conveying direction of limiting conveying roller is first direction, another horizontal direction perpendicular to first direction is second direction;Self-propelled line drawing assembly, self-propelled spot welding assembly and auxiliary positioning assembly are arranged on platform frame along the first direction reciprocating movement.The present application, by welding conveying assembly, self-propelled line drawing assembly, self-propelled spot welding assembly and auxiliary positioning assembly are cooperated to realize the line drawing and welding of baling press plate piece, only need to realize the spray painting of visual identification color line of different colors by once walking, greatly improve the line drawing efficiency, and realize automatic accurate assembly positioning function and visual intelligent welding.

Description

Technical Field

[0001] This invention relates to the field of packaging machine manufacturing, and in particular to a visual recognition marking assembly and welding equipment. Background Technology

[0002] Currently, when manufacturing a packing machine, it is necessary to first prepare the various plates of the packing machine, and then weld the various plates together to form the packing machine. When selecting the welding method, an adaptive intelligent welding method is adopted, which can realize automatic tracking of weld seams, automatic adjustment of welding parameters, intelligent operation, and adapt to the complex welding requirements of the packing machine.

[0003] In the above process, two points are particularly important. First, converting welding process parameters into symbols that can be visually recognized is the key foundation for visual recognition of welding processes. Second, accurately aligning and assembling various sizes of stiffening plates into their corresponding positions is an important step in achieving intelligent manufacturing of high-quality, high-speed hydraulic balers.

[0004] Regarding the above two points, patent CN201920624590.3 mentions an automatic line drawing and marking device based on visual recognition. In this patent, the line drawing component uses a single line drawing pen, which can only draw single-color lines. If different colored welding lines need to be drawn, the machine needs to be stopped and the line drawing pen replaced, which is very troublesome. In addition, the translation is driven by the cooperation of a pulley, slide rail, and slider. Furthermore, the entire line drawing component is installed on the same side of the slide rail, which inevitably leads to the risk of the pen tilting.

[0005] Patent CN113210945B discloses a mid-assembly welding device, a planar segmented production line, and a mid-assembly welding method. When welding mid-assembly components is required, the device transports the components between two tracks and below the gantry. Because the welding robot can slide along the X, Y, and Z directions, it can automate the welding of longitudinal and vertical welds on the mid-assembly components, improving the welding efficiency and quality of the ribs. However, the aforementioned welding device still requires manual assistance in positioning the assembly ribs during assembly, resulting in low welding accuracy and low production efficiency. Summary of the Invention

[0006] The technical problem to be solved by the present invention is to provide a visual recognition line drawing assembly welding device that can easily perform visual recognition line drawing of different colors, and at the same time has an automatic and precise assembly and positioning function, so as to realize visual intelligent welding.

[0007] To solve the above-mentioned technical problems, the technical solution of the present invention is: a visual recognition line marking assembly welding device, the innovation of which lies in: including

[0008] A welding conveying assembly, comprising a platform frame and conveying rollers mounted on the platform frame for conveying packaging machine plates, wherein the conveying direction of the conveying rollers is defined as a first direction, and another horizontal direction perpendicular to the first direction is defined as a second direction;

[0009] The self-propelled line drawing assembly includes a self-propelled frame mounted on a platform and reciprocating along a first direction. A brush assembly reciprocating along a second direction is mounted on the self-propelled frame. The brush assembly includes a brush walking frame mounted on the self-propelled frame and reciprocating along the second direction. A brush lifting assembly, a brush rotating assembly, a brush ink supply assembly, a brush walking drive assembly, and a brush changing assembly are also mounted on the brush walking frame.

[0010] The self-propelled spot welding assembly includes a first self-propelled frame, an assembly winch, and a spot welding robot. The first self-propelled frame is mounted on a platform frame and is driven to move along a first direction by a first walking drive assembly. The spot welding robot is mounted on the first self-propelled frame via a robot mounting plate and moves synchronously with the first self-propelled frame. It is also driven to move horizontally along a second direction by a second walking drive assembly. The bottom of the spot welding robot has a visual recognition sensor for identifying packaging machine parts. The assembly winch is mounted on the first self-propelled frame via an assembly winch mounting plate and moves synchronously with the first self-propelled frame. It is also driven to move horizontally along a second direction by a third walking drive assembly. The bottom end of the steel wire rope of the assembly winch has an electromagnet for lifting and assembling. The electromagnet is driven by the assembly winch to move vertically in the vertical direction.

[0011] An auxiliary positioning component includes a second self-propelled frame and a finger gripping unit. The second self-propelled frame is mounted on a platform frame and is driven to move along a first direction by a fourth walking drive component. The finger gripping unit is mounted on the second self-propelled frame via a finger gripping unit mounting plate and moves synchronously with the second self-propelled frame. The finger gripping unit includes a finger gripping head for gripping and fixing the assembly, a fifth walking drive component for driving the finger gripping head to move along a second direction, a finger gripping swing component for adjusting the angle of the finger gripping head, a finger gripping lifting component for driving the finger gripping head to move vertically along a vertical direction, and a finger gripping fine-tuning component for fine-tuning the position of the finger gripping head.

[0012] Furthermore, the cooperation between the self-propelled frame and the platform frame is as follows: a pair of self-propelled guide rails arranged in parallel along the second direction are installed on the platform frame, the self-propelled guide rails extend along the first direction, and self-propelled rollers that roll on the self-propelled guide rails are also installed at the bottom of the self-propelled frame. A self-propelled rack is also arranged in parallel on the side of the two self-propelled guide rails on the platform frame. A self-propelled gear that meshes with the self-propelled rack is also installed at the bottom of the self-propelled frame, and the self-propelled gear is driven to rotate by a motor installed on the self-propelled frame, thereby driving the self-propelled frame to reciprocate along the first direction on the platform frame.

[0013] The paintbrush lifting assembly includes an inverted paintbrush lifting cylinder. A brush changer mounting base connected to the paintbrush lifting cylinder is provided on the brush assembly mounting frame. A guide sleeve mounting plate is connected to the bottom end of the cylinder body of the paintbrush lifting cylinder. A brush assembly mounting frame lifting guide rod that passes through the guide sleeve mounting plate and moves up and down is also provided on the brush assembly mounting frame. At the same time, a lifting guide sleeve that cooperates with the brush assembly mounting frame lifting guide rod is also installed on the guide sleeve mounting plate.

[0014] The brush rotation assembly includes a brush rotation swing plate disposed below the brush travel frame. The top of the brush lifting cylinder is connected to the brush rotation swing plate. The brush rotation swing plate is driven to rotate by a rotary motor and gear pair mounted on the brush travel frame, thereby causing the brush lifting cylinder and the entire brush assembly mounting frame to rotate.

[0015] The ink supply assembly for the brush includes ink bottles installed on the brush travel frame and a control valve assembly. There are several ink bottles arranged side by side on the brush travel frame, and each ink bottle is connected to the feed side of the control valve assembly through a hose. The discharge side of the control valve assembly is connected to the weld seam brush, the inner array brush and the outer array brush one by one through a hose.

[0016] The brush movement drive assembly includes a brush movement slider, a brush movement gear, and a brush movement motor. The self-moving frame includes a pair of self-moving seats and a pair of self-moving crossbeams mounted on the self-moving seats. There is a gap between the two self-moving crossbeams. A brush movement guide rail is mounted on each of the two self-moving crossbeams, which are arranged in parallel along a first direction. A brush movement slider that cooperates with the two brush movement guide rails is mounted on the brush movement frame. A brush movement rack is also provided on the self-moving crossbeam next to the self-moving guide rail. At the same time, a brush movement gear that meshes with the brush movement rack is mounted on the brush movement frame. The two brush movement gears are driven to rotate by independent brush movement motors mounted on the brush movement frame, thereby driving the brush movement frame to reciprocate along a second direction on the self-moving frame.

[0017] Furthermore, the pen-changing component includes a pen assembly mounting frame, a pen selection component, an inner pen holder component, an outer pen holder component, and a weld seam pen. The pen selection component, inner pen holder component, outer pen holder component, and weld seam pen are all mounted on the pen assembly mounting frame. The inner pen holder component has several inner array pens, and the outer pen holder component has several outer array pens. There is a line-drawing position on the pen assembly mounting frame. By rotating the inner pen holder component or the outer pen holder component, different inner array pens or outer array pens can be switched to the line-drawing position. When in the line-drawing position, the weld seam pen, inner array pens, and outer array pens are distributed in sequence. The pen selection component cooperates to grasp and synchronize the inner array pens and outer array pens in the line-drawing position.

[0018] The pen assembly mounting bracket includes an upper frame plate and a lower frame plate distributed vertically, as well as an upper and lower frame plate connecting rod for connecting the upper and lower frame plates. An opening is also opened on one side of the upper frame plate, and a groove with opposite openings is respectively inlaid on both sides of the opening on the upper frame plate. The two grooves cooperate to form a pen reciprocating slide. A pen assembly mounting base is installed on the lower frame plate, and a welded pen mounting hole is also opened on the lower frame plate below the opening of the upper frame plate.

[0019] The brush selection component includes a brush fork. One side of the brush fork has a groove for inserting both the inner array brushes and the outer array brushes, making the entire brush fork U-shaped. The brush fork is driven to move up and down by a brush lifting cylinder. The brush lifting cylinder is mounted on a reciprocating slide rail. The two sides of the reciprocating slide rail are respectively embedded in two grooves that form the brush reciprocating slide. The reciprocating slide rail is driven by the brush reciprocating cylinder mounted on the upper plate to move back and forth along the brush reciprocating slide.

[0020] The inner pen holder assembly includes an inner pen holder plate and an inner array of pens mounted on the inner pen holder plate. There are several inner array pens, which are distributed in an arc shape on the inner pen holder plate. The inner pen holder plate also has through holes that allow each inner array pen to pass through and move up and down. A first return spring is fitted on the outer wall of the inner array pen. The inner pen holder plate is driven to rotate by a first motor mounted on the pen assembly mounting base and a gear pair. The inner pen holder plate also has a first arc-shaped groove that allows a welded pens to pass through and move.

[0021] The outer pen holder assembly includes an outer pen holder plate and an outer array of pens mounted on the outer pen holder plate. There are several outer array pens, which are distributed in an arc shape on the outer pen holder plate. The outer pen holder plate also has through holes to allow each outer array pen to pass through and move up and down. A second return spring is fitted on the outer wall of the outer array pens. The outer pen holder plate is driven to rotate by a second motor mounted on the pen assembly mounting base. The outer pen holder plate also has a second arc-shaped groove to allow weld seam pens to pass through and move, and a third arc-shaped groove to allow inner array pens to pass through and move.

[0022] The lower shelf, inner brush holder, and outer brush holder are distributed from top to bottom;

[0023] The weld seam drawing pen is installed inside the weld seam drawing pen mounting hole.

[0024] Furthermore, the weld seam brush, inner array brush, and outer array brush have the same structure, each including a brush body. A flexible tube is connected to the top of the brush body, and a limiting nut is connected to the upper and lower sides of the brush body. The upper limiting nuts are all located above the lower frame plate, and the lower limiting nuts are all located below the outer brush swing plate.

[0025] Furthermore, the self-propelled frame is also equipped with a laser edge-finding component, which includes a laser edge finder mounted on the pen assembly mounting bracket.

[0026] Furthermore, the finger clamp includes a claw seat and two opposing claws. The claw seat has a claw mounting cavity in the middle. The two claws are installed in the claw mounting cavity of the claw seat and are driven to move horizontally closer to or further away from each other by the swing arm assembly.

[0027] The swing arm assembly includes a drive swing arm and a swing arm drive block;

[0028] The swing arm drive block is mounted on the gripper seat and driven to move up and down by the gripper finger drive cylinder. There are two drive swing arms, each corresponding to a gripper. The two drive swing arms are respectively located on both sides below the swing arm drive block and are each connected to the swing arm drive block by a swing arm pusher. The swing arm pusher is fixed on the swing arm drive block. The top of the drive swing arm has a swing arm waist-shaped hole for accommodating the swing arm pusher and allowing it to move. The swing arm pusher is movably located in the swing arm waist-shaped hole. The middle part of the drive swing arm is rotatably mounted on the gripper seat through a swing arm pivot. The bottom of the drive swing arm is connected to the corresponding gripper by a gripper pusher. The gripper pusher is fixed on the gripper. The bottom of the drive swing arm has a pusher notch for accommodating the gripper pusher and allowing it to move. The gripper pusher is movably located in the pusher notch.

[0029] Furthermore, both the swing arm drive block and the swing arm are set inside the gripper mounting cavity. The swing arm drive block has a swing arm limiting groove in the middle. Swing arm pusher mounting holes are formed on both sides of the swing arm limiting groove on the swing arm drive block. The top of the drive swing arm extends into the swing arm limiting groove. The swing arm pusher passes through the swing arm waist-shaped hole of the drive swing arm. Both ends of the swing arm pusher pass through the swing arm pusher mounting holes on the swing arm drive block. The drive swing arm has a swing arm pivot mounting hole in the middle. The swing arm pivot passes through the swing arm pivot mounting hole. Both ends of the swing arm pivot are fixedly connected to the gripper seat. A swing arm limiting sleeve is provided on each side of the drive swing arm. The swing arm limiting sleeve is fitted on the swing arm pivot. The bottom of the drive swing arm is set between two grippers and limited by the two grippers.

[0030] The two grippers are movably mounted on the gripper seat via gripper guide pins;

[0031] Both grippers include an integrally formed gripper plate and gripper ends. The gripper ends are located at the bottom of the gripper plate and cooperate with the gripper plate to form a 7-shaped structure. The gripper pusher is fixed on the side of the gripper plate away from the gripper ends. A gripper waist-shaped hole is opened between the gripper pusher and the gripper ends on the gripper plate for the gripper guide pin to pass through and move horizontally. There are two gripper guide pins, and each gripper guide pin passes through the gripper waist-shaped hole of the two grippers in sequence. The two ends of the gripper guide pin are connected to the gripper seat.

[0032] Furthermore, the finger-clamping fine-tuning component includes, from top to bottom, a lifting cylinder connecting plate, a front and rear fine-tuning unit, a middle floating connecting plate, a left and right fine-tuning unit, and a finger-clamping drive cylinder connecting plate;

[0033] The finger-driving cylinder connecting plate is located above the gripper seat and is connected to the gripper seat via several finger-mounting rods.

[0034] The left and right fine-tuning unit includes left and right sliding linear guides, left and right sliding sliders, left and right sliding adjustment screws, and left and right sliding adjustment motors. The left and right sliding linear guides are mounted on the finger-clamping drive cylinder connecting plate. The left and right sliding sliders are mounted on the middle floating connecting plate and are slidably connected to the left and right sliding linear guides. The left and right sliding adjustment motors are mounted on the finger-clamping drive cylinder connecting plate. The left and right sliding adjustment screws are fixed to the output end of the left and right sliding adjustment motors. The middle floating connecting plate is threadedly connected to the left and right sliding adjustment screws through left and right sliding adjustment nuts.

[0035] The front and rear fine-tuning unit includes a front and rear sliding linear guide rail, a front and rear sliding slider, a front and rear sliding adjustment screw, and a front and rear sliding adjustment motor. The front and rear sliding linear guide rail is mounted on the middle floating connecting plate. The front and rear sliding slider is mounted on the lifting cylinder connecting plate and is slidably connected to the front and rear sliding linear guide rail. The front and rear sliding adjustment motor is mounted on the middle floating connecting plate. The front and rear sliding adjustment screw is fixed to the output end of the front and rear sliding adjustment motor. The lifting cylinder connecting plate is threadedly connected to the front and rear sliding adjustment screw through a front and rear sliding adjustment nut.

[0036] The finger-clamping lifting assembly includes a lifting cylinder, a lifting cylinder head connecting plate, a lifting guide rod, and a guide rod sleeve.

[0037] The lifting cylinder is located above the lifting cylinder connecting plate. The telescopic end of the lifting cylinder is connected to the lifting cylinder connecting plate. The lifting cylinder head connecting plate is installed on the lifting cylinder. The lifting guide rod is movably inserted into the guide rod sleeve. The bottom end of the lifting guide rod is fixedly connected to the lifting cylinder connecting plate. The guide rod sleeve is installed on the lifting cylinder head connecting plate.

[0038] The finger-clamping swing assembly includes a drive gear, a driven gear, and a swing drive motor;

[0039] The drive gear is vertically rotatably mounted on the finger clamping unit mounting plate via the central axis of the drive gear bearing and is connected to the output end of the swing drive motor. The driven gear is vertically rotatably mounted on the finger clamping unit mounting plate via the central axis of the driven gear bearing. The driven gear meshes with the drive gear, and the bottom of the driven gear is fixedly connected to the lifting cylinder via the cylinder tail connecting plate of the lifting cylinder.

[0040] Furthermore, the spot welding robot includes a multi-axis welding robot and a welding torch. The welding torch is installed in the welding torch hole clamp of the multi-axis welding robot, and the visual recognition sensor is installed by screws in the mounting hole of the welding torch hole clamp of the multi-axis welding robot on the side away from the welding torch.

[0041] Furthermore, the first walking drive assembly includes a first walking drive motor, a first walking drive gear, and a first walking wheel;

[0042] The first traveling wheel is installed at the bottom of the first self-propelled frame, and the platform frame has a spot welding component traveling track, on which the first traveling wheel rides;

[0043] The first walking drive motor is mounted on the first self-propelled frame. The platform frame has a spot welding component walking rack extending in the first direction. The first walking drive gear is mounted on the output end of the first walking drive motor and meshes with the spot welding component walking rack.

[0044] The structure of the fourth walking drive component is the same as that of the first walking drive component.

[0045] The second walking drive assembly includes a second walking drive motor, a second walking drive gear, and a second walking slider;

[0046] The robot mounting plate is positioned above the first self-propelled frame. The top surface of the first self-propelled frame has a robot walking track. The second walking slider is installed at the bottom of the robot mounting plate and is slidably connected to the robot walking track.

[0047] The second walking drive motor is mounted on the robot mounting plate, the first self-walking frame has a robot walking rack extending in the second direction, and the second walking drive gear is mounted on the output end of the second walking drive motor and meshes with the robot walking rack.

[0048] The structures of the third and fifth walking drive components are the same as those of the second walking drive component.

[0049] The advantages of this invention are as follows: In this invention, the marking and welding of the packaging machine parts are achieved through the joint cooperation of the welding conveying component, the self-propelled marking component, the self-propelled spot welding component and the auxiliary positioning component. Different colors of visual recognition lines can be sprayed with only one movement, which greatly improves the marking efficiency and realizes the functions of automatic and precise assembly positioning and visual intelligent welding.

[0050] The self-propelled frame adopts a combination of a self-propelled base and a pair of self-propelled crossbeams. When used in conjunction with the brush travel frame, the two sides of the brush travel frame are supported on the self-propelled crossbeams, achieving stable support for the brush travel frame. This provides an excellent foundation for the stable movement of the brush travel frame and the stable operation of components such as the brush lifting assembly, brush rotation assembly, and brush changing assembly on the brush travel frame.

[0051] For the movement between the self-propelled frame and the platform frame, the movement is achieved by the combination of self-propelled guide rails and self-propelled rollers, and the movement is driven by the combination of self-propelled racks and self-propelled gears. This not only enables the self-propelled frame to move smoothly, but also facilitates the installation and coordination between the self-propelled frame and the platform frame.

[0052] The pen-changing component is designed to allow for simultaneous line drawing with three pens through the coordination of the pen selection component, inner pen holder component, outer pen holder component, and weld seam pen. This enables the spraying of multiple colored lines in a single action, greatly improving work efficiency.

[0053] In addition, the ability to switch between different inner or outer array brushes by rotating the brush makes the brush switching process more convenient, and allows users to choose different brushes as needed, making brush switching more flexible.

[0054] The design of the weld seam drawing pen, inner array drawing pen, and outer array drawing pen structure uses the cooperation of two locking nuts to provide a rigid limit protection for the vertical movement of the drawing pen, preventing the drawing pen from detaching due to excessive movement and thus affecting the automatic drawing of the line drawing machine and the smooth operation of pen changing.

[0055] Through the coordinated action of the guide sleeve mounting plate, the lifting guide sleeve, and the lifting guide rod of the pen assembly mounting frame, the pen assembly mounting frame is guided when the pen lifting cylinder drives the pen assembly mounting frame to move up and down, ensuring the stability of the pen assembly mounting frame's up and down movement and preventing the pen assembly mounting frame from deviating from its original position.

[0056] After the assembly substrate is transported to its position using the platform frame, the visual recognition sensor of the self-propelled spot welding assembly scans and locates the edges of the assembly substrate. The assembly winch moves with the self-propelled spot welding assembly, and the electromagnets lift and assemble the welding stiffeners one by one, moving them to the approximate position of the assembly substrate. The auxiliary positioning assembly moves to the position of the welding stiffeners on its own. The gripping finger unit adjusts the swing angle, opens the gripping fingers, and lowers the gripping fingers to both sides of the stiffener, gripping the stiffener and positioning it precisely. The spot welding robot of the self-propelled spot welding assembly then spots welds the stiffeners together. After all the assembly is completed, the spot welding robot welds the workpieces sequentially according to the visual process parameters. The visual recognition assembly mechanism, through the cooperation of the self-propelled spot welding assembly and the auxiliary positioning assembly, realizes automatic and precise assembly and positioning functions as well as visualized intelligent welding.

[0057] The finger clamp achieves automatic lifting, automatic rotation, cross-shaped fine adjustment, and wide adaptability to various stiffener thicknesses through the coordinated operation of the swing arm assembly, finger clamping swing rotation assembly, finger clamping lifting assembly, and finger clamping fine adjustment assembly, thereby improving production efficiency.

[0058] The finger gripper uses the swing arm limit groove, swing arm drive sleeve and gripper on the swing arm drive block to limit the top, middle and bottom respectively, so as to avoid the swing arm from excessive displacement and affecting the control accuracy. Attached Figure Description

[0059] Figure 1 This is a schematic diagram of the visual recognition line drawing assembly welding equipment of the present invention.

[0060] Figure 2 This is a schematic diagram of the self-propelled line drawing component and the welding conveying component in this invention.

[0061] Figure 3 This is a schematic diagram of the self-propelled line drawing component in this invention.

[0062] Figure 4 This is a schematic diagram of the pen component in this invention.

[0063] Figure 5This is a schematic diagram of the pen-changing component of the present invention.

[0064] Figure 6 This is a cross-sectional view of the pen-changing component of the present invention.

[0065] Figure 7 This is a schematic diagram of the pen assembly mounting bracket in this invention.

[0066] Figure 8 This is a schematic diagram of the inner pen holder assembly in this invention.

[0067] Figure 9 This is a schematic diagram of the outer pen holder assembly in this invention.

[0068] Figure 10 This is a schematic diagram of the weld seam drawing pen in this invention.

[0069] Figure 11 This is a schematic diagram of the self-propelled spot welding assembly and the auxiliary positioning assembly in this invention.

[0070] Figure 12 This is a schematic diagram of the structure of the self-propelled spot welding assembly in this invention.

[0071] Figure 13 for Figure 12 Enlarged view of point A.

[0072] Figure 14 This is a schematic diagram of the spot welding robot of the present invention.

[0073] Figure 15 This is a schematic diagram of the assembly winch of the present invention.

[0074] Figure 16 This is a schematic diagram of the auxiliary positioning component of the present invention.

[0075] Figure 17 This is a schematic diagram of the structure of the finger clamping unit of the present invention.

[0076] Figure 18 This is a front view of the finger clamping unit of the present invention.

[0077] Figure 19 This is a schematic diagram of the structure of the finger clamp of the present invention.

[0078] Figure 20 This is an exploded view of the structure of the finger clamp of the present invention.

[0079] Figure 21 This is a schematic diagram of the structure of the drive swing arm of the present invention.

[0080] Figure 22 This is a schematic diagram of the gripper structure of the present invention. Detailed Implementation

[0081] To further illustrate the technical means and effects of the present invention in achieving its intended purpose, the following detailed description of the specific implementation methods, structures, features and effects of the present invention, in conjunction with the accompanying drawings and preferred embodiments, is provided below.

[0082] like Figures 1-22 The visual recognition marking assembly welding equipment shown includes a welding conveying component 1, a self-propelled marking component 2, a self-propelled spot welding component 4, and an auxiliary positioning component 5.

[0083] The welding conveying assembly 1 includes a platform frame 11 and conveying rollers 12 mounted on the platform frame 11 for conveying the packaging machine plates. The two sides of the conveying rollers 12 are movably mounted on the platform frame 11 through the cooperation of bearings and bearing seats. A linkage sprocket is also installed at the end of the conveying rollers 12. A linkage chain that cooperates with the linkage sprocket is also provided between adjacent conveying rollers 12. The synchronous rotation of all conveying rollers 12 in the same direction is achieved through the cooperation of the linkage sprocket and the linkage chain. Any one of the linkage chains is driven to rotate by a motor mounted on the platform frame 11, thereby driving all the conveying rollers 12 to rotate, realizing the conveying of the packaging machine plates 13. The conveying direction of the conveying rollers 12 is defined as the first direction, and another horizontal direction perpendicular to the first direction is defined as the second direction.

[0084] The self-propelled line marking assembly 2 includes a self-propelled frame 20 mounted on a platform frame 12 and reciprocating along a first direction. The movement between the self-propelled frame 20 and the platform frame 12 is as follows: a pair of self-propelled guide rails 14 are mounted on the platform frame 11 and arranged side by side along a second direction. The self-propelled guide rails 14 extend along the first direction. At the bottom end of the self-propelled frame 20, self-propelled rollers 201 are also mounted and roll on the self-propelled guide rails 14. There are four self-propelled rollers 201 in total, arranged in pairs on the self-propelled frame 20. Two self-propelled rollers 201 cooperate with the same self-propelled guide rail 14. At the middle of the outer circumference of the self-propelled roller 201, there is a groove that is recessed into the interior of the self-propelled roller 201. The self-propelled roller 201 is supported on the self-propelled guide rail 14, and the self-propelled guide rail 14 is placed in the groove of the self-propelled roller 201. The design of the groove is used to relatively limit the position of the self-propelled roller 201 on the self-propelled guide rail 14, so as to prevent the self-propelled roller 201 from deviating when it travels on the self-propelled guide rail 14.

[0085] On the platform frame 11, a self-propelled rack 15 is arranged side by side on each of the two self-propelled guide rails 14. The self-propelled rack 15 also extends along the first direction. At the bottom of the self-propelled frame 20, a self-propelled gear 202 is installed, which meshes with the self-propelled rack 15. The two self-propelled gears 202 are driven by independent motors mounted on the self-propelled frame 20, thereby driving the self-propelled frame 20 to reciprocate along the first direction on the platform frame 11. For the movement between the self-propelled frame 20 and the platform frame 12, the movement is achieved by the cooperation of the self-propelled guide rails 14 and the self-propelled rollers 201, and the movement is driven by the cooperation of the self-propelled rack 15 and the self-propelled gear 202. This not only enables the self-propelled frame 20 to move smoothly, but also facilitates the installation and cooperation between the self-propelled frame 20 and the platform frame 12. The entire self-propelled frame 20 can simply be suspended on the two self-propelled guide rails 14, which is very convenient.

[0086] A brush assembly that reciprocates along a second direction is mounted on the self-propelled frame 20, such as... Figure 2 As shown in the schematic diagram, the brush assembly includes a brush travel frame 211 mounted on the self-propelled frame 20 and reciprocating along the second direction. The brush travel frame 211 is also equipped with a brush lifting assembly, a brush rotating assembly, a brush ink supply assembly, a brush travel drive assembly, and a brush changing assembly.

[0087] The reciprocating movement of the brush travel frame 211 on the self-propelled frame 20 is achieved through the cooperation of the brush travel drive component. Specifically, the brush travel drive component includes a brush travel slider 213, a brush travel gear 214, and a brush travel motor 212. The self-propelled frame 20 includes a pair of self-propelled seats 203 and a pair of self-propelled crossbeams 204 mounted on the self-propelled seats 203. The two sides of the self-propelled crossbeams 204 are respectively supported on the two self-propelled seats 203, and a gap is left between the two self-propelled crossbeams 204. A brush travel guide rail 205 arranged in parallel along a first direction is installed on each of the two self-propelled crossbeams 204. The brush travel guide rails 205 extend along a second direction and are mounted on the brush travel frame 211. There is a brush movement slider 213 that cooperates with two brush movement guide rails 205. A brush movement rack 206 is also provided on the self-moving crossbeam 204 next to the self-moving guide rails 205. The brush movement rack 206 also extends along the second direction. At the same time, a brush movement gear 214 that meshes with the brush movement rack 206 is installed on the brush movement frame 211. The two brush movement gears 214 are driven to rotate by independent brush movement motors 212 installed on the brush movement frame 211, thereby driving the brush movement frame 211 to reciprocate along the second direction on the self-moving frame 20. A gear bearing socket 215 is also provided between the brush movement gear 214 and the brush movement motor 212. The self-propelled frame 20 adopts a combination of a self-propelled base 203 and a pair of self-propelled crossbeams 204. When it is used in conjunction with the brush travel frame 211, the two sides of the brush travel frame 211 are supported on the self-propelled crossbeams 204 respectively, so as to achieve stable support for the brush travel frame 211. This provides an excellent foundation for the stable movement of the brush travel frame 211 and the stable operation of the brush lifting component, brush rotating component, brush changing component and other components on the brush travel frame 211.

[0088] like Figures 5-10 As shown in the schematic diagram, the pen changing component includes a pen assembly mounting bracket 3, a pen selection component, an inner pen holder component, an outer pen holder component, and a welded pen 331.

[0089] The brush selection component, inner brush holder component, outer brush holder component, and weld seam brush are all mounted on the brush assembly mounting frame 3. The inner brush holder component has several inner array brushes 311, and the outer brush holder component has several outer array brushes 321. There is a line drawing position on the brush assembly mounting frame 3. By rotating the inner or outer brush holder component, different inner array brushes or outer array brushes can be switched to the line drawing position. When in the line drawing position, the weld seam brushes 331, inner array brushes 311, and outer array brushes 321 are distributed in sequence. The brush selection component cooperates to achieve the grasping and synchronous action of the inner array brushes 311 and outer array brushes 321 in the line drawing position.

[0090] Specifically, such as Figure 7 As shown in the schematic diagram, the pen assembly mounting frame 3 includes an upper frame plate 301 and a lower frame plate 302 distributed vertically, as well as upper and lower frame plate connecting rods 303 for connecting the upper frame plate 301 and the lower frame plate 302. The upper frame plate 301 and the lower frame plate 302 are both flat plate structures, and the upper frame plate 301 and the lower frame plate 302 are balanced with each other. There are four upper and lower frame plate connecting rods 303, which are distributed in a square shape between the upper frame plate 301 and the lower frame plate 302. The upper and lower sides of the upper and lower frame plate connecting rods 303 are fixed to the upper frame plate 301 and the lower frame plate 302 respectively.

[0091] An opening 304 is provided on one side of the upper plate 301. On the upper plate 301, on both sides of the opening 304, there are two grooves 305 with opposite openings. The two grooves 305 work together to form a pen-taking reciprocating slide. A pen assembly mounting seat 306 is installed on the lower plate 302. The pen assembly mounting seat 306 is a stepped structure composed of a first mounting seat and a second mounting seat. The size of the first mounting seat is larger than that of the second mounting seat. The first mounting seat is used to cooperate with the outer pen holder assembly, and the second mounting seat is used to cooperate with the inner pen holder assembly. On the lower plate 302, below the opening 304 of the upper plate 301, there is a welded pen mounting hole 307. The welded pen mounting hole 307 is used to install the welded pen 331.

[0092] The weld seam drawing pen 331 is set in the weld seam drawing pen mounting hole 307 and is directly fixed to the lower frame plate 302, so that it moves with the entire pen assembly mounting frame 3.

[0093] The pen assembly mounting frame 3 is also equipped with a pen assembly mounting frame lifting guide rod 309 and a pen changer mounting base 308. Both the pen assembly mounting frame lifting guide rod 309 and the pen changer mounting base 308 are mounted on the upper frame plate. The pen assembly mounting frame lifting guide rod 309 is used to guide the pen assembly mounting frame during the lifting process, while the pen changer mounting base 308 is used to connect the pen assembly mounting frame 3 with the line drawing machine. Through the joint cooperation of the pen assembly mounting frame lifting guide rod 309 and the pen changer mounting base 308, it is easy to realize the subsequent stable up and down lifting of the pen assembly mounting frame 3 driven by the line drawing machine.

[0094] like Figure 8 As shown in the schematic diagram, the inner pen holder assembly includes an inner pen holder plate 312 and an inner array of pens 311 mounted on the inner pen holder plate 312. There are several inner array pens 311, which are distributed in an arc shape on the inner pen holder plate 312. At the same time, the inner pen holder plate 312 also has through holes that allow each inner array pen 311 to pass through and move up and down. A first return spring 313 is fitted on the outer wall of the inner array pen 311.

[0095] The inner brush plate 312 is installed below the lower support plate 302, with a gap between the inner brush plate 312 and the lower support plate 302. The inner brush plate 312 is driven to rotate by a first motor 314 installed on the brush assembly mounting base 306 and a gear pair. The first motor 314 is installed on a second mounting base of the brush assembly mounting base 306. The gear pair includes a driving gear 315 disposed inside the second mounting base and a driven gear 316 disposed inside the first mounting base. The driving gear 315 and the driven gear 316 mesh with each other. The driving gear 315 is driven to rotate by the first motor 314, and the driven gear 316 is connected to the inner brush plate 312 through a connecting shaft and drives the inner brush plate 312 to rotate.

[0096] The inner brush plate 312 also has a first arc-shaped groove 317 that allows the weld brush 331 to pass through and move. The first arc-shaped groove 317 is provided to avoid the weld brush 331. Since the weld brush 331 is directly installed in the weld brush mounting hole 307, and the weld brush mounting hole 307 is a fixed mounting hole, the position of the weld brush 331 installed in the weld brush mounting hole 307 remains unchanged. However, the weld brush 331 needs to move up and down during subsequent spray painting. Therefore, in order to avoid the weld brush 331, the first arc-shaped groove 317 is provided on the inner brush plate 312 to avoid it, ensuring that the inner brush plate 312 rotates smoothly without interference from the weld brush 331.

[0097] like Figure 9 As shown in the schematic diagram, the outer pen holder assembly includes an outer pen holder plate 322 and an outer array of pens 321 mounted on the outer pen holder plate 322. There are several outer array pens 321, which are distributed in an arc shape on the outer pen holder plate 322. At the same time, the outer pen holder plate 322 also has through holes that allow each outer array pen 321 to pass through and move up and down. A second return spring 323 is fitted on the outer wall of the outer array pen 321.

[0098] The outer brush sway plate 322 is installed below the inner brush sway plate 312, with a gap between them. The outer brush sway plate 322 is driven to rotate by a second motor 324 mounted on the brush assembly mounting base 306. The second motor 324 is mounted on the first mounting base of the brush assembly mounting base 306, and its output shaft is connected to the outer brush sway plate 322 via a connecting shaft, thus driving the outer brush sway plate 322 to rotate. Furthermore, the outer pen holder 322 also has a second arc-shaped groove 325 for the weld seam pen 331 to pass through and move, and a third arc-shaped groove 326 for the inner array pen 321 to pass through and move. The design of the second arc-shaped groove 325 and the third arc-shaped groove 326 is also to avoid the weld seam pen 331 and the inner array pen 321, so as to ensure the smooth rotation of the outer pen holder 322 and avoid interference with the weld seam pen 331 and the inner array pen 321.

[0099] The brush selection component includes a brush fork 341. On one side of the brush fork 341, there is a groove for inserting both the inner array brushes 311 and the outer array brushes 321, so that the entire brush fork 341 is U-shaped. The brush fork 341 is driven to move up and down by a brush lifting cylinder 342. The brush lifting cylinder is mounted on a reciprocating slide rail 343. The reciprocating slide rail 343 is a flat plate structure. The two sides of the reciprocating slide rail 343 are respectively embedded in two grooves 305 that form the brush reciprocating slide. The reciprocating slide rail 343 is driven by a brush reciprocating cylinder 344 mounted on the upper plate 301 to move back and forth along the brush reciprocating slide.

[0100] The weld seam drawing brush 331, the inner array drawing brush 311, and the outer array drawing brush 321 have the same structure. Figure 10Taking the weld seam drawing pen 331 as an example, it includes a pen body 351. A flexible tube is connected to the top of the pen body 351, and a flexible tube connector 352 connected to the flexible tube is also provided at the top of the pen body 351. A limiting nut 353 is connected to the upper and lower sides of the pen body 351, respectively. The upper limiting nuts 353 are all above the lower support plate 302, and the lower limiting nuts 353 are all below the outer pen swing plate 322. The pen body 351 is used to pass through the weld seam drawing pen mounting hole 307, or the first arc groove 317, or the second arc groove 325, or the third arc groove 326. The limiting nuts 353... The diameters of all the holes are larger than the dimensions of the paintbrush mounting hole 307, the first arc groove 317, the second arc groove 325, and the third arc groove 326, so as to effectively limit the vertical movement of the paintbrush body 351. The first return spring 313 and the second return spring 323 are fitted on the outer wall of the paintbrush body 351 and located between the two limit nuts 353. The upper ends of the first return spring 313 and the second return spring 323 abut against the bottom surface of the limit nut 353 located on the upper side, and the lower end of the first return spring 313 abuts against the top of the inner paintbrush swing plate 312, while the lower end of the second return spring 323 abuts against the top of the outer paintbrush swing plate 322. The design of the weld seam drawing pen 331, inner array drawing pen 311 and outer array drawing pen 321 uses the cooperation of two upper and lower limit nuts 353 to provide a hard limit protection for the vertical movement of the drawing pen, so as to avoid the phenomenon of the drawing pen detaching due to the excessive movement of the drawing pen, which would affect the automatic drawing of the line drawing machine and the smooth operation of pen changing.

[0101] The weld seam drawing pen 331 differs from the inner array pen 311 and the outer array pen 321 in that it is directly fixed in the weld seam drawing pen mounting hole 307, thus eliminating the need for a return spring. When fixing the weld seam drawing pen 331, a locking nut 354 needs to be added to the upper side of the pen body 351 to secure it. The locking nut 354 is located above the lower frame plate 302, and the bottom surface of the upper limit nut 353 and the top surface of the locking nut 354 are respectively attached to the upper and lower sides of the lower frame plate 302. Through the cooperation of the locking nut 354 and the upper limit nut 353, the weld seam drawing pen 331 is fixed to the lower frame plate 302.

[0102] The paintbrush lifting assembly includes an inverted paintbrush lifting cylinder 221. The bottom end of the piston rod of the paintbrush lifting cylinder 221 is connected to the pen holder mounting base 308. The bottom end of the cylinder body of the paintbrush lifting cylinder 221 is connected to a guide sleeve mounting plate 222. The guide sleeve mounting plate 222 has a guide hole for the pen holder lifting guide rod 309 to pass through and move up and down. At the same time, a lifting guide sleeve 223 that cooperates with the pen holder lifting guide rod 309 is also installed on the guide sleeve mounting plate 222 at the guide hole. Through the joint cooperation of the guide sleeve mounting plate 222, the lifting guide sleeve 223 and the pen holder lifting guide rod 309, the paintbrush lifting cylinder 221 drives the pen holder 3 to move up and down, thus guiding the pen holder 3, ensuring the stability of the pen holder 3's up and down movement, and preventing the pen holder 3 from deviating.

[0103] The brush rotation assembly includes a brush rotation plate 231 located below the brush travel frame 211. The top of the brush lifting cylinder 221 is connected to the brush rotation plate 231 and rotates with the brush rotation plate 231. The brush rotation plate 231 is driven to rotate by a rotary motor 232 and a gear pair 233 mounted on the brush travel frame 211, which in turn drives the brush lifting cylinder 221 and the entire brush assembly mounting frame 3 to rotate.

[0104] The ink supply assembly for the brush includes ink bottles 241 mounted on the brush travel frame 211 and a control valve assembly 242. There are several ink bottles 241 arranged side by side on the brush travel frame 211, and each ink bottle 241 is connected to the feed side of the control valve assembly 242 through a hose. The discharge side of the control valve assembly 242 is connected to the hose connectors 352 on the weld seam brush 331, the inner array brush 311 and the outer array brush 321 through a hose, thereby supplying ink to the weld seam brush 331, the inner array brush 311 and the outer array brush 321.

[0105] A laser edge-finding component is also installed on the self-propelled frame 20. The laser edge-finding component includes a laser edge finder 251 installed on the pen assembly mounting frame 3. The laser edge finder 251 is used to detect the position and outline of the packing machine plate 13 conveyed on the conveyor roller 12, and establish a relative coordinate system with the plate plane as the reference plane and one corner as the reference coordinate origin. This provides a basis for automatic spraying based on the position of the packing machine plate 13. During control, the line drawing machine also needs to be equipped with a controller. The laser edge finder 251 detects the packing machine plate 13 and transmits the detection results to the controller. Then, the controller controls the movement of multiple components of the line drawing machine, such as the self-propelled frame 20, the pen travel frame 211, and the pen lifting cylinder 221, thereby realizing automatic spraying on the surface of the packing machine plate 13.

[0106] When selecting a brush, firstly, the first motor 314 drives the inner brush holder 312 to rotate. When the desired inner array brush 311 moves to the front of the brush fork 341, the first motor 314 stops. Then, the second motor 324 drives the outer brush holder 322 to rotate. When the desired outer array brush 321 moves to the front of the brush fork 341, the second motor 324 stops. Then, the brush-picking reciprocating cylinder 344 drives the reciprocating slide rail 343 to move, pushing the brush fork 341 outward. This causes the fork slot of the brush fork 341 to engage with the neck and shoulder area of ​​the inner array brush 311 and outer array brush 321 located at the drawing position, i.e., the position of the upper end face of the upper limit nut 353. Then, the brush-picking lifting cylinder... Cylinder 342 drives the pen-picking fork 341 to move downwards. The pen-picking fork 341 presses down on the upper limit nut 353, thereby driving the inner array pen 311 and the outer array pen 321 to move downwards synchronously, so that the inner array pen 311, the outer array pen 321 and the weld seam pen 331 are aligned and enter the line drawing standby state. Then, the entire pen changing device moves and draws lines under the drive of the line drawing machine. After the line drawing is completed, the pen-picking lifting cylinder 342 drives the pen-picking fork to move upwards. The inner array pen 311 and the outer array pen 321 are reset under the action of the first reset spring 313 and the second reset spring 323. Then, the pen-picking reciprocating cylinder 344 drives the pen-picking fork 341 to retract inwards, and enters the next round of pen selection and line drawing.

[0107] The self-propelled spot welding assembly 4 includes a first self-propelled frame 41, an assembly winch 43, and a spot welding robot 42. The first self-propelled frame 41 is mounted on the platform frame 1 and is driven to move along a first direction by a first walking drive assembly. The spot welding robot 42 is mounted on the first self-propelled frame 41 via a robot mounting plate 421 and moves synchronously with the first self-propelled frame 41. It is also driven to move horizontally along a second direction by a second walking drive assembly 425. The bottom of the spot welding robot 42 has a visual recognition sensor 424 for identifying packaging machine parts. The assembly winch 43 moves horizontally along a second direction by an assembly winch. The hoist mounting plate 431 is mounted on the first self-propelled frame 41 and moves synchronously with the first self-propelled frame 41. It is driven to move horizontally in the second direction by the third travel drive assembly 434. The assembly hoist 43 includes a wire rope drum 432 and a hoist reduction motor 435. The wire rope drum 432 is mounted on the top of the assembly hoist mounting plate 431 and is driven to rotate by the hoist reduction motor 435. The bottom end of the wire rope of the wire rope drum 432 has an electromagnet 433 for lifting and assembling. The electromagnet 433 is driven by the wire rope drum 432 to move vertically in the vertical direction.

[0108] In this embodiment, the spot welding robot 42 includes a multi-axis welding robot 422 and a welding torch 423. The multi-axis welding robot 422 is installed at the bottom of the robot mounting plate 421, and the welding torch 423 is installed in the welding torch hole clamp at the bottom of the multi-axis welding robot 422. The visual recognition sensor 424 is installed by screws in the mounting hole of the welding torch hole clamp of the multi-axis welding robot 422 on the side away from the welding torch 423.

[0109] The visual recognition sensor 424 detects and identifies the color lines representing the welding path on the assembly substrate and transmits them to the welding control center of the visual recognition assembly mechanism. The control center retrieves the welding process parameters that match the color lines from the database and adjusts the welding current, voltage, and gas flow parameters of the welding torch 423 according to the welding process parameters. At the same time, it adjusts the status parameters of the multi-axis welding robot 422, including the welding torch posture, arc ignition distance, and welding speed. When adjusting the welding torch posture, the multi-axis welding robot adjusts its axis position within its range of motion to adapt to changes in the process posture. Outside the range of motion, the first and second walking drive components 425 drive the robot to move, thus meeting the welding range requirements.

[0110] The auxiliary positioning component 5 has two parts, including a second self-propelled frame 51 and a finger gripping unit 52. The second self-propelled frame 51 is mounted on the platform frame 1 and is driven to move along the first direction by the fourth walking drive component 511. The finger gripping unit 52 is mounted on the second self-propelled frame 51 by the finger gripping unit mounting plate 521 and moves synchronously with the second self-propelled frame 51. The finger gripping unit 52 includes a finger gripping head 525 for gripping and fixing the assembly, a fifth walking drive component 526 for driving the finger gripping head 525 to move along the second direction, a finger gripping swing component 522 for adjusting the angle of the finger gripping head 525, a finger gripping lifting component 523 for driving the finger gripping head 525 to move vertically in the vertical direction, and a finger gripping fine-tuning component 524 for fine-tuning the position of the finger gripping head 525.

[0111] In this embodiment, the finger clamp 525 includes a claw seat 5253 and two opposing claws 5259. The claw seat 5253 is composed of two opposing bases, which are connected by bolts to form a whole, and a claw mounting cavity is formed between the two bases. The two claws 5259 are installed in the claw mounting cavity of the claw seat 5253 and are driven to move horizontally closer to or further away from each other by the swing arm assembly.

[0112] The swing arm assembly includes a drive swing arm 5256 and a swing arm drive block 5254. The swing arm drive block 5254 is installed in the gripper mounting cavity of the gripper seat 5253 and is driven to move up and down by a gripper drive cylinder 5252. The gripper drive cylinder 5252 is installed on the top of the gripper seat 5253, and the telescopic rod of the gripper drive cylinder 5252 extends into the gripper mounting cavity and connects to the swing arm drive block 5254. There are two drive swing arms 5256, each corresponding to a gripper 5259. Both drive swing arms 5256 are located in the gripper mounting cavity and are respectively located on both sides below the swing arm drive block 5254. Each drive swing arm 5256 is connected to the swing arm drive block 5254 by a swing arm pusher 5255, which is fixed to the swing arm drive block 5254. The drive swing arm 5256 has a "<" shaped structure. The top of the drive swing arm 5256 has a waist-shaped hole 52561 for accommodating and allowing the swing arm pusher 5255 to move. The swing arm pusher 5255 is movably disposed within the waist-shaped hole 52561. The middle part of the drive swing arm 5256 is rotatably mounted on the gripper seat 5253 via a swing arm pivot 5257. The bottom of the drive swing arm 5256 is connected to a corresponding gripper 5259 via a gripper pusher 52510. The gripper pusher 52510 is fixed to the gripper 5259. The bottom of the drive swing arm 5256 has a pusher notch 52563 for accommodating and allowing the gripper pusher 52510 to move. The gripper pusher 52510 is movably disposed within the pusher notch 52563.

[0113] In this embodiment, the swing arm drive block 5254 has swing arm limiting grooves 52541 on the middle of both sides. Swing arm pushing mounting holes are formed on both sides of each swing arm limiting groove 52541 on the swing arm drive block 5254. The top of the drive swing arm 5256 extends into the corresponding swing arm limiting groove 52541, and the swing arm pushing 5255 passes through the swing arm waist-shaped hole 52561 of the drive swing arm 5256. Both ends of the swing arm pushing 5255 pass through the swing arm pushing mounting holes on the swing arm drive block 5254. The moving swing arm 5256 has a swing arm pivot mounting hole 52562 in the middle. The swing arm pivot 5257 passes through the swing arm pivot mounting hole 52562. The two ends of the swing arm pivot 5257 are fixedly connected to the two seats of the gripper seat 5253. Each side of the driving swing arm 5256 is provided with a swing arm limiting sleeve 5258. The swing arm limiting sleeve 5258 is sleeved on the swing arm pivot 5257. The bottom of the driving swing arm 5256 is set between two grippers 5259 and is limited by the two grippers 5259.

[0114] In this embodiment, two grippers 5259 are movably mounted on gripper base 5253 via gripper guide pins 52511; each gripper 5259 includes an integrally formed gripper plate and gripper end, the gripper end is located at the bottom of the gripper plate and cooperates with the gripper plate to form a 7-shaped structure, and the gripper push pin 52510 is fixed on the side of the gripper plate away from the gripper end. Each gripper 5259 has two jaw waist-shaped holes 52591 on its gripper plate between the gripper pusher 52510 and the gripper end, through which the gripper guide pin 52511 passes and moves horizontally. There are two gripper guide pins 52511, and the two gripper waist-shaped holes 52591 of each gripper 5259 correspond one-to-one with the gripper guide pins 52511. Each gripper guide pin 52511 passes through the corresponding gripper waist-shaped holes 52591 of the two grippers 5259 in sequence, and the two ends of the gripper guide pin 52511 are connected to the inner walls of the two seats of the gripper seat 5253.

[0115] When the finger clamp 525 is working, the finger clamping drive cylinder 5252 drives the swing arm drive block 5254 to move up and down. The swing arm pusher 5255 installed in the swing arm pusher mounting hole pushes the drive swing arm 5256 to rotate around the swing arm pivot 5257. Since the gripper guide pin 52511 is inserted into the gripper waist-shaped hole 52591, the pusher notch 52563 at the lower end of the drive swing arm 5256 moves the gripper pusher 52510, pushing the gripper 5259 to move back and forth along the gripper waist-shaped hole 52591, thereby completing the opening and clamping of the gripper 5259.

[0116] The finger-clamping fine-tuning assembly 524 includes, from top to bottom, a lifting cylinder connecting plate 5241, a front and rear fine-tuning unit, a middle floating connecting plate 5244, a left and right fine-tuning unit, and a finger-clamping drive cylinder connecting plate 5248.

[0117] The finger-clamping drive cylinder connecting plate 5248 is located above the gripper seat 5253. The finger-clamping drive cylinder connecting plate 5248 is connected to the tailstock of the finger-clamping drive cylinder 5252. The four corners of the finger-clamping drive cylinder connecting plate 5248 are connected to the gripper seat 5253 through four finger-clamping head mounting rods 5251. The left and right fine-tuning unit includes a left and right sliding linear guide rail 5247, a left and right sliding slider 5246, a left and right sliding adjusting screw 5249, and a left and right sliding adjusting motor 5245. The left and right sliding linear guide rail 5247 is mounted on the top surface of the finger-clamping drive cylinder connecting plate 5248. The left and right sliding slider 5246 is mounted on the bottom surface of the intermediate floating connecting plate 5244 and is slidably connected to the left and right sliding linear guide rail 5247. The left and right sliding adjusting motor 5245 is mounted on the finger-clamping drive cylinder connecting plate 5248. The central axis of the left and right sliding adjusting screw 5249 is horizontally fixed at the output end of the left and right sliding adjusting motor 5245. The intermediate floating connecting plate 5244 is threadedly connected to the left and right sliding adjusting screw 5249 through a left and right sliding adjusting nut.

[0118] The front and rear fine-tuning unit includes a front and rear sliding linear guide rail 5243, a front and rear sliding slider 5242, a front and rear sliding adjustment screw, and a front and rear sliding adjustment motor. The front and rear sliding linear guide rail 5243 is installed on the top surface of the intermediate floating connecting plate 5244. The front and rear sliding slider 5242 is installed on the bottom surface of the lifting cylinder connecting plate 5241 and is slidably connected to the front and rear sliding linear guide rail 5243. The front and rear sliding adjustment motor is installed on the intermediate floating connecting plate 5244. The front and rear sliding adjustment screw is fixed to the output end of the front and rear sliding adjustment motor. The central axis of the front and rear sliding adjustment screw is set horizontally and perpendicular to the central axis of the left and right sliding adjustment screws 5249. The lifting cylinder connecting plate 5241 is threadedly connected to the front and rear sliding adjustment screw through a front and rear sliding adjustment nut.

[0119] The left and right sliding adjustment motor 5245 drives the left and right sliding adjustment screw 5249 to rotate, and the screw pushes the finger-driven cylinder connecting plate 5248 to make left and right micro movements relative to the middle floating connecting plate 5244. Similarly, the front and back sliding adjustment motor drives the front and back sliding adjustment screw to rotate, and the screw pushes the middle floating connecting plate 5244 to make front and back micro adjustments. The finger-driven cylinder connecting plate 5248 moves back and forth micro movements together with the middle floating connecting plate 5244.

[0120] The finger-clamping lifting assembly 523 includes a lifting cylinder 5232, a lifting cylinder head connecting plate 5235, a lifting guide rod 5233, and a guide rod sleeve 5234. The lifting cylinder 5232 is positioned above the lifting cylinder connecting plate 5241, and its telescopic end is connected to the lifting cylinder connecting plate 5241. The lifting cylinder head connecting plate 5235 is mounted on the front end face of the cylinder body of the lifting cylinder 5232. The lifting guide rod 5233 is movably inserted into the guide rod sleeve 5234, and its bottom end is fixedly connected to the lifting cylinder connecting plate 5241. The guide rod sleeve 5234 is mounted on the lifting cylinder head connecting plate 5235. The extension and retraction of the piston rod of the lifting cylinder 5232 cause the finger clamping fine adjustment component 524 and the finger clamping head 525 to move up and down together. The lifting guide rod 5233 moves up and down with the finger clamping fine adjustment component 524 within the guide rod sleeve 5234 fixed to the lifting cylinder connecting plate 5241, thereby avoiding possible deflection between the finger clamping head 525 and the lifting cylinder 5232.

[0121] The finger-gripping swing assembly 522 includes a drive gear 5223, a driven gear 5225, and a swing drive motor 5221. The drive gear 5223 is vertically rotatably mounted on the finger-gripping unit mounting plate 521 via the central axis of the drive gear bearing 5222 and is connected to the output end of the swing drive motor 5221. The driven gear 5225 is vertically rotatably mounted on the finger-gripping unit mounting plate 521 via the central axis of the driven gear bearing 5224. The driven gear 5225 meshes with the drive gear 5223, and the bottom of the driven gear 5225 is fixedly connected to the lifting cylinder 5232 via the cylinder tail connecting plate 5231 of the lifting cylinder. The swing drive motor 5221 drives the drive gear 5223 to rotate, which in turn drives the finger-gripping lifting assembly 523, the finger-gripping fine-tuning assembly 524, and the finger-gripping head 525, which are connected and fixed below the driven gear 5225, to swing together.

[0122] In this embodiment, the first walking drive assembly includes a first walking drive motor 412, a first walking drive gear 413, and a first walking wheel 411. The first walking wheel 411 is mounted on the bottom of the first self-propelled frame 41, and the platform frame 1 has a spot welding assembly walking track, on which the first walking wheel 411 rides. The first walking drive motor 412 is mounted on the first self-propelled frame 41, and the platform frame 1 has a spot welding assembly walking rack extending along a first direction. The first walking drive gear 413 is mounted on the output end of the first walking drive motor 412 and meshes with the spot welding assembly walking rack. The structure of the fourth walking drive assembly 511 is the same as that of the first walking drive assembly, and in this embodiment, the rack in the fourth walking drive assembly 511 is the same rack as the self-propelled rack 15.

[0123] The second walking drive assembly 425 includes a second walking drive motor 4251, a second walking drive gear 4252, and a second walking slider 4253. A robot mounting plate 421 is positioned above the first self-propelled frame 41. The top surface of the first self-propelled frame 41 has a robot walking track 4254. The second walking slider 4253 is mounted on the bottom of the robot mounting plate 421 and slidably connected to the robot walking track 4254. The second walking drive motor 4251 is mounted on the robot mounting plate 421. The first self-propelled frame 41 has a robot walking rack 4255 extending along a second direction. The second walking drive gear 4252 is mounted on the output end of the second walking drive motor 4251 and meshes with the robot walking rack 4255. The structures of the third walking drive assembly 434 and the fifth walking drive assembly 526 are the same as those of the second walking drive assembly 425.

[0124] After the visual recognition assembly mechanism uses the platform frame 1 to transport the assembly substrate to the position, the visual recognition sensor 424 of the self-propelled spot welding component 4 scans and locates the edges of the assembly substrate. The assembly winch 43 moves with the self-propelled spot welding component 4, and the electromagnet 433 lifts and assembles the welding stiffeners one by one and moves them to the approximate position of the assembly substrate. The auxiliary positioning component 5 moves to the position of the welding stiffeners on its own. The gripping finger unit 52 adjusts the swing angle, opens the gripping finger 525, and lowers the gripping finger 525 to both sides of the stiffener, gripping the stiffener and positioning it accurately. The spot welding robot 42 of the self-propelled spot welding component 4 spots welds the stiffeners. After all the assembly is completed, the spot welding robot 42 welds the workpieces in sequence according to the visual process parameters. The visual recognition assembly mechanism realizes automatic and accurate assembly and positioning functions and visualized intelligent welding through the cooperation of the self-propelled spot welding component 4 and the auxiliary positioning component 5.

[0125] The above description is merely a preferred embodiment of the present invention and is not intended to limit the present invention in any way. Although the present invention has been disclosed above with reference to preferred embodiments, it is not intended to limit the present invention. Any person skilled in the art can make some modifications or alterations to the above-disclosed technical content to create equivalent embodiments without departing from the scope of the present invention. Any simple modifications, equivalent changes and alterations made to the above embodiments based on the technical essence of the present invention without departing from the scope of the present invention shall still fall within the scope of the present invention.

Claims

1. A visual recognition line marking assembly welding device, characterized in that: include A welding conveying assembly, comprising a platform frame and conveying rollers mounted on the platform frame for conveying packaging machine plates, wherein the conveying direction of the conveying rollers is defined as a first direction, and another horizontal direction perpendicular to the first direction is defined as a second direction; The self-propelled line drawing assembly includes a self-propelled frame mounted on a platform and reciprocating along a first direction. A brush assembly reciprocating along a second direction is mounted on the self-propelled frame. The brush assembly includes a brush walking frame mounted on the self-propelled frame and reciprocating along the second direction. A brush lifting assembly, a brush rotating assembly, a brush ink supply assembly, a brush walking drive assembly, and a brush changing assembly are also mounted on the brush walking frame. The self-propelled spot welding assembly includes a first self-propelled frame, an assembly winch, and a spot welding robot. The first self-propelled frame is mounted on a platform frame and is driven to move along a first direction by a first walking drive assembly. The spot welding robot is mounted on the first self-propelled frame via a robot mounting plate and moves synchronously with the first self-propelled frame. It is also driven to move horizontally along a second direction by a second walking drive assembly. The bottom of the spot welding robot has a visual recognition sensor for identifying packaging machine parts. The assembly winch is mounted on the first self-propelled frame via an assembly winch mounting plate and moves synchronously with the first self-propelled frame. It is also driven to move horizontally along a second direction by a third walking drive assembly. The bottom end of the steel wire rope of the assembly winch has an electromagnet for lifting and assembling. The electromagnet is driven by the assembly winch to move vertically in the vertical direction. An auxiliary positioning component includes a second self-propelled frame and a finger gripping unit. The second self-propelled frame is mounted on a platform frame and is driven to move along a first direction by a fourth walking drive component. The finger gripping unit is mounted on the second self-propelled frame via a finger gripping unit mounting plate and moves synchronously with the second self-propelled frame. The finger gripping unit includes a finger gripping head for gripping and fixing the assembly, a fifth walking drive component for driving the finger gripping head to move along a second direction, a finger gripping swing component for adjusting the angle of the finger gripping head, a finger gripping lifting component for driving the finger gripping head to move vertically along a vertical direction, and a finger gripping fine-tuning component for fine-tuning the position of the finger gripping head. The gripper includes a gripper base and two opposing grippers. The gripper base has a gripper mounting cavity in the middle. The two grippers are mounted in the gripper mounting cavity of the gripper base and are driven to move horizontally closer to or further away from each other by a swing arm assembly. The swing arm assembly includes a drive swing arm and a swing arm drive block; The swing arm drive block is mounted on the gripper seat and driven to move up and down by the gripper finger drive cylinder. There are two drive swing arms, each corresponding to a gripper. The two drive swing arms are respectively located on both sides below the swing arm drive block and are each connected to the swing arm drive block by a swing arm pusher. The swing arm pusher is fixed on the swing arm drive block. The top of the drive swing arm has a swing arm waist-shaped hole for accommodating the swing arm pusher and allowing it to move. The swing arm pusher is movably located in the swing arm waist-shaped hole. The middle part of the drive swing arm is rotatably mounted on the gripper seat through a swing arm pivot. The bottom of the drive swing arm is connected to the corresponding gripper by a gripper pusher. The gripper pusher is fixed on the gripper. The bottom of the drive swing arm has a pusher notch for accommodating the gripper pusher and allowing it to move. The gripper pusher is movably located in the pusher notch.

2. The visual recognition marking assembly welding equipment according to claim 1, characterized in that: The cooperation between the self-propelled frame and the platform frame is as follows: a pair of self-propelled guide rails are installed on the platform frame, which are arranged in parallel along the second direction. The self-propelled guide rails extend along the first direction. Self-propelled rollers that roll on the self-propelled guide rails are also installed at the bottom of the self-propelled frame. A self-propelled rack is also arranged in parallel on each side of the two self-propelled guide rails on the platform frame. A self-propelled gear that meshes with the self-propelled rack is also installed at the bottom of the self-propelled frame. The self-propelled gear is driven to rotate by a motor installed on the self-propelled frame, thereby driving the self-propelled frame to reciprocate along the first direction on the platform frame. The paintbrush lifting assembly includes an inverted paintbrush lifting cylinder. A brush changer mounting base connected to the paintbrush lifting cylinder is provided on the brush assembly mounting frame. A guide sleeve mounting plate is connected to the bottom end of the cylinder body of the paintbrush lifting cylinder. A brush assembly mounting frame lifting guide rod that passes through the guide sleeve mounting plate and moves up and down is also provided on the brush assembly mounting frame. At the same time, a lifting guide sleeve that cooperates with the brush assembly mounting frame lifting guide rod is also installed on the guide sleeve mounting plate. The brush rotation assembly includes a brush rotation swing plate disposed below the brush travel frame. The top of the brush lifting cylinder is connected to the brush rotation swing plate. The brush rotation swing plate is driven to rotate by a rotary motor and gear pair mounted on the brush travel frame, thereby causing the brush lifting cylinder and the entire brush assembly mounting frame to rotate. The ink supply assembly for the brush includes ink bottles installed on the brush travel frame and a control valve assembly. There are several ink bottles arranged side by side on the brush travel frame, and each ink bottle is connected to the feed side of the control valve assembly through a hose. The discharge side of the control valve assembly is connected to the weld seam brush, the inner array brush and the outer array brush one by one through a hose. The brush movement drive assembly includes a brush movement slider, a brush movement gear, and a brush movement motor. The self-moving frame includes a pair of self-moving seats and a pair of self-moving crossbeams mounted on the self-moving seats. There is a gap between the two self-moving crossbeams. A brush movement guide rail is mounted on each of the two self-moving crossbeams, which are arranged in parallel along a first direction. A brush movement slider that cooperates with the two brush movement guide rails is mounted on the brush movement frame. A brush movement rack is also provided on the self-moving crossbeam next to the self-moving guide rail. At the same time, a brush movement gear that meshes with the brush movement rack is mounted on the brush movement frame. The two brush movement gears are driven to rotate by independent brush movement motors mounted on the brush movement frame, thereby driving the brush movement frame to reciprocate along a second direction on the self-moving frame.

3. The visual recognition marking assembly welding equipment according to claim 1, characterized in that: The pen-changing assembly includes a pen assembly mounting frame, a pen selection component, an inner pen holder assembly, an outer pen holder assembly, and a weld seam pen. The pen selection component, inner pen holder assembly, outer pen holder assembly, and weld seam pen are all mounted on the pen assembly mounting frame. The inner pen holder assembly has several inner array pens, and the outer pen holder assembly has several outer array pens. There is a line-drawing position on the pen assembly mounting frame. By rotating the inner pen holder assembly or the outer pen holder assembly, different inner array pens or outer array pens can be switched to the line-drawing position. When in the line-drawing position, the weld seam pen, inner array pens, and outer array pens are distributed in sequence. The pen selection component cooperates to grasp and synchronize the inner array pens and outer array pens in the line-drawing position. The pen assembly mounting bracket includes an upper frame plate and a lower frame plate distributed vertically, as well as an upper and lower frame plate connecting rod for connecting the upper and lower frame plates. An opening is also opened on one side of the upper frame plate, and a groove with opposite openings is respectively inlaid on both sides of the opening on the upper frame plate. The two grooves cooperate to form a pen reciprocating slide. A pen assembly mounting base is installed on the lower frame plate, and a welded pen mounting hole is also opened on the lower frame plate below the opening of the upper frame plate. The brush selection component includes a brush fork. One side of the brush fork has a groove for inserting both the inner array brushes and the outer array brushes, making the entire brush fork U-shaped. The brush fork is driven to move up and down by a brush lifting cylinder. The brush lifting cylinder is mounted on a reciprocating slide rail. The two sides of the reciprocating slide rail are respectively embedded in two grooves that form the brush reciprocating slide. The reciprocating slide rail is driven by the brush reciprocating cylinder mounted on the upper plate to move back and forth along the brush reciprocating slide. The inner pen holder assembly includes an inner pen holder plate and an inner array of pens mounted on the inner pen holder plate. There are several inner array pens, which are distributed in an arc shape on the inner pen holder plate. The inner pen holder plate also has through holes that allow each inner array pen to pass through and move up and down. A first return spring is fitted on the outer wall of the inner array pen. The inner pen holder plate is driven to rotate by a first motor mounted on the pen assembly mounting base and a gear pair. The inner pen holder plate also has a first arc-shaped groove that allows a welded pens to pass through and move. The outer pen holder assembly includes an outer pen holder plate and an outer array of pens mounted on the outer pen holder plate. There are several outer array pens, which are distributed in an arc shape on the outer pen holder plate. The outer pen holder plate also has through holes to allow each outer array pen to pass through and move up and down. A second return spring is fitted on the outer wall of the outer array pens. The outer pen holder plate is driven to rotate by a second motor mounted on the pen assembly mounting base. The outer pen holder plate also has a second arc-shaped groove to allow weld seam pens to pass through and move, and a third arc-shaped groove to allow inner array pens to pass through and move. The lower shelf, inner brush holder, and outer brush holder are distributed from top to bottom; The weld seam drawing pen is installed inside the weld seam drawing pen mounting hole.

4. The visual recognition marking assembly welding equipment according to claim 3, characterized in that: The weld seam brush, inner array brush, and outer array brush have the same structure, each including a brush body. A flexible tube is connected to the top of the brush body. A limiting nut is connected to the upper and lower sides of the brush body, with the upper limiting nut located above the lower frame plate and the lower limiting nut located below the outer brush swing plate.

5. The visual recognition marking assembly welding equipment according to claim 3, characterized in that: The self-propelled frame is also equipped with a laser edge-finding component, which includes a laser edge finder mounted on the pen assembly mounting bracket.

6. The visual recognition marking assembly welding equipment according to claim 1, characterized in that: Both the swing arm drive block and the swing arm are set in the gripper mounting cavity. The swing arm drive block has a swing arm limiting groove in the middle. Swing arm pusher mounting holes are opened on both sides of the swing arm limiting groove on the swing arm drive block. The top of the drive swing arm extends into the swing arm limiting groove. The swing arm pusher passes through the swing arm waist-shaped hole of the drive swing arm. The two ends of the swing arm pusher pass through the swing arm pusher mounting holes on the swing arm drive block. The drive swing arm has a swing arm pivot mounting hole in the middle. The swing arm pivot passes through the swing arm pivot mounting hole. The two ends of the swing arm pivot are fixedly connected to the gripper seat. A swing arm limiting sleeve is provided on each side of the drive swing arm. The swing arm limiting sleeve is fitted on the swing arm pivot. The bottom of the drive swing arm is set between two grippers and limited by the two grippers. The two grippers are movably mounted on the gripper seat via gripper guide pins; Both grippers include an integrally formed gripper plate and gripper ends. The gripper ends are located at the bottom of the gripper plate and cooperate with the gripper plate to form a 7-shaped structure. The gripper pusher is fixed on the side of the gripper plate away from the gripper ends. A gripper waist-shaped hole is opened between the gripper pusher and the gripper ends on the gripper plate for the gripper guide pin to pass through and move horizontally. There are two gripper guide pins, and each gripper guide pin passes through the gripper waist-shaped hole of the two grippers in sequence. The two ends of the gripper guide pin are connected to the gripper seat.

7. The visual recognition marking assembly welding equipment according to claim 1, characterized in that: The finger-clamping fine-tuning component includes, from top to bottom, a lifting cylinder connecting plate, a front and rear fine-tuning unit, a middle floating connecting plate, a left and right fine-tuning unit, and a finger-clamping drive cylinder connecting plate. The finger-driving cylinder connecting plate is located above the gripper seat and is connected to the gripper seat via several finger-mounting rods. The left and right fine-tuning unit includes left and right sliding linear guides, left and right sliding sliders, left and right sliding adjustment screws, and left and right sliding adjustment motors. The left and right sliding linear guides are mounted on the finger-clamping drive cylinder connecting plate. The left and right sliding sliders are mounted on the middle floating connecting plate and are slidably connected to the left and right sliding linear guides. The left and right sliding adjustment motors are mounted on the finger-clamping drive cylinder connecting plate. The left and right sliding adjustment screws are fixed to the output end of the left and right sliding adjustment motors. The middle floating connecting plate is threadedly connected to the left and right sliding adjustment screws through left and right sliding adjustment nuts. The front and rear fine-tuning unit includes a front and rear sliding linear guide rail, a front and rear sliding slider, a front and rear sliding adjustment screw, and a front and rear sliding adjustment motor. The front and rear sliding linear guide rail is mounted on the middle floating connecting plate. The front and rear sliding slider is mounted on the lifting cylinder connecting plate and is slidably connected to the front and rear sliding linear guide rail. The front and rear sliding adjustment motor is mounted on the middle floating connecting plate. The front and rear sliding adjustment screw is fixed to the output end of the front and rear sliding adjustment motor. The lifting cylinder connecting plate is threadedly connected to the front and rear sliding adjustment screw through a front and rear sliding adjustment nut. The finger-clamping lifting assembly includes a lifting cylinder, a lifting cylinder head connecting plate, a lifting guide rod, and a guide rod sleeve. The lifting cylinder is located above the lifting cylinder connecting plate. The telescopic end of the lifting cylinder is connected to the lifting cylinder connecting plate. The lifting cylinder head connecting plate is installed on the lifting cylinder. The lifting guide rod is movably inserted into the guide rod sleeve. The bottom end of the lifting guide rod is fixedly connected to the lifting cylinder connecting plate. The guide rod sleeve is installed on the lifting cylinder head connecting plate. The finger-clamping swing assembly includes a drive gear, a driven gear, and a swing drive motor; The drive gear is vertically rotatably mounted on the finger clamping unit mounting plate via the central axis of the drive gear bearing and is connected to the output end of the swing drive motor. The driven gear is vertically rotatably mounted on the finger clamping unit mounting plate via the central axis of the driven gear bearing. The driven gear meshes with the drive gear, and the bottom of the driven gear is fixedly connected to the lifting cylinder via the cylinder tail connecting plate of the lifting cylinder.

8. The visual recognition marking assembly welding equipment according to claim 1, characterized in that: The spot welding robot includes a multi-axis welding robot and a welding torch. The welding torch is installed in the welding torch hole clamp of the multi-axis welding robot, and the visual recognition sensor is installed by screws in the mounting hole of the welding torch hole clamp of the multi-axis welding robot on the side away from the welding torch.

9. The visual recognition marking assembly welding equipment according to claim 1, characterized in that: The first walking drive assembly includes a first walking drive motor, a first walking drive gear, and a first walking wheel; The first traveling wheel is installed at the bottom of the first self-propelled frame, and the platform frame has a spot welding component traveling track, on which the first traveling wheel rides; The first walking drive motor is mounted on the first self-propelled frame. The platform frame has a spot welding component walking rack extending in the first direction. The first walking drive gear is mounted on the output end of the first walking drive motor and meshes with the spot welding component walking rack. The structure of the fourth walking drive component is the same as that of the first walking drive component. The second walking drive assembly includes a second walking drive motor, a second walking drive gear, and a second walking slider; The robot mounting plate is positioned above the first self-propelled frame. The top surface of the first self-propelled frame has a robot walking track. The second walking slider is installed at the bottom of the robot mounting plate and is slidably connected to the robot walking track. The second walking drive motor is mounted on the robot mounting plate, the first self-walking frame has a robot walking rack extending in the second direction, and the second walking drive gear is mounted on the output end of the second walking drive motor and meshes with the robot walking rack. The structures of the third and fifth walking drive components are the same as those of the second walking drive component.

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