High-speed rail equipment box welding robot

Abstract

This application discloses a welding robot for high-speed rail equipment boxes, belonging to the field of welding equipment technology. It includes a support base; an inner positioning component, configured inside the equipment box in the assembled state to position the bottom plate, side plates, and top plate of the box, the inner positioning component including two sets of inner positioning plates; an outer positioning component, located on the outside of the equipment box in the assembled state, the outer positioning component including a set of outer positioning plates; and a welding assembly, including a rotating disk rotatably mounted on the top of the support base, with a robotic arm disposed on the outside of the rotating disk, and a welding torch mounted at the end of the robotic arm. This application, by using inner positioning plates to support the inner wall of the equipment box and placing the welding assembly outside the guide shaft, allows the welding assembly to perform welding work inside the equipment box after the inner positioning plate supports it. This solves the problem of welding robots being unable to perform internal welding work on equipment boxes, thus achieving the effect of facilitating welding inside the equipment box.

Description

Technical Field

[0001] This application relates to the field of welding equipment technology, and more specifically, to a welding robot for high-speed rail equipment boxes. Background Technology

[0002] The high-speed rail equipment box (more standardly called the undercarriage equipment compartment) is a protective box structure located under the underframe of a high-speed train. Its core task is to safely house and protect the train's critical systems and equipment, such as traction, braking, and auxiliary power supply, in harsh operating environments, while also optimizing the train's aerodynamic performance.

[0003] In related technologies, to achieve multi-dimensional welding of high-speed rail equipment box components, for example, patent CN114918582A provides a high-speed rail equipment box welding line. This device connects a tooling frame for carrying high-speed rail equipment box components to two rotating flanges of a displacement frame. Specifically, one end of the tooling frame is bolted to one of the rotating flanges of the displacement frame, and the other end is bolted to the other rotating flange. Driven by the flange drive mechanism, the tooling frame can rotate with the rotating flange, thereby achieving one-dimensional displacement of the tooling frame. The rotation of the displacement frame on the lifting frame achieves another-dimensional displacement of the mounted tooling frame. The lifting and lowering of the lifting frame on the displacement support box achieves yet another-dimensional displacement of the mounted tooling frame. The rotation of the displacement support box on the support base achieves yet another-dimensional displacement of the mounted displacement frame. Therefore, multi-dimensional displacement welding of the mounted components can be achieved.

[0004] Although the existing technical solutions mentioned above can achieve the effect of multi-dimensional displacement welding of the welding objects in the equipment box by driving the tooling frame to rotate and move up and down, the internal space of the equipment box is blocked because the tooling frame supports the welding parts and the side structure of the equipment box is gradually welded and fixed, making it difficult for the welding robot located next to the tooling frame to perform internal welding work on the equipment box.

[0005] In light of this, we propose a welding robot for high-speed rail equipment boxes. Summary of the Invention

[0006] The purpose of this application is to provide a welding robot for high-speed rail equipment boxes, which solves the technical problem that welding robots are difficult to perform internal welding work on equipment boxes, and achieves the technical effect of facilitating welding inside equipment boxes.

[0007] This application provides a welding robot for high-speed rail equipment boxes, including:

[0008] The support base is used to install and support various components. The top of the support base is movably equipped with a lifting platform for supporting the equipment housing.

[0009] The internal positioning component is configured inside the equipment housing in the assembled state to position the bottom plate, side plate and top plate of the housing. The internal positioning component includes two sets of internal positioning plates. One set of internal positioning plates can move laterally along the support base, and the other set of internal positioning plates can move vertically along the support base.

[0010] The external positioning component is located on the outside of the equipment housing in the assembled state. The external positioning component includes a set of external positioning plates that are arranged opposite to a set of positioning plates that can move laterally along the support base.

[0011] The welding assembly includes a rotating disk rotatably mounted on the top of a support base, a robotic arm disposed on the outer side of the rotating disk, and a welding torch mounted on the end of the robotic arm.

[0012] Optionally, a working plate is fixedly connected to the top of the support base. The working plate has two sets of first sliding grooves opened along the horizontal and vertical directions, and the inner positioning plate is slidably arranged in the corresponding first sliding groove.

[0013] One side of the work plate is equipped with an adjustment component for adjusting the distance between the two corresponding inner positioning plates in each group; the adjustment component includes:

[0014] Several reciprocating rods are provided corresponding to the inner positioning plate;

[0015] The drive block, located on the outside of the reciprocating rod, is used to move the inner positioning plate.

[0016] The power component is located on one side of the work plate. When the power component rotates in the first direction, it drives a set of reciprocating rods to rotate, thereby causing a set of inner positioning plates to move relative to each other or towards each other. When the power component rotates in the second direction, it drives another set of reciprocating rods to rotate, thereby causing another set of inner positioning plates to move relative to each other or towards each other.

[0017] Optionally, a first slider is slidably disposed in the first groove, and a connecting rod is fixedly disposed on one side of the first slider, with one end of the connecting rod slidably passing through the drive block;

[0018] A sliding pin is fixedly connected to the inner side of the first slider, and a sliding hole is opened on the inner side of the inner positioning plate corresponding to the sliding pin, and the sliding pin is slidably positioned in the sliding hole.

[0019] Optionally, the inner side of the inner positioning plate is provided with a second clearance opening relative to the reciprocating rod, and the reciprocating rod is provided through the corresponding second clearance opening;

[0020] One end of the inner positioning plate is rotatably equipped with a first power rod, and the other end of the first power rod is rotatably connected to one side of the drive block.

[0021] Optionally, an outer casing is fixedly installed on one side of the work plate;

[0022] One end of the reciprocating rod is rotatably connected to a second slider, which is slidably disposed on the side wall of the outer casing. The second slider can move along the outer casing when driven.

[0023] Optionally, the external positioning element further includes:

[0024] A fixed clamping bracket is positioned on one side of the outer positioning plate;

[0025] The movable clamping frame has a second slide groove along the longitudinal direction on one side of the outer positioning plate, and a movable block is provided in the second slide groove. The movable clamping frame is positioned at the movable block.

[0026] Optionally, both the fixed clamping frame and the movable clamping frame are equipped with a power rod on one side for pushing the fixed clamping frame and the movable clamping frame toward the equipment housing, and the drive end of the power rod is rotatably connected to the movable clamping frame and the fixed clamping frame respectively;

[0027] Both the fixed clamping frame and the movable clamping frame include an upper gantry frame and a lower gantry frame in the shape of "[", and the upper gantry frame and the lower gantry frame are fixedly connected. In the assembled state, the vertical side of the lower gantry frame is attached to the outside of the side plate, and the top of the upper gantry frame is pressed against the outside of the side plate.

[0028] Optionally, the top of the support base is provided with an elastic telescopic rod, and an electromagnetic chuck is fixedly provided on the top of the elastic telescopic rod.

[0029] Both the fixed clamping frame and the movable clamping frame are rotatably connected to the corresponding power rod drive end via the upper gantry frame. An adjustment block is fixedly installed at the bottom end of the lower gantry frame directly below the rotating connecting shaft of the upper gantry frame. The adjustment block can be attracted to the electromagnetic chuck.

[0030] Optionally, it also includes a clamping assembly for securing the backplate, the clamping assembly comprising:

[0031] Drive the shaft to rotate vertically through the inside of the movable clamping frame;

[0032] The first fastener is fixedly installed at the position where the drive shaft passes through the top of the upper portal frame;

[0033] The second fastener is slidably mounted on the drive shaft corresponding to the lower gantry frame; both the first and second fasteners are "C" shaped, and the drive shaft is driven to rotate, causing the first and second fasteners to press against the back plate.

[0034] Optionally, a guide shaft is slidably disposed at the top end of the support base, and the welding assembly further includes:

[0035] The electric slider is axially slidable along the guide shaft.

[0036] The bushing is fixedly mounted on the outside of the electric slider, and the rotating disk is rotatably mounted on the outside of the bushing.

[0037] A vision camera is mounted on one side of the welding torch.

[0038] One or more technical solutions provided in the embodiments of this application have at least the following technical effects or advantages:

[0039] (1) In this application, an inner positioning plate is used to support the inner wall of the equipment box and the welding components are set on the outside of the guide shaft. After the inner positioning plate supports the equipment box, the welding components can be located inside the equipment box to perform welding work. This solves the problem that welding robots have difficulty performing internal welding work on the equipment box, and thus achieves the effect of facilitating welding inside the equipment box.

[0040] (2) This application adjusts the tilt angle of the inner positioning plate so that the inner positioning plate can tilt and support the side plate, which is suitable for equipment boxes with tilted sides or tops. After the equipment box is welded, the angle of the inner positioning plate is adjusted so that the support surface of the inner positioning plate is far away from the inside of the equipment box, thereby releasing the support of the equipment box for subsequent material unloading operations.

[0041] (3) This application uses an outer positioning component to press the side plate on the outside of the inner positioning plate to ensure the stability of the side plate welding. The fixed pressing frame and the movable pressing frame in the outer positioning component can adapt to side plates of different shapes and angles, and are suitable for different welding scenarios, making them more flexible to use. Attached Figure Description

[0042] Figure 1 This is a schematic diagram of the overall structure of the high-speed rail equipment box welding robot disclosed in this application;

[0043] Figure 2 This is a schematic diagram of the working state of the welding components in the high-speed rail equipment box welding robot disclosed in this application;

[0044] Figure 3 This is a schematic diagram of the bottom structure of the support base in the high-speed rail equipment box welding robot disclosed in this application;

[0045] Figure 4 This is a structural schematic diagram of one side of the working plate in the high-speed rail equipment box welding robot disclosed in this application;

[0046] Figure 5 This is a schematic diagram of the other side of the working plate in the high-speed rail equipment box welding robot disclosed in this application;

[0047] Figure 6 This is a schematic diagram of the front view of the other side of the working plate in the high-speed rail equipment box welding robot disclosed in this application;

[0048] Figure 7 This is a schematic diagram of the adjustment component in the high-speed rail equipment box welding robot disclosed in this application;

[0049] Figure 8 This is a structural schematic diagram of the inner positioning plate and adjustment assembly in the high-speed rail equipment box welding robot disclosed in this application;

[0050] Figure 9 This is a schematic diagram of the welding components in the high-speed rail equipment box welding robot disclosed in this application;

[0051] Figure 10 This is an exploded structural diagram of the welding components in the high-speed rail equipment box welding robot disclosed in this application;

[0052] Figure 11 This is a schematic diagram of the structure of the back of the rotating disk in the high-speed rail equipment box welding robot disclosed in this application;

[0053] Figure 12 This is a structural schematic diagram of the outer positioning component and clamping assembly in the high-speed rail equipment box welding robot disclosed in this application;

[0054] Figure 13 A schematic diagram of the side plate structure welded by the high-speed rail equipment box welding robot disclosed in this application;

[0055] Explanation of the labels in the diagram: 100, Equipment enclosure; 101, Base plate; 102, Side plate; 103, Top plate; 104, Back plate;

[0056] 1. Support base; 11. Lifting platform; 12. Vertical rod; 13. First cylinder; 14. First clearance opening; 15. Support platform; 16. Elastic telescopic rod; 17. Electromagnetic chuck;

[0057] 2. Inner positioning component; 21. Working plate; 22. Inner positioning plate; 23. Guide shaft; 24. Outer shell; 25. Drive box; 26. Bevel gear disc; 27. Bevel gear; 28. Reciprocating rod; 29. ​​One-way bearing; 210. Drive block; 211. First motor; 212. First slider; 213. Connecting rod; 214. Sliding pin; 215. Sliding hole; 216. Second clearance opening; 217. First power rod; 218. Bracket; 219. Second slider; 220. Connecting frame; 221. First hydraulic cylinder;

[0058] 3. Welding assembly; 31. Electric slider; 32. Bushing; 33. Fixed plate; 34. Rotating plate; 35. Mounting slot; 36. Robotic arm; 361. Mounting base; 362. First servo motor; 363. Telescopic arm; 364. Second servo motor; 365. Third servo motor; 37. Welding torch; 38. Vision camera; 39. Gear ring; 310. External gear; 311. Second motor; 312. Protective cover;

[0059] 4. External positioning component; 41. External positioning plate; 42. Fixed clamping frame; 43. Movable clamping frame; 44. Upper gantry frame; 45. Lower gantry frame; 46. Adjusting block; 47. Second hydraulic cylinder; 48. Third hydraulic cylinder; 49. Second slide rail; 410. Movable block; 411. Second power rod;

[0060] 5. Feeding assembly; 51. Guide rail; 52. Moving table; 53. Fourth hydraulic cylinder; 54. Fifth hydraulic cylinder; 55. Vacuum suction cup; 56. Support frame;

[0061] 6. Clamping assembly; 61. Drive shaft; 62. First fastener; 63. Second fastener; 64. Third motor. Detailed Implementation

[0062] The present application will be further described in detail below with reference to the accompanying drawings.

[0063] Reference Figures 1-12 This application discloses a welding robot for high-speed rail equipment boxes, including a support base 1, an inner positioning component 2, a welding assembly 3, and an outer positioning component 4. A lifting platform 11 for supporting the equipment box 100 is vertically mounted on the top of the support base 1. A working plate 21 is fixedly mounted on the top of the support base 1, located on the opening side of the equipment box 100. First grooves are symmetrically formed on the inner side of the working plate 21 along both the vertical and horizontal directions. Inner positioning plates 2 for supporting the inner walls of the equipment box 100 are provided on the inner side of each of the first grooves. 2. Two first sliding grooves in the horizontal direction are used to support the side plate 102, and two inner positioning plates 22 in the vertical direction are used to support the bottom plate 101 and the top plate 103. A guide shaft 23 is slidably arranged on the inner side of the working plate 21 at the intersection of the symmetrical lines of the first sliding grooves. The welding assembly 3 is slidably arranged on the outside of the guide shaft 23 driven by external force and is used for welding the inside of the equipment housing 100. The outer positioning component 4 is arranged on the outside of the two inner positioning plates 22 in the horizontal direction and is used to press the side plate 102 on the outside of the inner positioning plates 22.

[0064] Specifically, a support platform 15 for installing the work plate 21 is fixedly installed on one side of the top of the support base 1. The equipment box 100 is composed of a bottom plate 101, side plates 102, top plate 103 and back plate 104. Before welding, the bottom plate 101 is first placed on the top of the lifting platform 11. The lifting platform 11 lifts and lowers the bottom plate 101 to press it against the inner positioning plate 22 at the bottom. Then, the two side plates 102 are placed outside the inner positioning plates 22 on both sides. The outer positioning parts 4 outside the inner positioning plates 22 are used to press the side plates 102 to ensure the stability of the side plates 102. At this time, the welding assembly 3 located outside the guide shaft 23 is located inside the equipment box 100, so that the welding assembly 3 can perform multi-dimensional welding work inside the equipment box 100. After the side plates 102 on both sides are welded and fixed to the bottom plate 101, the top plate 103 and the back plate 104 are then installed and welded.

[0065] In order for the inner positioning plate 22 to adapt to equipment housings 100 of different sizes, refer to Figures 5-8 A housing 24 is fixedly mounted on the back of the working plate 21. An adjustment assembly for adjusting the spacing of the inner positioning plates 22 is provided inside the housing 24. The adjustment assembly includes a drive box 25 fixedly mounted on the end of the guide shaft 23. A power component is provided inside the drive box 25, which includes a first motor 211, a bevel gear 26, and a bevel gear 27. The bevel gear 26 is rotatably mounted inside the drive box 25 and is coaxially mounted with the guide shaft 23. A bevel gear 27 is meshed on the outer side of the bevel gear 26. The bevel gear 27 is correspondingly mounted to the inner positioning plates 22. A reciprocating rod 28 is rotatably mounted on the inner side of each bevel gear 27. A drive block 210 for driving the inner positioning plates 22 to move along the first slide groove is threaded on the outer side of each reciprocating rod 28. A first motor 211 for driving the bevel gear 26 to rotate is fixedly mounted on the outer side of the drive box 25. The bevel gear 27 and the reciprocating rod 28 are rotatably connected by one-way bearings 29. The two sets of one-way bearings 29 located in the vertical and horizontal directions rotate in opposite directions.

[0066] Before welding, the distance between the inner positioning plates 22 is adjusted according to the length and height inside the equipment housing 100. During adjustment, the first motor 211 is started to drive the bevel gear disk 26 to rotate in the forward direction (i.e., towards the first direction), so that the bevel gear disk 26 simultaneously drives the outer bevel gear 27 to rotate synchronously. Since the two sets of one-way bearings 29 located in the vertical and horizontal directions rotate in opposite directions, when the two bevel gears 27 in the vertical direction drive the reciprocating rod 28 to rotate through the one-way bearings 29, the bevel gear 27 located in the horizontal direction cannot drive the reciprocating rod 28 to rotate through the one-way bearings 29. This causes the two reciprocating rods 28 in the vertical direction to rotate unidirectionally, driving the drive block 210 along the inner... The positioning plate 22 moves back and forth until the support height of the two inner positioning plates 22 in the vertical direction matches the internal height of the equipment housing 100. Then, the first motor 211 drives the bevel gear disk 26 to rotate in the opposite direction (i.e., rotate towards the second direction), so that the first motor 211 drives the two reciprocating rods 28 in the horizontal direction to rotate. The reciprocating rods 28 adjust the support length of the two inner positioning plates 22 in the horizontal direction, thereby making the inner positioning plates 22 adapt to more models of equipment housing 100. In addition, the two inner positioning plates 22 in the horizontal direction drive the outer positioning parts 4 to adjust synchronously during the movement and adjustment process, so as to ensure that the side plates 102 of different specifications remain stable during welding.

[0067] To change the support width of the inner positioning plate 22 to ensure the stability of the support for the equipment housing 100, refer to... Figures 5-8One end of the reciprocating rod 28 is rotatably mounted on the side wall of the drive box 25, and the other end of the reciprocating rod 28 is rotatably mounted with a second slider 219. The second slider 219 is slidably mounted on the side wall of the outer shell 24. A connecting frame 220 is slidably mounted on the outside of the outer shell 24. The connecting frame 220 is fixedly connected to the second slider 219. A first hydraulic cylinder 221 for driving the connecting frame 220 to move is fixedly mounted on the outside of the outer shell 24. The first hydraulic cylinder 221 drives the connecting frame 220 to move outside the outer shell 24, causing the outer shell 24 to move via the second slider 219, which in turn drives the reciprocating rod 28 to move. The reciprocating rod 28 then drives the outer drive block 210 to move, which in turn drives the inner positioning plate 22 to move inside the first slide groove. This allows for adjustment of the length of the inner positioning plate 22 extending out of the working plate 21, thus adjusting the support width of the inner positioning plate 22 on the equipment housing 100. Simultaneously, the reciprocating rod 28 drives the drive box 25 to move together, causing the drive box 25 to slide the guide shaft 23 inside the working plate 21 to adjust the extension length. This ensures that the welding assembly 3 has a sufficient travel path during the welding process along the guide shaft 23.

[0068] Specifically, refer to Figure 9 , Figure 10 and Figure 11 The welding assembly 3 includes an electric slider 31 that slides axially along the guide shaft 23. A bushing 32 is fixedly disposed on the outside of the electric slider 31. A rotating disk 34 is rotatably disposed on the outside of the bushing 32. The rotating disk 34 is driven by an external force to rotate around the bushing 32. A robotic arm 36 is fixedly disposed on the outside of the rotating disk 34. A welding torch 37 is installed at the end of the robotic arm 36. A vision camera 38 is fixedly disposed on the outside of the welding torch 37.

[0069] A fixed disk 33 is fixedly mounted on the outer side of the bushing 32. A second motor 311 is mounted on one side of the fixed disk 33, and the output end of the second motor 311 is connected to an external gear 310. A gear ring 39 is fixedly mounted on the inner side of the rotating disk 34, and the gear ring 39 meshes with the external gear 310. A protective cover 312 is also provided on the outer edge of the rotating disk 34 facing the fixed disk 33. During welding, the rotating disk 34 is driven to move axially along the guide shaft 23 by the electric slider 31, so that the rotating disk 34 drives the robotic arm. The welding torch 37 at the end of the 36 moves along the width of the equipment housing 100. When welding the back plate 104, the external gear 310 is driven to rotate by the second motor 311. The external gear 310 drives the rotating disk 34 to rotate outside the bushing 32 through the gear ring 39. The robotic arm 36 can be adjusted to any angle outside the guide shaft 23. The second motor 311 is fixedly installed outside the fixed disk 33. The fixed disk 33 is fixedly installed outside the bushing 32 and located inside the protective cover 312.

[0070] Specifically, the outer side of the rotating disk 34 is provided with a mounting groove 35 for mounting the robotic arm 36. The mounting seat 361 in the robotic arm 36 is installed by cooperating with the mounting groove 35, so that the first servo motor 362 is fixedly set on the outer side of the rotating disk 34. The telescopic arm 363 at the drive end of the first servo motor 362 can push the welding torch 37 closer to the welding position. A second servo motor 364 and a third servo motor 365 with mutually perpendicular axes are also installed at the drive end of the telescopic arm 363, so that the welding torch 37 can weld in multiple dimensions inside the equipment housing 100. During the welding process, the welding quality is detected by the vision camera 38, and the outer gear 310 and gear ring 39 are protected by the protective cover 312 on the outer side of the rotating disk 34 to ensure the smooth operation of the welding assembly 3.

[0071] Because the support spacing of the inner positioning plate 22 is adjusted by the reciprocating rod 28 that rotates in one direction, the equipment housing 100 becomes stuck on the outside of the inner positioning plate 22 after welding, making it inconvenient to unload. To facilitate the removal of the equipment housing 100 from the outside of the inner positioning plate 22, refer to... Figure 7 and Figure 8 The inner side of the first slide groove is slidably provided with a first slider 212, and the outer side of the first slider 212 is fixedly provided with a connecting rod 213. The connecting rod 213 is slidably provided on the inner side of the drive block 210. The inner side of the first slider 212 is fixedly provided with a sliding pin 214. The inner side of the inner positioning plate 22 is provided with a sliding hole 215 corresponding to the sliding pin 214. The inner positioning plate 22 is slidably provided on the inner side of the first slider 212 through the sliding hole 215 and the sliding pin 214. The inner side of the inner positioning plate 22 is provided with a second clearance opening 216 corresponding to the reciprocating rod 28. The reciprocating rod 28 is located in the second clearance opening 216. The inner positioning plate 22 is rotatably provided with a first power rod 217 at one end near the second clearance opening 216. The other end of the first power rod 217 is rotatably provided with a bracket 218. The bracket 218 is fixedly provided on the outer side of the drive block 210.

[0072] After welding, the first power rod 217 drives one end of the inner positioning plate 22 to rotate, thereby causing the supporting end of the inner positioning plate 22 to rotate around the sliding pin 214, so that the supporting surface of the inner positioning plate 22 is away from the inner side wall of the equipment housing 100, so as to automatically release the limiting action on the equipment housing 100 after welding; and when adjusting the extension length of the inner positioning plate 22, the drive block 210 pushes the inner positioning plate 22 to slide outside the sliding pin 214 to ensure the stability of the inner positioning plate 22; at the same time, under the action of the first power rod 217, the tilt angle of the inner positioning plate 22 is changed, so that the inner positioning plate 22 can adapt to equipment housings 100 with an adjacent side wall angle greater than 90°, so as to meet the welding processing requirements of more specifications of equipment housings 100.

[0073] Specifically, to facilitate the cutting of the welded equipment housing 100, refer to... Figure 1It also includes a feeding assembly 5, which includes a set of guide rails 51 fixedly installed on the outside of the working plate 21. A moving table 52 that moves along the direction of the guide rails 51 is slidably installed on the outside of the guide rails 51. A fourth hydraulic cylinder 53 is symmetrically fixedly installed on the top of the moving table 52. A fifth hydraulic cylinder 54 is fixedly installed on the driving end of each of the fourth hydraulic cylinders 53. A vacuum suction cup 55 is movably installed on the driving end of each of the fifth hydraulic cylinders 54 through a universal joint for adsorbing the side wall of the equipment box 100. The other end of the guide rail 51 is fixedly connected to the support base 1 through a support frame 56.

[0074] The vacuum suction cup 55 is moved along the guide rail 51 by the moving table 52, so that the vacuum suction cup 55 is located in the middle of the side plate 102. Then, the vacuum suction cup 55 is driven to rise and fall by the fourth cylinder 53, so that the vacuum suction cup 55 is located in a more suitable adsorption position. Finally, the vacuum suction cup 55 is driven to move towards the outside of the equipment box 100 for adsorption. After adsorption, the moving table 52 drives the equipment box 100 to move away from the working plate 21 for unloading. When the equipment box 100 is detached from the top of the support base 1, the vacuum suction cup 55 is driven to move down by the fourth cylinder 53 to lower the equipment box 100 for unloading. The driving end of the fifth cylinder 54 is connected to the vacuum suction cup 55 through a universal joint, so that the vacuum suction cup 55 can adapt to the arc-shaped side plate 102 or the stepped side plate 102 (see reference). Figure 13 ).

[0075] In order for the outer positioning component 4 to adapt to different widths of the equipment housing 100 by following the inner positioning plate 22, refer to Figure 12 The outer positioning component 4 includes symmetrically arranged outer positioning plates 41. The two outer positioning plates 41 are respectively fixedly arranged on the outside of the two first sliders 212 in the horizontal direction. A fixed clamping frame 42 and a movable clamping frame 43 are arranged on the outside of the outer positioning plates 41. A second hydraulic cylinder 47 and a third hydraulic cylinder 48 are arranged on the outside of the outer positioning plates 41. The second hydraulic cylinder 47 and the third hydraulic cylinder 48 are respectively used to drive the fixed clamping frame 42 and the movable clamping frame 43 to move closer to the side plate 102. A second sliding groove 49 is opened on the inner side of the outer positioning plate 41. A moving block 410 is slidably arranged on the inner side of the second sliding groove 49. The moving block 410 is fixedly connected to the third hydraulic cylinder 48. A second power rod 411 for driving the moving block 410 to move is fixedly arranged on the outer side of the outer positioning plate 41.

[0076] When the side plate 102 is installed, the position of the movable clamping frame 43 is adjusted according to the width of the side plate 102. During adjustment, the second power rod 411 is controlled to drive the movable block 410 to slide along the second slide groove 49, so that the movable block 410 drives the third oil cylinder 48 and the movable clamping frame 43 at the drive end of the third oil cylinder 48 to move together, so that the movable clamping frame 43 is located on the side of the side plate 102 away from the working plate 21, while the fixed clamping frame 42 is always located on the side of the side plate 102 close to the working plate 21. At this time, the second oil cylinder 47 and the third oil cylinder 48 drive the fixed clamping frame 42 and the movable clamping frame 43 to move closer to the outside of the side plate 102, so that the side plate 102 can be pressed and fixed on the outside of the inner positioning plates 22 on both sides. And by driving the movable clamping frame 43 to move independently by the third oil cylinder 48, the movable clamping frame 43 can adapt to the inclined welded side plate 102, and thus cooperate with the inclined inner positioning plate 22 to ensure the stability of the side plate 102.

[0077] In order for the fixed clamping bracket 42 and the movable clamping bracket 43 to cooperate with the inner positioning plate 22 to adapt to the arc-shaped or stepped side plate 102, refer to Figure 12 The driving ends of the second hydraulic cylinder 47 and the third hydraulic cylinder 48 are rotatably connected to the fixed clamping frame 42 and the movable clamping frame 43, respectively. The fixed clamping frame 42 and the movable clamping frame 43 each include an upper gantry frame 44 and a lower gantry frame 45 in the shape of "[". The bottom end of the upper gantry frame 44 is fixedly connected to the top end of the lower gantry frame 45. The fixed clamping frame 42 and the movable clamping frame 43 are in the shape of "S". The vertical side of the lower gantry frame 45 is attached to the outside of the side plate 102, and the other end of the upper gantry frame 44 is pressed against the outside of the side plate 102. The upper gantry frame 44 is rotatably set at the driving ends of the second hydraulic cylinder 47 and the third hydraulic cylinder 48, respectively. An adjusting block 46 is fixedly set at the bottom end of the lower gantry frame 45 directly below the rotating connecting shaft of the upper gantry frame 44 to maintain the vertical state of the lower gantry frame 45.

[0078] When installing the side plate 102, both the fixed clamping frame 42 and the movable clamping frame 43 are kept vertical under the action of the adjusting block 46 to prevent them from occupying the external space of the inner positioning plate 22 due to tilting, thus ensuring the smoothness of the side plate 102 loading operation. After the side plate 102 is placed outside the inner positioning plate 22, the fixed clamping frame 42 and the movable clamping frame 43 are driven to move closer to the outside of the side plate 102 by the second hydraulic cylinder 47 and the third hydraulic cylinder 48, respectively. At this time, the lower portal frame 45 or the upper portal frame 44 in the fixed clamping frame 42 and the movable clamping frame 43 will preferentially contact the side plate 102. When the two contact (or both contact the side plate 102 simultaneously), the fixed clamping frame 42 and the movable clamping frame 43 will tilt around the rotating connection part, and finally the top of the upper gantry frame 44 and the vertical section of the lower gantry frame 45 will be pressed against the outside of the side plate 102, thus adapting to side plates 102 of different shapes; and when the second oil cylinder 47 and the third oil cylinder 48 drive the fixed clamping frame 42 and the movable clamping frame 43 to disengage from the outside of the side plate 102 respectively, the fixed clamping frame 42 and the movable clamping frame 43 can be automatically reset to the vertical state under the action of the adjusting block 46, so as to facilitate subsequent loading and unloading operations.

[0079] To facilitate positioning and clamping of the base plate 101 on top of the lifting platform 11 before welding, refer to... Figure 1 , Figure 2 , Figure 3 and Figure 12 Vertical rods 12 are symmetrically fixed at the bottom of the lifting platform 11. The vertical rods 12 are slidably installed inside the support base 1. A first cylinder 13 for driving the lifting platform 11 to move up and down is fixedly installed at the bottom of the support base 1. Elastic telescopic rods 16 are symmetrically installed at the top of the support base 1. An electromagnetic chuck 17 is fixedly installed at the top of the elastic telescopic rod 16 for adsorbing and fixing the adjusting block 46 at the bottom of the clamping frame 42.

[0080] Before welding, once the position of the inner positioning plate 22 is determined, the second hydraulic cylinder 47 drives the fixing clamping frame 42 to move closer to the outside of the inner positioning plate 22, thereby adjusting the distance between the lower portal frame 45 in the fixing clamping frame 42 and the inner positioning plate 22 (this distance matches the thickness of the side plate 102). During the adjustment process, the fixing clamping frame 42 drives the bottom adjusting block 46 to move on top of the electromagnetic chuck 17. At this time, there is a gap (1mm~5mm) between the adjusting block 46 and the electromagnetic chuck 17 to prevent the adjusting block 46 from contacting the electromagnetic chuck 17 during movement and causing the fixing to fail. The clamping frame 42 is unstable. After the position of the fixed clamping frame 42 is determined, the electromagnetic chuck 17 is energized to attract the adjusting block 46, so that the electromagnetic chuck 17 moves upward and attracts the bottom of the adjusting block 46, thereby positioning the adjusting block 46 and preventing the fixed clamping frame 42 from swinging when the base plate 101 is placed and touches the lower gantry frame 45. After the base plate 101 is clamped by the lifting platform 11, the electromagnetic chuck 17 is de-energized, so that the elastic telescopic rod 16 moves the electromagnetic chuck 17 away from the bottom of the adjusting block 46, so that the fixed clamping frame 42 can be reset.

[0081] To facilitate pressing the back plate 104 against the outside of the base plate 101 and the side plate 102, refer to... Figure 12 It also includes a clamping assembly 6 for fixing the back plate 104. The clamping assembly 6 includes a drive shaft 61 rotatably disposed inside the movable pressing frame 43. The drive shaft 61 passes through the corresponding upper gantry frame 44 and lower gantry frame 45. A first fastener 62 is fixedly disposed at the top of the drive shaft 61 at the top of the movable pressing frame 43. A second fastener 63 is slidably disposed on the outer side of the drive shaft 61 along the axial direction. The second fastener 63 moves within the vertical section of the lower gantry frame 45. A third motor 64 for driving the drive shaft 61 to rotate is fixedly disposed at the bottom of the movable pressing frame 43. Both the first fastener 62 and the second fastener 63 are "C" shaped. Several first clearance openings 14 are evenly opened on both sides of the lifting platform 11 to accommodate the movable pressing frame 43.

[0082] After the side panel 102 is placed outside the inner positioning plate 22, the movable clamping frame 43 is moved to the first clearance opening 14 closest to the side panel 102. When the movable clamping frame 43 presses against the side panel 102, the top of the upper portal frame 44 and the vertical section of the lower portal frame 45 in the movable clamping frame 43 abut against the outside of the side panel 102, so that the upper portal frame 44 drives the first fastener 62 at the top to approach the outside of the side panel 102, and the lower portal frame 45 drives the second fastener 63 to approach the outside of the side panel 102. Since the contact position between the frame 45 and the side plate 102 is uncertain, the second fastener 63 is slid along the axial direction of the drive shaft 61 to make the second fastener 63 located at the tangent position between the lower frame 45 and the side plate 102 (the tangent position is closest to the side plate 102). Finally, the drive shaft 61 is driven to rotate by the third motor 64, so that the drive shaft 61 drives the clamping ends of the first fastener 62 and the second fastener 63 to move towards the outside of the back plate 104 at the same time until they are pressed together, which facilitates the clamping and welding of the back plate 104.

[0083] In summary, the high-speed rail equipment box welding robot disclosed in this application is used as follows: First, before welding, the distance between the inner positioning plates 22 is adjusted according to the length and height inside the equipment box 100. During adjustment, the first motor 211 is started to drive the bevel gear disk 26 to rotate in the forward direction, so that the bevel gear disk 26 simultaneously drives the outer bevel gear 27 to rotate synchronously. Since the two sets of one-way bearings 29 located in the vertical and horizontal directions rotate in opposite directions, when the two bevel gears 27 in the vertical direction drive the reciprocating rod 28 to rotate through the one-way bearing 29, the bevel gear 27 located in the horizontal direction cannot drive the reciprocating rod 28 to rotate through the one-way bearing 29. This causes the two reciprocating rods 28 in the vertical direction to rotate in one direction, driving the drive block 210 to move back and forth along the inner positioning plate 22 until the support height of the two inner positioning plates 22 in the vertical direction matches the height inside the equipment box 100; then the first motor 211 drives the drive block 210 to move back and forth along the inner positioning plate 22. The moving bevel gear 26 rotates in the opposite direction, causing the first motor 211 to drive the two reciprocating rods 28 in the horizontal direction to rotate independently. The reciprocating rods 28 adjust the support length of the two inner positioning plates 22 in the horizontal direction. Finally, the first hydraulic cylinder 221 drives the connecting frame 220 to move outside the outer shell 24, causing the outer shell 24 to move via the second slider 219. The reciprocating rods 28 drive the outer drive block 210 to move, causing the drive block 210 to move the inner positioning plate 22 inside the first slide groove. This allows the length of the inner positioning plate 22 extending out of the working plate 21 to adjust the support width of the inner positioning plate 22 on the equipment housing 100. At the same time, the reciprocating rods 28 drive the drive box 25 to move together, causing the drive box 25 to drive the guide shaft 23 to slide inside the working plate 21 to adjust the extension length. This ensures that the welding assembly 3 has a sufficient travel path during the welding process along the guide shaft 23.

[0084] Once the position of the inner positioning plate 22 is determined, the second hydraulic cylinder 47 drives the fixing clamping frame 42 to move closer to the outside of the inner positioning plate 22, thereby adjusting the distance between the lower portal frame 45 in the fixing clamping frame 42 and the inner positioning plate 22. This distance matches the thickness of the side plate 102. During the adjustment process, the fixing clamping frame 42 drives the bottom adjusting block 46 to move on top of the electromagnetic chuck 17. At this time, there is a gap of 1mm to 5mm between the adjusting block 46 and the electromagnetic chuck 17 to prevent the adjusting block 46 from moving during the adjustment process. Contact between the 6th and the electromagnetic chuck 17 causes the fixed clamping frame 42 to swing unstably. After the fixed clamping frame 42 is positioned, the electromagnetic chuck 17 is energized to attract the adjusting block 46, causing the electromagnetic chuck 17 to move upward and attach to the bottom of the adjusting block 46, thereby positioning the adjusting block 46. Then, the base plate 101 is placed on top of the lifting platform 11, and the lifting platform 11 moves up and down to press the base plate 101 against the inner positioning plate 22 at the bottom. When the base plate 101 is pressed by the lifting platform 11 and the inner positioning plate 22... Then, de-energize the electromagnetic chuck 17, causing the elastic telescopic rod 16 to move the electromagnetic chuck 17 away from the bottom of the adjusting block 46. After resetting the fixed clamping frame 42, place the two side plates 102 outside the inner positioning plates 22 on both sides. Adjust the position of the movable clamping frame 43 according to the width of the side plates 102. During adjustment, control the second power rod 411 to drive the movable block 410 to slide along the second slide groove 49, so that the movable block 410 drives the third oil cylinder 48 and the movable clamping end of the third oil cylinder 48. The frame 43 moves together, so that the movable clamping frame 43 is located on the side of the side plate 102 away from the working plate 21, while the fixed clamping frame 42 is always located on the side of the side plate 102 close to the working plate 21. At this time, the fixed clamping frame 42 and the movable clamping frame 43 are driven to move towards the outside of the side plate 102 by the second oil cylinder 47 and the third oil cylinder 48 respectively, so that the side plate 102 can be pressed and fixed on the outside of the inner positioning plates 22 on both sides. At this time, the welding assembly 3 can be started to perform welding work between the bottom plate 101 and the side plate 102.

[0085] Finally, the top plate 103 and the back plate 104 are assembled and welded to the outside of the side plate 102. When installing the top plate 103, the side plate 102 supports the top plate 103 for easy fixation. When installing the back plate 104, the third motor 64 drives the shaft 61 to rotate, causing the shaft 61 to simultaneously move the clamping ends of the first fastener 62 and the second fastener 63 towards the outside of the back plate 104 until they are pressed together, thus facilitating the clamping and welding of the back plate 104. After welding, the first power rod 217 drives one end of the inner positioning plate 22 to lift upward, thereby causing the supporting end of the inner positioning plate 22 to rotate downward around the sliding pin 214, so that the supporting surface of the inner positioning plate 22 is away from the inner wall of the equipment box 100, so that the limiting action on the equipment box 100 can be automatically released after welding. Then, the unloading assembly 5 completes the unloading of the equipment box 100.

[0086] Although preferred embodiments of this application have been described, those skilled in the art, upon learning the basic inventive concept, can make other changes and modifications to these embodiments. Therefore, the appended claims are intended to be interpreted as including the preferred embodiments as well as all changes and modifications falling within the scope of this application.

[0087] Obviously, those skilled in the art can make various modifications and variations to this application without departing from the spirit and scope of this application. Therefore, if such modifications and variations fall within the scope of the claims of this application and their equivalents, this application also intends to include such modifications and variations.

Claims

1. A high-speed equipment case welding robot, characterized by, The utility model relates to a welding device and a welding method thereof, and the welding device comprises a support base, an inner positioning member, an outer positioning member and a welding assembly. The support base is used for mounting and supporting each component, and a lifting platform for supporting a device box is movably arranged on the top of the support base. The inner positioning member is arranged on the inner side of the device box in an assembled state to position the bottom plate, side plate and top plate of the device box. The inner positioning member comprises two groups of inner positioning plates. One group of the inner positioning plates can move along the transverse direction of the support base, and the other group of the inner positioning plates can move along the vertical direction of the support base. The outer positioning member is arranged on the outer side of the device box in the assembled state. The outer positioning member comprises a group of outer positioning plates arranged opposite to the group of the inner positioning plates which can move along the transverse direction of the support base. The welding assembly comprises a rotating disc rotatably arranged on the top end of the support base. A mechanical arm is arranged on the outer side of the rotating disc. A welding gun is mounted on the end of the mechanical arm. The top end of the support base is fixedly connected with a work plate. Two groups of first sliding grooves are respectively arranged on the work plate in the transverse and vertical directions. The inner positioning plates are slidably arranged in the corresponding first sliding grooves.

2. The high-speed equipment case welding robot according to claim 1, characterized by, An adjusting assembly for adjusting the distance between each group of the corresponding two inner positioning plates is arranged on one side of the work plate. The adjusting assembly comprises a plurality of reciprocating rods corresponding to the inner positioning plates.

3. The high rail equipment box welding robot according to claim 2, characterized in that, A driving block is arranged on the outer side of the reciprocating rods to drive the inner positioning plates to move. A power member is arranged on one side of the work plate. When the power member rotates in a first direction, one group of the reciprocating rods is driven to rotate to drive one group of the inner positioning plates to move away from / towards each other. When the power member rotates in a second direction, the other group of the reciprocating rods is driven to rotate to drive the other group of the inner positioning plates to move away from / towards each other. The outer positioning member further comprises a fixed pressing frame arranged on one side of the outer positioning plate. A second sliding groove is arranged on one side of the outer positioning plate in the longitudinal direction. A moving block is arranged in the second sliding groove. The moving pressing frame is arranged at the moving block. The fixed pressing frame and the moving pressing frame are both provided with a power rod for pushing the fixed pressing frame and the moving pressing frame towards the device box. The driving end of the power rod is rotatably connected with the moving pressing frame and the fixed pressing frame, respectively. The fixed pressing frame and the moving pressing frame both comprise an upper door-shaped frame and a lower door-shaped frame in the shape of "[ ]". The upper door-shaped frame is fixedly connected with the lower door-shaped frame. In the assembled state, the vertical side of the lower door-shaped frame is attached to the outer side of the side plate, and the top end of the upper door-shaped frame abuts against the outer side of the side plate. The top of the elastic telescopic rod is fixedly provided with an electromagnetic chuck. The fixed pressing frame and the moving pressing frame are both rotatably connected with the corresponding driving end of the power rod through the upper door-shaped frame. The bottom end of the lower door-shaped frame is fixedly provided with an adjusting block below the rotation connection shaft of the upper door-shaped frame. The adjusting block can be attracted to the electromagnetic chuck. A first sliding block is slidably arranged in the first sliding groove. A connecting rod is fixedly arranged on one side of the first sliding block. One end of the connecting rod slidably penetrates the driving block. A sliding pin is fixedly connected to the inner side of the first sliding block. A sliding hole is arranged in the inner side of the inner positioning plate corresponding to the sliding pin. The sliding pin is slidably arranged in the sliding hole. A second clearance is arranged on the inner side of the inner positioning plate relative to the reciprocating rod. The reciprocating rod penetrates the corresponding second clearance. A first power rod is rotatably arranged on one end of the inner positioning plate. The other end of the first power rod is rotatably connected to one side of the driving block.

4. The high rail equipment box welding robot according to claim 1, characterized in that, One side of the workbench is fixedly provided with an outer shell; One end of the reciprocating rod is rotatably connected with a second sliding block, the second sliding block is slidably arranged on the side wall of the outer shell, and the second sliding block is driven to move along the outer shell.

5. The high rail equipment box welding robot according to claim 1, wherein, Also includes a clamping assembly for fixing the back plate, the clamping assembly comprises: Driving shaft, rotating through the inner side of the moving compression frame in the vertical direction; The first fastener is fixedly arranged at the position where the driving shaft passes out of the top end of the door-shaped frame; The second fastener is slidably arranged at the corresponding driving shaft of the lower door-shaped frame; the first fastener and the second fastener are both "C" shaped, and the driving shaft is driven to rotate to drive the first fastener and the second fastener to compress the back plate.

6. The high rail equipment box welding robot of claim 1, wherein, The top end of the support seat is slidably provided with a guide shaft, and the welding assembly further comprises: Electric sliding block, axially slidably arranged along the guide shaft; The shaft sleeve is fixedly arranged on the outer side of the electric sliding block, and the rotating disc is rotatably arranged on the outer side of the shaft sleeve; the visual camera is arranged on one side of the welding gun.

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