A precision positioning agricultural machinery output support welding device

Abstract

The present application relates to the technical field of industrial robots, and discloses a precision positioning agricultural machinery output support welding device.The present application comprises a multi-degree-of-freedom welding robot, a workbench, a feeding assembly and a positioning assembly; the positioning assembly comprises a receiving cylinder driven by a lifting cylinder, two positioning cylinders are slidingly arranged in receiving grooves in the receiving cylinder, and a positioning block controlled by a moving mechanism and an expansion mechanism is arranged in the positioning cylinder; the present application drives a forward and reverse toothed rod by a motor, drives a movable frame, a connecting rod and a shell to move, cooperates a clamping tooth on the shell with a slope of a stop block and a stop cover in the expansion mechanism, accurately controls the extension and retraction of the positioning block, and thereby clamps and positions a round hole of a fixing lug from the inside; the present application realizes quick, accurate and automatic clamping of the fixing lug, guarantees coaxiality of welding, provides an interference-free working space for the welding robot, and significantly improves production efficiency and welding quality.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of industrial robots, and in particular to a precise positioning agricultural machinery output support welding device. BACKGROUND

[0002] The agricultural machinery output support is a key connecting component in agricultural machinery equipment, which is usually composed of a U-shaped bending part and two fixed ears welded on both sides of the opening of the bending part. In order to ensure reliable connection with other components, a round hole is usually preformed on the fixed ear for the insertion of a pin. The welding quality of this structure, especially the symmetrical position of the two fixed ears relative to the bending part and the coaxiality of the round holes on the two fixed ears, directly affects the power transmission reliability and service life of the entire agricultural machinery.

[0003] At present, the welding of such output supports is mostly combined with manual positioning and welding robots, or special welding fixtures are used. When the existing technology realizes the clamping and positioning of the fixed ear, it often faces the following technical difficulties:

[0004] Firstly, the traditional clamping method clamps from the outside of the fixed ear, which is simple to operate but has limited positioning accuracy, making it difficult to accurately ensure the coaxiality of the round holes on the two fixed ears. After welding, assembly stress is easily generated, affecting product quality. More importantly, in order to avoid displacement of the fixed ear during welding, the clamping mechanism often needs to apply clamping force from the inner side surface of the two fixed ears facing each other. This inner side surface is exactly the weld area that needs to be welded with the bending part later. After positioning is completed, the clamping arm or clamping jaw of the existing clamping mechanism itself will block and occupy most of the welding area, seriously hindering the path of the welding gun, making it impossible for the robot to perform one-time, interference-free continuous welding on the key weld. The operator has to first perform spot welding and then loosen the clamp, and then complete the full welding, or design a complex clamp withdrawal mechanism. This not only greatly reduces production efficiency and increases operational complexity, but also introduces errors during repositioning, affecting the consistency of welding quality. SUMMARY

[0005] The technical problem to be solved by the present application is that the clamping mechanism in the prior art has the disadvantage of high operational complexity. To this end, we propose a precise positioning agricultural machinery output support welding device.

[0006] To achieve the above purpose, the present application adopts the following technical scheme: a precise positioning agricultural machinery output support welding device, comprising a multi-degree-of-freedom welding robot and a workbench provided with a positioning seat, further comprising:

[0007] A feeding assembly comprising a feeding box;

[0008] A positioning assembly includes a lifting cylinder mounted on the feeding box and a receiving cylinder driven by the lifting cylinder, the receiving cylinder is internally provided with a receiving groove, two positioning cylinders are slidably arranged in the receiving groove, the positioning cylinders are radially provided with movable grooves, and movable blocks are arranged in the movable grooves and can slide radially;

[0009] A moving mechanism includes a forward and reverse toothed rod rotatably connected to the inside and outside of the receiving cylinder, the moving mechanism further includes two movable frames threadedly connected to the forward and reverse toothed rod, a connecting rod connected to each movable frame, and a shell driven by the end of the connecting rod, the shell is accommodated in a moving groove formed in the inside of the positioning cylinder, and the inside of the shell is slidably provided with a pawl through a compression spring;

[0010] The inside of the positioning cylinder is further provided with a sliding groove communicated with the movable groove, a limiting groove communicated with the sliding groove, and a moving groove communicated with the limiting groove, and the expanding mechanism includes a connecting rod slidably arranged in the limiting groove, a guide block fixed to the connecting rod and located in the sliding groove, a limiting block fixed to the middle of the connecting rod, and a stop block fixed to the end of the connecting rod, the connecting rod is slidably sleeved with a cover, and the connecting rod is further sleeved with a reset spring; the guide block is in contact with the inclined surface of the movable block, and the stop block is matched with the inclined surface of the pawl.

[0011] Preferably, the moving mechanism further includes a motor mounted on the outside of the receiving cylinder.

[0012] Preferably, the inside of the receiving cylinder is rotatably connected with a gear ring, the motor is connected with the gear ring through a gear set, a spur gear is mounted at the end of the forward and reverse toothed rod, and the gear ring is engaged with the spur gear fixedly mounted at the end of the forward and reverse toothed rod.

[0013] Preferably, a spring is arranged in the moving groove, the spring acts on the shell, and provides an elastic force for the positioning cylinder to have a moving trend away from the middle of the receiving groove.

[0014] Preferably, the reset spring is mounted between the limiting block and the side wall of the limiting groove.

[0015] Preferably, the cover is located between the stop block and the limiting block, one end of the cover close to the stop block is provided with a wrapping groove capable of accommodating the stop block, and the other end of the cover away from the stop block is provided with an inclined surface matched with the inclined surface of the pawl.

[0016] Preferably, the top of the feeding box is provided with a placing groove, and the bottom is provided with a discharging groove, the inner wall of the discharging groove is provided with a stop bar and a magnetic block for preliminarily limiting the fixing ear.

[0017] Preferably, pusher cylinders are mounted on both sides of the feeding box, and the output ends of the pusher cylinders extend into the placing groove.

[0018] Preferably, the multi-degree-of-freedom welding robot adopts a laser welding head.

[0019] Preferably, the positioning assembly is driven by a lifting cylinder, and can carry the workpiece clamped by the positioning block to the positioning seat of the workbench to be attached to the bending part.

[0020] Technical effects and advantages of the present application:

[0021] In the present application, by adopting the moving mechanism composed of the forward and reverse toothed lead screw, the movable frame, the connecting rod, the shell and the clamping tooth, and cooperating with the expansion mechanism composed of the connecting rod, the guide block, the stop block, the cover and the positioning block, the positioning mode of radially expanding and clamping from the inside of the circular hole of the fixed lug itself is realized, when clamping the two fixed lugs, the high coaxiality of the circular hole can be automatically calibrated and ensured, the assembly stress is effectively eliminated, the product connection reliability is improved, the whole positioning assembly is driven by the lifting cylinder to carry the workpiece to rise and fall as a whole, the automatic alignment and attachment of the fixed lug and the bending part are realized, combined with the automatic control of the whole process, the effect of reducing manual intervention and completing welding at one time is achieved, thereby the consistency of production efficiency and welding quality is significantly improved. BRIEF DESCRIPTION OF DRAWINGS

[0022] The disclosure of the present application will be described with reference to the accompanying drawings. It should be understood that the drawings are for illustrative purposes only and are not intended to limit the scope of protection of the present application. In the drawings, the same reference numerals are used to refer to the same parts:

[0023] Figure 1 is a schematic diagram of the overall structure of the present application;

[0024] Figure 2 is a schematic diagram of the workbench, positioning seat, fixed frame and feeding assembly structure of the present application;

[0025] Figure 3 is a schematic diagram of the feeding assembly structure of the present application;

[0026] Figure 4 is a schematic diagram of the structure below the feeding assembly of the present application;

[0027] Figure 5 is a schematic diagram of the lifting cylinder and positioning assembly structure of the present application;

[0028] Figure 6 is a schematic diagram of the positioning assembly structure of the present application;

[0029] Figure 7 is a sectional view of the positioning assembly structure of the present application;

[0030] Figure 8 is an exploded view of the positioning assembly structure of the present application;

[0031] Figure 9 is a schematic diagram of the moving mechanism structure of the present application;

[0032] Figure 10 It is an exploded view of the expansion mechanism structure of the application;

[0033] Figure 11 It is a sectional view of the expansion mechanism structure of the application.

[0034] Legend: 1, multi-degree-of-freedom welding robot; 2, workbench; 3, positioning seat; 4, fixed frame; 5, feeding box; 6, placing groove; 7, discharging groove; 8, blocking strip; 9, magnetic block; 10, pushing cylinder; 11, lifting cylinder; 12, storage cylinder; 13, storage groove; 14, positioning cylinder; 15, movable groove; 16, sliding groove; 17, limiting groove; 18, moving groove; 19, motor; 20, gear set; 21, gear ring; 22, spur gear; 23, reversible toothed rod; 24, movable frame; 25, connecting rod; 26, housing; 27, clamping tooth; 28, compression spring; 29, connecting rod; 30, limiting block; 31, blocking block; 32, blocking cover; 33, return spring; 34, guide block; 35, positioning block. DETAILED DESCRIPTION

[0035] It is easy to understand that, according to the technical solution of the application, those skilled in the art can propose various structural modes and implementation modes that can be replaced with each other without changing the essential spirit of the application. Therefore, the following specific embodiments and drawings are only exemplary descriptions of the technical solution of the application, and should not be regarded as the whole or as a limitation or restriction on the technical solution of the application.

[0036] REFERENCE Figures 1-2 As shown in the figure, the application provides a technical solution: a precise positioning agricultural machinery output support welding device, which comprises a multi-degree-of-freedom welding robot 1 and a workbench 2. The multi-degree-of-freedom welding robot 1 works with a laser welding head. The agricultural machinery output support is usually composed of a bent part in U-shaped distribution with round holes on both sides, and two symmetrical fixing ears welded on the bent part. The fixing ears are also provided with round holes for inserting pins. The top of the workbench 2 is provided with a positioning seat 3 for positioning the bent part. The top of the workbench 2 is also provided with a feeding assembly through a fixed frame 4. The feeding assembly is provided with a positioning assembly.

[0037] As Figures 3-4As shown, the feeding assembly includes a feeding box 5, and the feeding box 5 is provided with two upwardly open placing grooves 6 on the top of both sides, and the shape of the placing groove 6 matches the shape of the fixing lug. The lower part of the feeding box 5 is provided with a discharging groove 7, and the upper part of both sides of the discharging groove 7 is communicated with the two groups of placing grooves 6. The discharging groove 7 is used for positioning assembly to carry the fixing lug. The inner wall of both sides of the discharging groove 7 is provided with a blocking strip 8 flush with the bottom of the feeding box 5. The inner wall of the discharging groove 7 is provided with a magnetic block 9 in the middle. The blocking strip 8 can limit the fixing lug horizontally which slides down. The magnetic block 9 can generate an adsorption force on the fixing lug to prevent it from moving accidentally before being grabbed by the positioning assembly, so as to realize the preliminary positioning of the fixing lug. In order to realize the automatic pushing of the fixing lug, the feeding box 5 is provided with a pushing cylinder 10 on the outside of both sides. The output end of the pushing cylinder 10 extends to the inside of the placing groove 6. In the working process, the two groups of pushing cylinders 10 are controlled to move synchronously, and the fixing lugs stacked in the placing groove 6 are pushed to move. When the innermost fixing lug is pushed to the upper part of the discharging groove 7, it will slide down along the side wall of the discharging groove 7 and be adsorbed by the magnetic block 9 and blocked by the blocking strip 8, so as to be accurately positioned at the discharging position and wait for the positioning assembly to grab.

[0038] As shown in Figures 5-7 The positioning assembly includes a lifting cylinder 11 fixedly installed on the feeding box 5. The output end of the lifting cylinder 11 penetrates the feeding box 5 downward and extends downward from the discharging groove 7. The positioning assembly further includes a receiving cylinder 12 fixedly installed on the output end of the lifting cylinder 11. The receiving cylinder 12 is provided with a transversely penetrating receiving groove 13 inside. The receiving groove 13 is slidably connected with a positioning cylinder 14 on both sides inside. The positioning cylinder 14 is used to penetrate the hole on the fixing lug. The positioning cylinder 14 is radially distributed with a movable groove 15. Figures 10-11 As shown in

[0039] The positioning assembly further includes a moving mechanism and an expanding mechanism. The moving mechanism is used to drive the positioning cylinder 14 to slide inside the receiving groove 13, so as to facilitate the positioning cylinder 14 to penetrate the hole on the fixing lug. The expanding mechanism is used to control the positioning block 35 to expand outward to position the fixing lug.

[0040] As shown in Figures 6-10As shown, the moving mechanism includes a motor 19 mounted outside the receiving cylinder 12, and a gear ring 21 rotatably connected inside the receiving cylinder 12. The inside of the receiving cylinder 12 is located between the output end of the motor 19 and the gear ring 21, and a gear set 20 is arranged therebetween. The motor 19 is started to drive the gear ring 21 to rotate under the transmission of the gear set 20. A forward and reverse screw rod 23 is also rotatably connected to the inside of the receiving cylinder 12. The forward and reverse screw rod 23 is fixedly installed with a spur gear 22 at the end thereof. The spur gear 22 is engaged with the gear ring 21. The gear ring 21 is rotatably engaged with the spur gear 22 to drive the forward and reverse screw rod 23 to rotate. The threads on the left and right sides of the forward and reverse screw rod 23 rotate in opposite directions. The moving mechanism further includes movable frames 24 threadedly connected to the left and right sides of the forward and reverse screw rod 23. The rotation of the forward and reverse screw rod 23 drives the two sets of movable frames 24 to move away from or close to each other. The outer sides of the movable frames 24 are each installed with a shell 26 through a connecting rod 25, and the connecting rod 25 extends into the inside of the positioning cylinder 14. The inner side of the shell 26 is slidably connected with a clamping tooth 27. A compression spring 28 is fixedly arranged between the inner wall of the shell 26 and the clamping tooth 27. The inside of the positioning cylinder 14 is provided with a moving groove 18 for the shell 26 to slide. A spring is installed on the inside of the moving groove 18 away from the receiving cylinder 12.

[0041] As shown in Figures 10-11 The inside of the positioning cylinder 14 is provided with a sliding groove 16 communicating with the movable groove 15. The inside of the positioning cylinder 14 is further provided with a limiting groove 17 communicating with the sliding groove 16 and the moving groove 18. The expanding mechanism includes a connecting rod 29 slidably connected inside the limiting groove 17. One end of the outer side of the connecting rod 29 extends into the inside of the sliding groove 16 and is fixedly connected with a guide block 34. The contact surface of the guide block 34 and the positioning block 35 is an inclined surface. The contact surface of the guide block 34 and the positioning block 35 is slidably connected through a sliding bar and a sliding groove. The middle part of the connecting rod 29 is fixedly connected with a limiting block 30. A return spring 33 is installed between the outer side of the limiting block 30 and the side wall of the limiting groove 17. The return spring 33 maintains tension to always make the guide block 34 adhere to the inner wall of the sliding groove 16 close to the outer end of the positioning cylinder 14 in the normal state. One end of the connecting rod 29 close to the receiving cylinder 12 is fixedly connected with a stop block 31. The cross section of the stop block 31 is isosceles trapezoidal. The outer side surface of the stop block 31 matches with the inclined surface of the end of the clamping tooth 27. The outer part of the connecting rod 29 is slidably connected with a cover 32 between the limiting block 30 and the cover 32. The side close to the stop block 31 of the cover 32 is provided with a wrapping groove. The outer part of the cover 32 away from the stop block 31 is provided with an inclined surface symmetrical to the outer side of the stop block 31.

[0042] Working principle: through the retracting of lifting cylinder 11, the storage cylinder 12, storage groove 13 and positioning cylinder 14 pass through the discharge groove 7 and are located between the two groups of fixed ears, at this time the two groups of fixed ears are limited by the blocking strip 8 and the magnetic block 9, then the motor 19 drives the two groups of movable frame 24 to move away from each other, the movable frame 24 drives the shell 26 to move in the moving groove 18 through the connecting rod 25, but the movement will generate friction and be limited by the spring, prompting the positioning cylinder 14 to move to both sides and pass through the hole on the fixed ear, and in the process of moving, the pawl 27 prompts the blocking cover 32 to move to the side of the limiting block 30, until the pawl 27 passes the blocking block 31 and is placed between the blocking cover 32 and the blocking block 31, the motor 19 reverses to drive the two groups of movable frame 24 to move close to each other, when the movable frame 24 drives the connecting rod 25 and the shell 26 to move, the pawl 27 drives the connecting rod 29 and the guide block 34 to move through the blocking block 31, when the guide block 34 moves, it prompts the positioning block 35 to extend out of the movable groove 15, as the movable frame 24 moves close to each other, finally the guide block 34 moves to the inside of the sliding groove 16 and moves close to the inner wall of the storage cylinder 12, the positioning block 35 expands completely, and finally drives the two groups of positioning cylinder 14 to move close to each other, finally the positioning block 35 is clamped on the side of the fixed ear and extrudes the fixed ear on the side of the storage groove 13, realizing the coaxial positioning of the fixed ear, when the fixed ear moves to the storage groove 13 under the drive of the positioning block 35, it is out of the limiting of the blocking strip 8 and the magnetic block 9, then the lifting cylinder 11 is extended, the storage cylinder 12 carrying the fixed ear moves downward and prompts the fixed ear to be attached to the bending part, the fixed ear and the outer side of the bending part are welded by the multi-degree-of-freedom welding robot 1; when the inner side needs to be welded, the motor 19 is started to drive the two groups of movable frame 24 to move close to each other again, at this time the movable frame 24 drives the pawl 27 to pass the blocking block 31 through the connecting rod 25 and the shell 26, then the pawl 27 pushes the blocking cover 32 to the position close to the limiting block 30, then the pawl 27 continues to move and passes the blocking cover 32, then the motor 19 reverses, the pawl 27 resets and pushes the blocking cover 32 to wrap the blocking block 31, as the pawl 27 resets, it directly passes the blocking cover 32 and the blocking block 31, at this time the guide block 34 no longer exerts the extrusion force to the outward expansion of the positioning block 35 under the action of the reset spring 33, the positioning block 35 retracts, then the motor 19 drives the movable frame 24 to continue to move close to each other, finally when the shell 26 moves close to the inner wall of the moving groove 18, it drives the positioning cylinder 14 to retract to the inside of the storage groove 13, at this time the lifting cylinder 11 retracts and no longer clamps and limits the fixed ear, and after the lifting cylinder 11 retracts, the storage cylinder 12 and the positioning cylinder 14 can work next time.

[0043] The technical scope of the present application is not limited to the above description, and those skilled in the art can make various modifications and changes to the above embodiments without departing from the technical idea of the present application, and these modifications and changes should be within the protection scope of the present application.

Claims

1. A precision positioning welding device for agricultural machinery output brackets, comprising a multi-degree-of-freedom welding robot and a worktable equipped with a positioning seat, characterized in that, Also includes: A feeding assembly, which includes a feeding bin; The positioning component includes a lifting cylinder mounted on a feeding box and a receiving cylinder driven by the lifting cylinder. The receiving cylinder has a receiving groove inside, and two positioning cylinders are slidably arranged in the receiving groove. The positioning cylinder has a radially open movable groove, and a positioning block that can slide radially is arranged in the movable groove. The moving mechanism includes two positive and negative threaded rods rotatably connected to the inside of the storage cylinder and arranged vertically. The moving mechanism also includes two movable frames threaded to the positive and negative threaded rods, a connecting rod connecting each movable frame, and a housing driven by the end of the connecting rod. The housing is housed in a moving groove opened inside the positioning cylinder, and a locking tooth is slidably provided inside the housing by a compression spring. The positioning cylinder is further provided with a sliding groove communicating with the movable groove and a limiting groove communicating with the sliding groove. The limiting groove is connected to the movable groove. The expansion mechanism includes a connecting rod slidably disposed in the limiting groove, a guide block fixed on the connecting rod and located in the sliding groove, a limiting block fixed in the middle of the connecting rod, and a stop block fixed at the end of the connecting rod. A stop cover is slidably sleeved on the connecting rod, and a return spring is also sleeved on the outside of the connecting rod. The guide block contacts the inclined surface of the positioning block, and the stop block cooperates with the inclined surface of the locking tooth. A spring is provided inside the moving groove. The spring acts on the housing, giving the positioning cylinder an elastic force that tends to move away from the center of the receiving groove. The reset spring is installed between the limiting block and the side wall of the limiting groove; The baffle is located between the baffle and the limiting block. The end of the baffle near the baffle is provided with a wrapping groove that can accommodate the baffle, and the end away from the baffle is provided with an inclined surface that cooperates with the inclined surface of the locking teeth. The top of the feeding box is provided with a placement slot and the bottom is provided with a discharge slot. The inner wall of the discharge slot is provided with a stop bar and a magnetic block for initial positioning of the fixing lug. The output end of the lifting cylinder passes downward through the feeding box and extends downward from the discharge slot. Pushing cylinders are installed on both sides of the feeding box, and the output end of the pushing cylinder extends into the placement slot.

2. The precision positioning agricultural machinery output bracket welding equipment according to claim 1, characterized in that: The moving mechanism also includes a motor installed on the outside of the storage cylinder.

3. The precision positioning agricultural machinery output bracket welding equipment according to claim 2, characterized in that: The storage cylinder has a rotatable gear ring inside. The motor is connected to the gear ring through a gear set. A spur gear is installed at the end of the positive and negative threaded rod. The gear ring meshes with the spur gear fixedly installed at the end of the positive and negative threaded rod.

4. The precision positioning agricultural machinery output bracket welding equipment according to claim 1, characterized in that: The multi-degree-of-freedom welding robot uses a laser welding head.

5. The precision positioning agricultural machinery output bracket welding equipment according to claim 1, characterized in that: The positioning component is driven by a lifting cylinder, which can carry the workpiece held by the positioning block down to the positioning seat of the worktable and fit against the bent part.

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