Frame body assembly positioning and assembling method and container end plate welding production line

Abstract

The invention discloses a frame body assembly positioning and assembling method and a container end plate welding production line, and the positioning and assembling method comprises the following steps: a frame calibration and pre-assembling step: positioning a plurality of parts forming a closed frame structure on an assembling clamp, the positions and angles of all the components are calibrated through a plurality of calibration mechanisms arranged in the circumferential direction, and the ends of all the components are pushed to abut against one another, so that pre-assembling of the frame structure is completed; a positioning and fixing step: after the pre-assembling step, applying a positioning and fixing acting force to the frame structure so as to maintain the geometric shape and the position precision of the frame structure before welding; and a welding forming step: welding the positioned and fixed frame structure to form a final frame structure. The container end plate welding production line is used for executing the positioning and assembling method.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of container production, and particularly relates to a frame assembly positioning and assembling method and a container end plate welding production line. BACKGROUND

[0002] In the container manufacturing process, the integrity of the box structure depends on the precise assembly of the front end plate, the rear end plate, the side plate, the bottom plate and the top plate, and the installation of these plate parts must be based on the frame as the core support foundation. The frame is usually composed of four frame strips which are connected end to end to form a rectangular profile, and permanent connection is achieved through welding process. The current production practice generally adopts manual operation mode to complete the splicing and temporary fixing of the frame strips: the workers manually adjust the positions of the frame strips to make their ends contact with each other and are temporarily constrained by simple tools, and then welding operation is performed. This traditional method has many defects. Due to the lack of systematic positioning and clamping mechanism, the frame strips are prone to horizontal displacement or angular deviation during the splicing stage, resulting in misalignment of the overall geometric shape of the frame, such as non-standard angle in the right angle area or inconsistent edge length. The inherent instability of manual operation makes it difficult to ensure the consistency of different batches of products, not only significantly prolonging the assembly time of single piece and reducing the efficiency of the production line, but also causing a chain reaction in the subsequent plate installation process. When the frame precision is insufficient, large plate parts such as side plates and end plates cannot fully fit the frame profile during assembly, resulting in local gaps or forced interference, which not only forces production personnel to increase additional finishing processes, but also may weaken the overall strength and sealing performance of the box structure, ultimately endangering the service life and transportation safety of the container. In addition, the existing assembling fixture fails to provide effective limiting and restraining function after the frame body is pre-assembled, and mechanical vibration in the production environment easily causes the frame strips that are not welded and fixed to loosen or shift in position, resulting in continuous decline in the positioning precision of the assembly. During the movement of the workpiece from the assembly station to the welding station, the inertial force generated by the movement will also exacerbate the displacement of the frame strips, further damaging the geometric stability of the frame. The above defects make the frame body frequently misaligned when it is subsequently connected with the plate parts, making it difficult to install the door plate, increasing the frequency of manual adjustment, prolonging the production cycle, and seriously restricting the overall manufacturing efficiency. The existing technology fails to develop a reliable positioning and fixing scheme to maintain the stability of the assembled state, resulting in the frame precision problem becoming a key obstacle to the continuous and efficient operation of the container production line. SUMMARY

[0003] The present application aims to at least solve one of the technical problems existing in the prior art. To this end, the present application proposes a frame assembly positioning and assembling method and a container end plate welding production line, which effectively solves the problems of misalignment of the frame geometric shape and instability of the position precision during the frame body assembly process, improves the assembly precision and product consistency, reduces the adjustment work of the subsequent plate installation, and improves the production efficiency.

[0004] In a first aspect, a frame assembly positioning and assembling method according to an embodiment of the present application comprises: a frame calibration and pre-assembly step, in which a plurality of components constituting a closed frame structure are positioned on an assembling jig, the positions and angles of the components are calibrated by a plurality of calibration mechanisms arranged in a circumferential direction, and the end portions of the components are pushed to abut against each other to complete pre-assembly of the frame structure; a positioning and fixing step, in which a positioning and fixing force is applied to the frame structure after the pre-assembly step to maintain the geometric shape and position accuracy of the frame structure before welding; a welding and forming step, in which the frame structure positioned and fixed is welded to form a final frame structure.

[0005] The frame assembly positioning and assembling method according to the embodiment of the present application has at least the following beneficial effects: the accurate positioning of the frame components is realized through the cooperative action of the calibration mechanisms, the calibration mechanisms can automatically adjust the component positions to eliminate errors caused by manual operation; the positioning and fixing mechanism is used to maintain the positioning state to prevent displacement during welding; and finally, welding is completed to form a stable frame structure. Specifically, in the frame calibration and pre-assembly step, the plurality of components constituting the closed frame structure are positioned on the assembling jig, which provides initial stable support for the components and avoids initial deviation caused by free movement; the positions and angles of the components are calibrated by the plurality of calibration mechanisms arranged in a circumferential direction, which can correct the spatial orientation of the components from all directions at the same time, ensures that the components are accurately adjusted to the designed positions and angles before abutting, thereby avoiding the angle errors and inconsistent side lengths commonly caused by manual operation; the end portions of the components are pushed to abut against each other, which is based on the accurate calibration results of the calibration mechanisms, so that the end portions are in close contact at the accurate positions, eliminating the connection gap and ensuring the geometric stability of the pre-assembled frame. In the positioning and fixing step, the positioning and fixing force is applied to the frame structure after the pre-assembly step, which uses the stable frame state formed by pre-assembly to constrain the entire frame by external fixing force to prevent position deviation caused by vibration or inertial force before welding; the positioning and fixing force is applied to maintain the geometric shape and position accuracy of the frame before welding, which ensures that the frame remains in the calibrated state without external interference in subsequent operations, avoiding the loosening problem caused by insufficient jig limiting in the traditional method. In the welding and forming step, the frame structure positioned and fixed is welded, since the frame has been firmly fixed, the welding process can be based on the accurate geometric shape for permanent connection, avoiding the welding point deviation or connection failure caused by frame movement during welding; and a final frame structure is formed, which ensures the dimensional accuracy and structural integrity of the frame and provides a reliable foundation for subsequent plate installation, solving the assembly gap or forced interference problem caused by insufficient frame accuracy.

[0006] The positioning assembly method provided by the application realizes the automation and standardization of frame assembly, significantly improves the assembly accuracy and production efficiency, guarantees the accuracy of the frame geometry, and provides a high-quality reference surface for subsequent plate installation.

[0007] In the frame calibration and pre-assembly step, the components constituting the frame structure include four frame strips and four corner pieces, the corner pieces are pre-positioned on the assembly fixture, and the calibration mechanism pushes the end of the frame strip to connect with the corresponding corner piece. Or, In the frame calibration and pre-assembly step, the components constituting the frame structure include two frame strips pre-assembled with corner pieces and two frame strips without corner pieces, the calibration mechanism pushes the end of each frame strip to abut against each other, and the end of the frame strip without corner pieces is connected with the pre-assembled corner piece.

[0008] In the frame calibration and pre-assembly step, one of the calibration mechanisms is set as a fixed reference module, and the remaining calibration mechanisms as active modules are controlled to move towards the fixed reference module to push the components to complete calibration and abutment. Or, In the frame calibration and pre-assembly step, all calibration mechanisms as active modules are controlled to move synchronously towards the center of the assembly fixture to push the components to complete calibration and abutment.

[0009] In the frame calibration and pre-assembly step, the size adaptation adjustment step is further included, which adjusts the relative positions between the calibration mechanisms by driving the support of the assembly fixture to move, to adapt to the assembly requirements of frames of different sizes.

[0010] In the frame calibration and pre-assembly step, the preliminary positioning sub-step is included, which controls multiple calibration mechanisms to move synchronously, so that the end of each component quickly approaches the target position. And / or, The frame calibration and pre-assembly step includes the fine adjustment sub-step, which controls at least one calibration mechanism as an active module to move independently of other modules for accurate movement, to correct the position and angle of the component.

[0011] In the positioning and fixing step, the profile surface constraint sub-step is included, which drives the lateral constraint assembly to move towards the profile surface of the frame structure, so that the second limiting piece of the lateral constraint assembly abuts against the profile surface to limit and constrain the overall shape of the frame. And / or, The positioning and fixing step further comprises a lateral reinforcing sub-step: applying lateral clamping force to the profile surface of the frame by the lateral constraint assembly.

[0012] According to the frame assembly positioning and fixing method, the positioning and fixing step comprises an angle piece locking sub-step: driving the first limiting piece to connect with the angle piece at the corner of the pre-assembled frame, so as to achieve additional fixing of the key connection point of the frame. and / or, The positioning and fixing step comprises a position adjusting and locking sub-step: fixing the support piece with the limiting support or the fixing seat by the locking piece, so as to constrain the activity of the support piece in the subsequent process. and / or, The positioning and fixing step comprises a main clamp locking sub-step: fixing the assembly clamp with the limiting support by a detachable connection mode, so as to constrain the activity of the whole assembly clamp.

[0013] In a second aspect, the container end plate welding production line according to the embodiment of the present application is used to execute the frame assembly positioning and fixing method, and comprises: An assembly clamp is used to support the components constituting the closed frame structure. A plurality of calibration mechanisms are circumferentially arranged on the periphery of the assembly clamp, and are used to calibrate the position and angle of the components and push them to abut against each other to complete the pre-assembly of the frame structure. A positioning and fixing mechanism is arranged on the assembly clamp, and is used to apply a positioning and fixing force to the frame structure after pre-assembly.

[0014] The container end plate welding production line according to the embodiment of the present application has at least the following beneficial effects: The container end plate welding production line is provided with an integrated assembly clamp, a circumferentially arranged calibration mechanism and a positioning and fixing mechanism, thereby constructing an automatic positioning and fixing system for frame assembly, and fundamentally solving the frame geometric precision problem caused by manual operation and insufficient limiting of a traditional clamp. The assembly clamp is used for supporting the components constituting the closed frame structure, and provides a stable support platform for the frame strip according to the basic supporting effect of the supported components, thereby avoiding the shaking of the components caused by gravity or external force in the initial placement stage, ensuring that the subsequent calibration operation is performed on a unified reference surface, and eliminating the position uncertainty caused by manual lifting. The calibration mechanism is circumferentially arranged on the periphery of the assembly clamp, and according to this circumferential arrangement, the position and angle of the frame strip can be cooperatively calibrated in multiple directions, and the end portions of the components are abutted to complete pre-assembly. This arrangement uniformly distributes the calibration force to the frame periphery, effectively corrects the angle deviation and inconsistent length problem commonly encountered in manual splicing, and ensures that the frame structure reaches the accurate geometric shape before welding.

[0015] The container end plate welding production line according to the embodiment of the present application, the assembly clamp comprises a support seat and a support piece, the support piece is slidably connected with the support seat, the calibration mechanism is arranged on the support piece, and the support piece can be adjusted in position on the support seat to adjust the distance between the two oppositely arranged calibration mechanisms.

[0016] The container end plate welding production line according to the embodiment of the present application, the positioning and fixing mechanism comprises a first limiting component, the first limiting component comprises a first driving piece and a first limiting piece, the first driving piece is used to drive the first limiting piece to move, so as to connect with the corner piece of the pre-assembled frame corner; and / or, The positioning and fixing mechanism comprises a lateral constraint component, the lateral constraint component comprises a second driving piece and a second limiting piece, the second driving piece is used to drive the second limiting piece to move, so that the second limiting piece can abut against the profile surface of the pre-assembled frame.

[0017] The container end plate welding production line according to the embodiment of the present application, the calibration mechanism comprises a fixed module and a plurality of movable modules, the movable modules are movably connected with the assembly clamp and can independently or synchronously move close to the fixed module; or, The calibration mechanisms are all movable modules, and all the movable modules can be synchronously moved to the center of the assembling clamp.

[0018] Additional aspects and advantages of the present application will be set forth in part in the description that follows, and in part will become apparent to those having ordinary skill in the art upon examination of the following or can be learned from practice of the application. BRIEF DESCRIPTION OF DRAWINGS

[0019] The above and / or additional aspects and advantages of the present application will become apparent and be readily appreciated from the following description, taken in conjunction with the accompanying drawings, in which: Figure 1 The general flow chart of the frame assembly positioning and assembling method of the embodiment of the present application; Figure 2 The specific flow chart of the frame assembly positioning and assembling method of the embodiment of the present application; Figure 3 The general structure diagram of the assembling clamp of the embodiment of the present application; Figure 4 The first perspective structure diagram of the supporting component of the embodiment of the present application; Figure 5 The second perspective structure diagram of the supporting component of the embodiment of the present application; Figure 6 The third perspective structure diagram of the supporting component of the embodiment of the present application; Explanation of reference signs: Supporting component 100, third driving member 110, supporting seat 120, supporting member 130, first abutting block 131, second abutting block 132, third abutting block 133, fourth abutting block 134, clamping driving assembly 135, fourth driving member 140; Lateral constraint assembly 200, second driving member 210, second limiting member 220; First limiting assembly 300, mounting support 310, first driving member 320, first limiting member 330; Second limiting assembly 400, limiting support 410, third limiting member 420, fourth limiting member 430, locking member 440; Third limiting assembly 500, fifth limiting member 510, sixth limiting member 520. DETAILED DESCRIPTION

[0020] Embodiments of the present application are described below in detail, examples of which are shown in the drawings, wherein the same or similar reference signs represent the same or similar elements or elements having the same or similar functions throughout. The embodiments described below by referring to the drawings are exemplary and are only used to explain the present application, and cannot be understood as a limitation of the present application.

[0021] In the description of the present application, it should be understood that the orientation description, such as the orientation or position relationship indicated by up, down, front, back, left, right, etc., is based on the orientation or position relationship shown in the drawings, which is only for the convenience of describing the present application and simplifying the description, and does not indicate or imply that the device or element referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as a limitation on the present application.

[0022] In the description of the present application, one or more is meant by several, more than two is meant by multiple, greater than, less than, more than, etc. is understood to exclude the number, above, below, within, etc. is understood to include the number. If the first, second is described, it is only for the purpose of distinguishing technical features, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of indicated technical features or the sequence of indicated technical features.

[0023] In the description of the present application, unless otherwise explicitly limited, the words such as setting, mounting, connecting, etc. should be broadly understood, and those skilled in the art can reasonably determine the specific meaning of the above words in the present application in combination with the specific content of the technical solution.

[0024] Reference Figures 1 to 2 The embodiment of the present application provides a frame assembly positioning and assembling method, comprising the following steps: The frame calibration and pre-assembly step positions a plurality of components constituting a closed frame structure on an assembly fixture, calibrates the position and angle of each component through a plurality of calibration mechanisms arranged circumferentially, and pushes the end portions of each component to abut each other to complete the pre-assembly of the frame structure. The positioning and fixing step applies a positioning and fixing force to the frame structure after the pre-assembly step to maintain its geometric shape and position accuracy before welding; The welding forming step welds the frame structure positioned and fixed to form the final frame structure.

[0025] It can be understood that, first, the frame calibration and pre-assembly step: the operator places four frame strips and four corner pieces constituting the container frame on the assembly fixture according to the predetermined position. Four calibration mechanisms are respectively located at the four corner positions of the assembly fixture. After starting the system, the calibration mechanisms work simultaneously, pushing each frame strip to move towards the center, so that the end portion of the frame strip is accurately connected with the corner piece. In this process, the relative position of each component can be detected in real time by a position sensor to ensure the connection accuracy.

[0026] Then the positioning and fixing step is performed: after the pre-assembly is completed, the positioning and fixing mechanism starts to work. The driving part of the lateral constraint assembly pushes the second limiting part 220 into contact with the frame contour surface, providing a limiting constraint force. At the same time, the first limiting part 330 is connected with the corner part under the action of the driving assembly, realizing the corner locking. The support part 130 is fixed with the limiting support 410 through the locking bolt, preventing displacement in the subsequent process.

[0027] Finally, the welding forming step is performed: the welding robot performs welding on each connecting part according to the preset program. Since the frame has been fully fixed before welding, no deformation or displacement occurs during welding, ensuring the welding quality.

[0028] Specifically, in the frame calibration and pre-assembly step, multiple components constituting the closed frame structure are first positioned on the assembly fixture, providing initial stable support to avoid initial deviation caused by free movement. Among them, the multiple calibration mechanisms arranged circumferentially accurately calibrate the position and angle of each component. This process synchronously corrects the spatial orientation of the components from all directions, ensuring that each component is adjusted to the designed position and angle before abutting, thereby eliminating the common angle errors and inconsistent edge length problems in manual operation. Further, the calibration mechanism pushes the end parts of each component to abut each other, based on the calibration result to make the end parts tightly contact at the accurate position, eliminate the connection gap, and complete the geometric stability construction of the pre-assembled frame. For example, the calibration mechanism can use a precision push rod device driven by a servo motor. This device realizes micron-level displacement adjustment through a closed-loop control system, can quickly respond to position deviation and perform accurate calibration actions.

[0029] In the positioning and fixing step, the pre-assembled frame structure is subjected to a positioning and fixing force to maintain its geometric shape and position accuracy. Specifically, the lateral constraint assembly applies a clamping force to the frame contour surface to prevent position deviation caused by production environment vibration or workpiece transfer inertia force. Thus, the frame remains calibrated before welding, avoiding the loosening problem caused by insufficient clamping of traditional fixtures. The welding forming step welds the frame structure that has been positioned and fixed. Since the frame has been firmly constrained, the welding process permanently connects based on the accurate geometric shape, avoiding the phenomenon of weld point deviation or connection failure, and finally forming a frame structure that meets the requirements of size accuracy and structural integrity.

[0030] Beneficially, the method provided by the present application effectively solves the problems of inaccurate frame geometry, position deviation and subsequent assembly caused by manual operation and lack of effective positioning and fixing device during the frame assembly process. Through the frame calibration and pre-assembly steps, the initial positioning of the components is ensured, the positioning and fixing steps maintain the geometric stability before welding, and the welding and forming steps complete the permanent connection based on the fixed state, which significantly improves the geometric accuracy and production efficiency of the frame assembly. Therefore, the frame structure maintains the accurate shape during the manufacturing process, providing a reliable foundation for subsequent plate installation, avoiding local gaps or forced interference phenomena during the assembly of large plate parts such as side plates and end plates, and ensuring the structural strength and sealing performance of the container body.

[0031] As a preferred embodiment, the arrangement density of the calibration mechanism can be dynamically adjusted according to the size of the frame to adapt to the calibration needs of frames of different specifications, and the application time of the positioning and fixing force is set at the immediate stage after the pre-assembly is completed, thereby minimizing the risk of deformation of the frame during the transfer process.

[0032] However, in its implementation process, since the component configuration of the frame structure is not specifically limited, key components such as corner pieces may not be effectively fixed, resulting in displacement during the assembly process due to mechanical vibration or calibration mechanism thrust, causing inaccurate frame geometry and insufficient connection point stability, which further affects the subsequent welding precision and overall structural strength.

[0033] Therefore, the present application further provides that in the frame calibration and pre-assembly steps, the components constituting the frame structure include four frame strips and four corner pieces, the corner pieces are pre-positioned on the assembly fixture, and the calibration mechanism pushes the end of the frame strip to connect with the corresponding corner piece. Or, In the frame calibration and pre-assembly steps, the components constituting the frame structure include two frame strips pre-equipped with corner pieces and two frame strips without corner pieces, the calibration mechanism pushes the ends of the frame strips to abut each other, and the ends of the frame strips without corner pieces are connected to the pre-equipped corner pieces. It should be noted that the corner piece refers to the connection structure component of the frame corner, which aims to provide a stable corner connection reference point; and the frame strip pre-equipped with the corner piece refers to a combined unit of the frame strip and the corner piece, which can be achieved by pre-fixing methods such as welding or bolt connection, aiming to reduce the number of independent adjustment points.

[0034] It can be understood that in some embodiments, in the frame calibration and pre-assembly step, the corner pieces are fixed in advance by positioning at the four corners of the assembly fixture, and the four frame strips are respectively placed at the corresponding positions between the corner pieces. The calibration mechanism pushes the frame strips towards the corner pieces. Optionally, each calibration mechanism is equipped with a displacement sensor to monitor the moving distance and position of the frame strip in real time. When the end of the frame strip contacts the corner piece, the pressure sensor stops advancing after detecting a predetermined pressure value, ensuring a tight connection without damaging the components.

[0035] Alternatively, in some other embodiments, the corner pieces have been pre-assembled on the upper and lower frame strips. First, the upper and lower frame strips with pre-assembled corner pieces are placed on the assembly fixture, and then the left and right frame strips are placed in the corresponding positions. The calibration mechanism adopts a group control mode, with the upper and lower two groups of calibration mechanisms pushing the upper and lower frame strips, and the left and right two groups of calibration mechanisms pushing the left and right frame strips. Through coordinated control, the end of the left and right frame strips is accurately connected with the corner pieces on the upper and lower frame strips.

[0036] Beneficially, both of the above-mentioned solutions can effectively prevent the displacement of the corner pieces during assembly, ensuring the accurate closure of the frame geometry and the stability of the key connection points, thereby improving the positional accuracy and overall strength of the frame structure during the welding process.

[0037] The application further proposes that the frame calibration and pre-assembly step specifically includes: setting one of the calibration mechanisms as a fixed reference module, and controlling the remaining calibration mechanisms as active modules to move towards the fixed reference module to push the components to complete calibration and abutment; Or, The frame calibration and pre-assembly step specifically includes: controlling all active modules to move synchronously towards the center of the assembly fixture to push the components to complete calibration and abutment.

[0038] It should be noted that the fixed reference module refers to a calibration mechanism that remains stationary during calibration, which can be achieved by rigidly fixing the calibration mechanism to the base of the assembly fixture, with the purpose of providing a stable geometric reference. The active module can be understood as a calibration mechanism that can be adjusted in position during calibration, which can be achieved by slidingly connecting the calibration mechanism to the assembly fixture through a linear guide, with the purpose of achieving precise displacement control of the components. In addition, moving towards the fixed reference module specifically means that the active module advances along a predetermined straight line path towards the fixed reference module, with the purpose of ensuring that the ends of the components maintain directional consistency during abutment. Moving towards the center of the assembly fixture can be understood as all active modules converging radially towards the geometric center, with the purpose of maintaining the symmetry and geometric stability of the frame profile.

[0039] It can be understood that in some embodiments, for example, the calibration mechanism located at the upper right corner of the clamp is set as a fixed reference module, the position of which is fixed and unchanged, and the remaining three calibration mechanisms are active modules, which are driven by a servo control system to move uniformly along the linear guide rail towards the fixed reference module until the end of each frame strip is fully abutted with the corner piece. This setting ensures that at least one corner position is absolutely accurate, and the remaining corners are positioned based on this, effectively avoiding error accumulation.

[0040] Alternatively, in other embodiments, as shown in Figure 2 all four calibration mechanisms are active modules, which are synchronously driven by a central controller to move towards the geometric center of the assembly clamp. During the movement, the position deviation of each module is monitored in real time and adjusted to ensure that the frame structure forms an accurate rectangular profile, Beneficially, the above two schemes establish a unified reference datum or geometric center target to coordinate the movement of each calibration mechanism. In the fixed reference module strategy, a single fixed point is used as the reference datum, and all active modules move towards this point, avoiding the reference conflict caused by multiple points, ensuring that the calibration action in each direction is performed around the same reference, thereby accurately controlling the abutment position and angle of the component end. In the center movement strategy, all active modules move synchronously towards the geometric center of the assembly clamp, and the symmetric convergence principle is used to make the frame structure naturally tend to the ideal rectangular profile during formation, effectively preventing local distortion or deviation caused by asynchronous movement. These two strategies optimize the reliability and accuracy of the calibration process, providing a stable geometric basis for subsequent positioning and welding processes, effectively avoiding component position deviation and angle deviation caused by asynchronous movement of the calibration mechanism, significantly improving the geometric accuracy and assembly stability of the frame structure, and providing a reliable geometric basis for subsequent positioning and welding processes.

[0041] However, in its implementation process, the assembly clamp lacks a size adjustment mechanism and cannot automatically adapt to the assembly requirements of frames of different sizes, resulting in the need to rely on manual adjustment or frequent replacement of the clamp, which not only prolongs the assembly time and reduces the production efficiency, but also causes geometric shape deviation of the frame due to insufficient adjustment accuracy, affecting the subsequent welding quality and the fit of the plate assembly.

[0042] Therefore, the present application further proposes that before or during the frame calibration and pre-assembly step, a size adaptation adjustment step is further included: by driving the support 130 of the assembly clamp to move, the relative positions between the calibration mechanisms are adjusted to adapt to the assembly requirements of frames of different sizes.

[0043] In the present application, the size adjustment step refers to the dynamic size adjustment link in the frame assembly process, which can be a size adjustment operation implemented before or during the frame calibration and pre-assembly step. The support 130 refers to the assembly fixture component used to regulate the spatial layout of the calibration mechanism, which can use a ball screw transmission mechanism, a pneumatic push rod or a linear motor drive mechanism to achieve accurate position adjustment. Specifically, the relative position between the calibration mechanisms refers to the geometric relationship of the circumferentially arranged multiple calibration mechanisms in three-dimensional space, which can be understood as the distance parameter or angle parameter of the adjacent calibration mechanisms along the frame contour direction, and the purpose is to ensure that the components of different specifications of the frame structure can be accurately positioned according to the target size requirements.

[0044] It can be understood that before work, first, according to the size requirements of the frame to be assembled, the support 130 is driven to move to the corresponding position, and after the adjustment is completed, the support 130 is fixed.

[0045] Specifically, when a standard size container frame needs to be assembled, the control system drives the support 130 on the assembly fixture to move for position adjustment of the support 130, so that the distance between the relatively arranged calibration mechanisms is accurately adjusted to the contour size of the target frame; when switching to non-standard size frame assembly, the support 130 is driven to adjust the distance between the calibration mechanisms to the contour size of the new specification frame. Alternatively, the movement of the support 130 can be driven by a servo motor, and closed-loop control is realized through position sensor feedback to ensure that the calibration mechanism can be accurately arranged at the preset position, thereby providing consistent calibration reference for frames of different sizes.

[0046] Beneficially, through the above technical solution, the assembly fixture can automatically adapt to the assembly requirements of frames of different sizes, avoiding manual adjustment or frequent replacement of the fixture, significantly shortening the assembly preparation time and improving the production efficiency. At the same time, accurate size adjustment ensures the geometric accuracy of the frame structure, reduces the welding quality problems and subsequent plate assembly fitting problems caused by size deviation, and improves the overall quality and assembly efficiency of the frame.

[0047] The present application further proposes that the frame calibration and pre-assembly step includes a preliminary positioning sub-step: controlling multiple calibration mechanisms to move synchronously so that the ends of each component quickly approach the target position; and / or, The frame calibration and pre-assembly step includes a fine adjustment sub-step: controlling at least one calibration mechanism as a movable module to move independently of other modules for accurate movement to correct the position and angle of the component.

[0048] It should be noted that the preliminary positioning sub-step refers to the process of controlling the synchronous movement of the plurality of calibration mechanisms to quickly approach the target position of the end of the component, aiming to significantly shorten the initial positioning time and avoid the cumbersome operation of traditional step-by-step adjustment. The fine adjustment sub-step refers to the process of controlling the independent precise movement of at least one active module calibration mechanism to correct the position and angle, which can be realized by using high-precision stepping motors in combination with closed-loop feedback control units, aiming to specifically eliminate local errors and ensure the stability of geometric precision.

[0049] It can be understood that in the preliminary positioning sub-step, the four calibration mechanisms move synchronously at a faster speed, allowing the frame strips to quickly approach the target position. The movement speed can be set according to actual conditions, and when the end of the frame strip reaches a preset distance from the target position, the system automatically switches to the fine positioning mode. The fine adjustment sub-step is performed after the preliminary positioning is completed. The control system calculates the calibration mechanism and its adjustment amount based on the data feedback from the position sensor. The fine adjustment process can use a stepping motor for driving, and the displacement amount can be set according to actual conditions to ensure adjustment accuracy.

[0050] Specifically, in the preliminary positioning sub-step, all servo motors receive a unified control signal to start synchronously, allowing the end of the frame strip to quickly approach the connection position of the angle piece. When the end of the frame strip reaches a preset distance from the target position, the system switches to the fine adjustment sub-step. In the fine adjustment sub-step, based on real-time data feedback from the position sensor, the servo motor corresponding to the calibration mechanism with deviation is adjusted individually for fine displacement correction, achieving accurate calibration of the position and angle of the component. By dividing the frame calibration and pre-assembly process into two stages of preliminary positioning and fine adjustment, the end of each component is first quickly brought to the target area by the synchronous movement mechanism of the calibration mechanism, significantly reducing the time-consuming of coarse adjustment and laying a high-efficiency foundation for subsequent accurate calibration. Then, through the independent precise movement of the active module calibration mechanism, fine correction is made for the slight deviation of the specific position, effectively solving the problem of local error accumulation caused by mechanical tolerance or external vibration, thereby ensuring the accuracy and consistency of the overall geometric shape of the frame, effectively shortening the initial positioning time of the frame calibration, and eliminating the slight deviation, thereby improving the geometric precision and assembly efficiency of the frame structure.

[0051] The application further proposes a positioning and fixing step including a profile surface constraint sub-step: driving the lateral constraint assembly towards the profile surface of the frame structure, so that the second limiting part of the lateral constraint assembly realizes limiting constraint on the overall shape of the frame.

[0052] It should be noted that limiting constraint refers to a constraint method that uniformly supports and disperses external forces, aiming to maintain the stability of the overall geometric shape of the frame.

[0053] Specifically, the lateral constraint assembly includes a second driving member 210 and a second limiting member 220. When the second driving member 210 drives the second limiting member 220 to move close to the frame strip until abutting against the profile surface of the frame body, a uniform constraint force is provided. Optionally, the surface of the second limiting member 220 can be covered with polyurethane material, which not only ensures the constraint effect but also avoids scratching the surface of the frame body.

[0054] Further, the positioning and fixing step further includes a lateral reinforcement sub-step: applying a lateral clamping force to the profile surface of the frame by the lateral constraint assembly 200.

[0055] It should be noted that the lateral clamping force can be understood as a clamping force perpendicular to the profile surface of the frame, which aims to actively resist the inertial force generated during production vibration or workpiece transfer to prevent displacement of the frame.

[0056] Specifically, the profile surface constraint sub-step is followed by the lateral reinforcement sub-step, and the second limiting member 220 is in close abutment with the profile surface of the frame body under the drive of the second driving member 210, thereby applying a uniform lateral clamping force to the frame. By driving the lateral constraint assembly to make the second limiting member 220 abut against the profile surface of the frame, a limiting constraint is formed; at the same time, the lateral constraint assembly 200 applies a lateral clamping force to enhance the ability of the frame to resist external interference. Among them, the limiting constraint ensures the stability of the overall shape of the frame, and the lateral clamping force provides additional fixing strength, which effectively prevents the frame from shifting and loosening due to vibration or transfer before welding, so that the frame structure can effectively resist the influence of mechanical vibration and workpiece transfer inertia during the positioning and fixing process, avoiding position deviation and connection loosening, thereby ensuring the geometric accuracy before welding and reducing the fitting gap problem during subsequent plate installation.

[0057] The present application further proposes that the positioning and fixing step includes an angle piece locking sub-step: driving the first limiting member 330 to connect with the angle piece of the pre-assembled frame corner to achieve additional fixation of the key connection point of the frame. It should be noted that the angle piece locking sub-step refers to connecting the limiting member with the angle piece of the frame corner through a driving mechanism, which aims to directly act on the core area where the frame strips abut against each other, eliminating the connection gap and preventing angle deviation caused by slight displacement.

[0058] Further, the positioning and fixing step further includes a position adjustment locking sub-step: fixing the support member 130 with the limiting support 410 or the fixing seat by the locking member 440 to constrain the movement of the support member 130 in the subsequent process.

[0059] It should be noted that the position adjustment locking sub-step can be understood as locking the support 130 and the support base by using a mechanical locking device, which can be implemented by using a bolt locking, a pin fixing or a clamping mechanism, and the purpose is to constrain the activity freedom of the support 130 to avoid sliding caused by mechanical vibration or operation impact, so as to maintain the relative position accuracy set by the calibration mechanism.

[0060] Further, the positioning and fixing step includes a main clamp locking sub-step: fixing the assembly clamp and the limiting support 410 by a detachable connection mode to constrain the activity of the assembly clamp as a whole.

[0061] It should be noted that the main clamp locking sub-step specifically refers to using a mechanism that can be quickly connected and disconnected to combine the assembly clamp and the limiting support 410, which can be implemented by using a quick release pin, a clamp or a magnetic lock, and the purpose is to form a stable connection to resist the inertial force generated during the transfer of the work station and constrain the shaking of the assembly clamp as a whole.

[0062] It can be understood that first, the corner piece locking is implemented at the corner of the frame to directly apply additional fixation to the stress concentration point and ensure the stability of the right-angle shape; second, the position adjustment locking is performed on the support 130 to rigidly lock the spacing set by the calibration mechanism and prevent dimensional deviation; and finally, the main clamp locking fixes the assembly clamp as a whole and the limiting support 410 to form a continuous constraint system from the key connection point to the adjustment mechanism to the clamp as a whole. These steps can be independently or combined executed according to the actual working conditions, and together maintain the continuous consistency of the profile and geometric shape of the pre-assembled frame before welding, effectively preventing the precision degradation caused by vibration, movement or external interference.

[0063] Beneficially, the present scheme achieves overall constraint through a hierarchical locking mechanism, effectively preventing the loosening and disconnection of the key connection point at the corner of the frame, avoiding the dimensional deviation caused by accidental sliding of the support 130, and suppressing the shaking of the assembly clamp as a whole during the transfer process, thereby ensuring the geometric stability of the pre-assembled frame, reducing the misalignment phenomenon in the subsequent welding and plate assembly stage, reducing the frequency of manual adjustment, and improving the manufacturing efficiency.

[0064] In another embodiment, the present application also discloses a container end plate welding production line for performing the above method. Specifically, the container end plate welding production line comprises an assembly clamp, a calibration mechanism and a positioning and fixing mechanism, wherein, as shown in Figure 2 The assembly clamp is composed of two support parts 100 which are the same in structure and oppositely arranged, and at least one support part 100 is connected with a third driving part 110, and the third driving part 110 is used to drive the two support parts 100 to move closer to or away from each other in a first direction.

[0065] Further, the support component 100 comprises a support base 120, two support members 130 arranged in parallel on two ends of the support base 120, and a fourth driving member 140 connected with at least one support member 130, the fourth driving member 140 being capable of driving one support member 130 to move towards or away from another support member 130 along the second direction to adjust the interval, and each support member 130 being connected with a corner calibration mechanism.

[0066] Further, as shown in Figures 2 to 3 the fixed module comprises a first abutting block 131 and a second abutting block 132 fixed on the support member 130, the first abutting block 131 being arranged at an angle with the second abutting block 132, and the first abutting block 131 and the second abutting block 132 being capable of abutting with two profile surfaces adjacent to the frame strip respectively. In addition, the movable module comprises a third abutting block 133 and a fourth abutting block 134 arranged at an angle, and a clamping driving assembly 135, the third abutting block 133 and the fourth abutting block 134 being capable of abutting with two profile surfaces adjacent to the frame strip or the corner piece respectively, the fourth abutting block 134 being connected with the clamping driving assembly 135, and the clamping driving assembly 135 being used for driving the fourth abutting block 134 to move along the second direction.

[0067] Among them, the corner calibration mechanism arranged on the movable support member 130 is the movable module.

[0068] It can be understood that when starting to assemble the frame strip, first, the spacing of the support 130 is adjusted by the fourth driving member 140, then the reference is established by the fixed module, then the third abutting block 133 of the movable module is in contact with one profile surface of the frame strip, and then the fourth abutting block 134 is driven to move by the clamping driving assembly 135, so as to complete the accurate positioning and clamping of the frame strip. By setting the corner calibration mechanism as a movable module, the independent adjustment capability is achieved, and the problem of insufficient positioning accuracy of the frame strip during movement of the support 130 is effectively solved. Specifically, when the spacing of the support 130 is adjusted, the movable module can be finely adjusted according to actual needs, so that the third abutting block 133 and the fourth abutting block 134 are always in close contact with the two adjacent profile surfaces of the frame strip. The third abutting block 133 and the fourth abutting block 134 arranged at an included angle form a stable right-angle support structure, and this layout makes full use of the geometric characteristics of the frame strip, avoiding the sliding or mispositioning phenomenon caused by external force. The cooperation of the clamping driving assembly 135 and the fourth abutting block 134 enables the system to actively exert clamping force after the adjustment of the support 130, so as to ensure the accurate abutment of the end of the frame strip. At the same time, the third abutting block 133 provides a reaction force as a fixed reference, and forms a bidirectional constraint with the fourth abutting block 134, effectively preventing the deformation of the frame strip during clamping, thereby significantly improving the assembly accuracy and efficiency of the rectangular frame body. Moreover, the movable module is organically integrated with the support part 100. When the support part 100 moves with the corner calibration mechanism, the movable module can automatically adapt to the position change and make accurate adjustment, which not only improves the flexibility of the system, but also ensures the assembly accuracy of the frame strip under different sizes. Through the above technical scheme, high-precision positioning and stable clamping of the frame strip are realized, effectively solving the problems of low efficiency and poor accuracy in manual splicing, and providing reliable guarantee for the subsequent welding process.

[0069] In other embodiments, when the fixed module is also a movable module, when starting to assemble the frame strip, first, the spacing of the support 130 is adjusted by the second driving member 210, then the support seat 120 is driven as a whole by the third driving member 110, so that all the movable modules move cooperatively to make the respective abutting blocks complete the accurate positioning of the frame strip and the corner piece, and finally the firm fixing is achieved by synchronous clamping.

[0070] As a further improvement of the scheme, the present application also provides a lateral constraint assembly 200. Specifically, as shown in Figure 2 and Figure 3 , the lateral constraint assembly 200 comprises a second driving member 210 and a second limiting member 220, the second driving member 210 is fixedly connected with the support part 100, the second limiting member 220 is connected with the second driving member 210, and the second driving member 210 is used to drive the second limiting member 220 to move in the first direction so that the second limiting member 220 abuts on the profile surface of the frame strip.

[0071] Specifically, when starting to assemble the frame strip, first, a reference is established by the fixing module; then, the second limiting piece 220 is driven by the second driving piece 210 to abut against the profile surface of the frame strip to provide lateral restraint; finally, the overall assembly is completed in cooperation with other modules. The fixing module provides the main positioning reference, and the lateral restraint assembly 200 provides auxiliary positioning and restraint, and the two work together to ensure the stability of the frame strip during assembly. At the same time, after the frame body is assembled, the lateral restraint continuously abuts against the profile surface of the frame body to form uniform lateral restraint, effectively preventing the frame strip from being twisted or deviated during vibration or transfer, further improving the assembly precision and anti-interference ability of the frame body, realizing the profile surface restraint sub-step and the lateral reinforcement sub-step of the frame body assembly, and the lateral reinforcement sub-step of the frame body assembly can be executed immediately after the profile surface restraint sub-step is completed.

[0072] As a further improvement of the present application, the second limiting piece 220 is rotatably connected with the second driving piece 210.

[0073] In some embodiments of the present application, the rotation axis of the second limiting piece 220 is parallel to the height direction of the frame strip. It can be understood that the second limiting piece 220 is rotatably connected with the second driving piece 210 through a shaft pin, and the rotation axis is parallel to the height direction of the frame strip. When the second driving piece 210 drives the second limiting piece 220 to move in a direction perpendicular to the profile surface of the frame body and abuts against the profile surface, the frame strip can drive the second limiting piece 220 to freely rotate around the axis parallel to the height direction of the frame strip during the assembly or adjustment of the frame strip. The core function of this kind of rotary connection is to convert the sliding friction between the second limiting piece 220 and the profile surface of the frame body into rolling friction, greatly reducing the frictional resistance therebetween. When the frame strip needs to be finely adjusted during assembly, the second limiting piece 220 can be smoothly rotated by the frame strip, avoiding surface scratching or position adjustment difficulty caused by excessive friction. This design not only ensures the limiting effect, but also provides convenience for fine adjustment of the frame strip, effectively improving the assembly precision and efficiency.

[0074] Or, in some other embodiments of the present application, the second limiting member 220 is connected with the second driving member 210 through a ball hinge. That is, the second limiting member 220 forms a multi-directional rotating connection with the second driving member 210 through a ball hinge joint. When the second driving member 210 drives the second limiting member 220 to move in a direction perpendicular to the profile surface of the frame body and abuts against the profile surface, the second limiting member 220 can be driven to rotate in multiple directions by the frame strip, adapting to the multi-directional movement of the frame strip during assembly. It can be understood that the ball hinge connection enables the second limiting member 220 to have multi-directional rotating capability, and no matter the movement occurs in the length direction or the height direction of the frame strip, the second limiting member 220 can be smoothly driven to rotate, converting sliding friction in various directions into rolling friction. Such all-around friction reduction effect is particularly suitable for frame body assembly scenarios requiring multi-directional adjustment, can maximize the reduction of adjustment resistance, protect the surface quality of the frame body, and at the same time ensure the stability of the limiting.

[0075] Optionally, the second limiting member 220 has a cylindrical structure or a spherical structure.

[0076] Further, as shown in Figure 2 and Figure 4 , the positioning and fixing mechanism further includes a first limiting assembly 300. Specifically, the first limiting assembly 300 includes a mounting support 310, a first driving member 320, and a first limiting member 330. The mounting support 310 is fixedly connected with the assembly clamp, and the first limiting member 330 is movably hinged with the mounting support 310. The first driving member 320 drives the first limiting member 330 to rotate around the hinge point, so that the first limiting member 330 moves in the height direction of the frame strip and is connected with the corner piece.

[0077] It can be understood that, during the assembly of the frame body, first, the first driving member 320 drives the first limiting member 330 to move in the height direction of the frame strip, so that the first limiting member 330 is connected (e.g., inserted or attached) with the corner piece of the frame body, completing the fixation of the corner piece. Subsequently, the second driving member 210 drives the second limiting member 220 to move in a direction perpendicular to the profile surface of the frame body, so that the second limiting member 220 abuts against the profile surface of the frame body, providing lateral support. The entire process is controlled by the coordinated control of the driving assembly, ensuring that the frame body remains stable after assembly and preventing position deviation.

[0078] Or, during the assembly of the frame body, first, the second driving member 210 drives the second limiting member 220 to move in a direction perpendicular to the profile surface of the frame body, so that the second limiting member 220 abuts against the profile surface of the frame body, providing lateral support. Subsequently, the first driving member 320 drives the first limiting member 330 to move in the height direction of the frame strip, so that the first limiting member 330 is connected (e.g., inserted or attached) with the corner piece of the frame body, completing the fixation of the corner piece.

[0079] In this process, the starting order of the two components is not specifically limited, and the two components can be started in turn or simultaneously to complete the positioning and fixing of the assembled frame body according to the actual situation through dynamic regulation and control of the control system.

[0080] Further, a second limiting component 400 is also provided. Figure 2 and 4 As shown in the figure, the second limiting component 400 includes a limiting support 410, a third limiting piece 420, a fourth limiting piece 430, and a locking piece 440. Specifically, the assembly clamp is movably connected with the limiting support 410, the third limiting piece 420 is arranged on the support seat 120, the fourth limiting piece 430 is arranged on the limiting support 410, and the third limiting piece 420 and the fourth limiting piece 430 are detachably connected through the locking piece 440. It can be understood that after the frame body is assembled, the third limiting piece 420 and the fourth limiting piece 430 are connected, so as to fix the assembly clamp on the limiting support 410, thereby providing additional limiting for the support seat 120.

[0081] Further, as shown in the figure, Figure 2 and 4 As shown in the figure, the support component 100 also has a third limiting component 500. Specifically, the third limiting component 500 includes a fifth limiting piece 510, a sixth limiting piece 520, and a locking piece 440. Specifically, the fifth limiting piece 510 is arranged on the support piece 130, and the sixth limiting piece 520 is arranged on the support seat 120. By moving the support piece 130, the fifth limiting piece 510 and the sixth limiting piece 520 are aligned, and then the locking piece 440 (such as a bolt or a clamp) is used to detachably connect them, thereby achieving fine adjustment and fixing of the assembly clamp. In this application, the sixth limiting piece 520 directly uses the side profile of the support seat 120 or the side profile of the limiting support 410. The fifth limiting piece 510 is an adjusting block with a connecting hole, which is directly connected and fixed with the profile of the limiting support 410 or the support seat 120 through a bolt. When adjusting the position, loosen the locking bolt, move the support piece 130 to align the fifth limiting piece 510 with the profile, and then tighten the bolt to achieve fixing. This embodiment makes full use of the existing structure, reduces the number of special parts, reduces the manufacturing cost, and at the same time ensures the reliability of the connection.

[0082] By using the positioning and fixing mechanism to position and fix the assembled frame body, the application can provide stable limiting of the frame body, ensure the assembly precision, and help to ensure that the frame body maintains the accurate position during assembly and transfer. After welding, the frame body is assembled with the plate, and through integrated limiting, a high-precision process from assembly to welding of the frame body is realized, human intervention and errors are reduced, and the efficiency and quality consistency of the entire production line are improved.

[0083] The whole working process starts from the preparation stage of assembling the clamp. The support seat 120 of the assembling clamp provides a stable basic platform for the whole system. The support 130 is accurately adjusted according to the target frame size. The relative position between the calibration mechanisms is changed through the sliding connection mechanism to realize the size adaptation function. When calibrating, the multiple calibration mechanisms arranged in the circumference start to work. The fixed module provides a stable position reference as the reference point, and the movable module moves towards the fixed reference under the action of the driving system, pushing the frame strip and the corner piece to gradually approach the target position.

[0084] In the frame calibration and pre-assembly stage, the calibration mechanism first performs preliminary positioning. All movable modules move synchronously and quickly, so that the ends of each component quickly approach the docking position. This process is coordinated by a unified control system to ensure synchronization. Then, it enters the fine tuning stage. The control system selects the calibration mechanism that needs to be adjusted for independent and accurate movement. Through high-precision sensor feedback, the position and angle deviation of the component is corrected to ensure that the end of the frame strip and the corner piece are accurately docked. In this process, the corner piece, as a key connecting component, whether it is pre-positioned on the clamp or pre-assembled on the frame strip, is accurately docked through the accurate control of the calibration mechanism.

[0085] After completing the pre-assembly, the positioning and fixing mechanism starts to work. The second driving part 210 of the lateral constraint assembly 200 drives the second limiting part 220 to move towards the frame contour surface. The second limiting part 220 can adopt a cylindrical or spherical structure and is connected with the driving part through a rotatable connection. When contacting the contour surface, it realizes rolling friction to reduce damage to the frame surface. At the same time, the first driving part 320 drives the first limiting part 330 to move. The first limiting part 330 is designed as a columnar plug-in structure or a contour surface fitting structure according to the structure of the corner piece, realizing reliable connection with the corner piece. During the positioning and fixing process, the locking part 440 fixes the support 130 and the support seat 120 to prevent the support 130 from moving in the subsequent process. At the same time, the assembling clamp as a whole is fixed with the limiting support 410 through the detachable connection mechanism to ensure the stability of the whole system during the welding process.

[0086] In the welding forming stage, under the continuous action of the positioning and fixing mechanism, the frame structure maintains a stable geometric form, and the welding equipment performs welding work on the connecting parts. Due to the multiple fixing actions on the frame during welding, including the limiting constraint provided by the lateral constraint assembly, the point fixing provided by the first limiting part 330, and the overall stability provided by the clamp locking mechanism, welding thermal deformation and position deviation are effectively avoided, ensuring the welding quality. Through the accurate cooperation of each mechanism, the whole working process realizes the complete automatic production process from component positioning, calibration assembly to welding forming, significantly improving the precision and efficiency of the frame assembly.

[0087] The container end plate welding production line provided by the application provides a stable working basis through the assembly clamp, realizes accurate position control through the calibration mechanism, ensures the stability before welding through the positioning and fixing mechanism, and the components work cooperatively to form a complete production system. The combination design of the support seat 120 and the support piece 130 realizes the size adaptability of the equipment and meets the production requirements of different specifications of products. The fixed module and the movable module of the calibration mechanism are used in cooperation, which not only ensures the stability of the reference, but also provides flexible adjustment capability. The multiple fixing mechanisms of the positioning and fixing mechanism, including lateral constraint, angle piece locking and clamp locking, form a three-dimensional fixing network, effectively prevent deformation and displacement in the welding process, not only improve the production efficiency and ensure the product quality, but also greatly reduce the manual operation strength, realize the automation of the frame body assembly and the standardized production.

[0088] In the description of the present specification, the description of the terms "one embodiment", "some embodiments", "exemplary embodiment", "example", "specific example", or "some examples" means that the specific features, structures, materials or characteristics described in connection with the embodiment or example are included in at least one embodiment or example of the present application. In the present specification, the exemplary description of the above terms does not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described can be combined in any one or more embodiments or examples in a suitable manner.

[0089] Although the embodiments of the present application have been shown and described, those skilled in the art can understand that various changes, modifications, replacements and variations can be made to the embodiments without departing from the principles and purposes of the present application, and the scope of the present application is defined by the claims and their equivalents.

Claims

1. A method for positioning and assembling a frame assembly, characterized in that, include: The frame calibration and pre-assembly steps involve positioning multiple components that constitute the closed frame structure on an assembly fixture, calibrating the position and angle of each component using multiple circumferentially arranged calibration mechanisms, and pushing the ends of each component to abut against each other to complete the pre-assembly of the frame structure. The positioning and fixing step involves applying a positioning and fixing force to the frame structure after the frame calibration and pre-assembly steps to maintain its geometric shape and positional accuracy before welding. The welding forming step involves welding the positioned and fixed frame structure to form the final frame structure.

2. The frame assembly positioning and assembly method according to claim 1, characterized in that, In the frame calibration and pre-assembly step, the components constituting the frame structure include four frame strips and four corner pieces. The corner pieces are pre-positioned on the assembly fixture, and the calibration mechanism pushes the ends of the frame strips to connect with the corresponding corner pieces. or, In the frame calibration and pre-assembly step, the components constituting the frame structure include two frame strips pre-installed with corner fittings and two frame strips without corner fittings. The calibration mechanism pushes the ends of each frame strip to abut against each other and connects the ends of the frame strips without corner fittings to the pre-installed corner fittings.

3. The frame assembly positioning and assembly method according to claim 1 or 2, characterized in that, The frame calibration and pre-assembly steps specifically include: setting one of the calibration mechanisms as a fixed reference module, and controlling the remaining calibration mechanisms, which are active modules, to move toward the fixed reference module to push the component to complete calibration and contact; or, The frame calibration and pre-assembly steps specifically include: controlling all calibration mechanisms, which are active modules, to move synchronously toward the center of the assembly fixture to push the components to complete calibration and contact.

4. The frame assembly positioning and assembly method according to claim 1, characterized in that, Before or during the frame calibration and pre-assembly steps, a size adaptation adjustment step is also included: by driving the support of the assembly fixture to move, the relative positions between the calibration mechanisms are adjusted to adapt to the assembly requirements of frames of different sizes.

5. The frame assembly positioning and assembly method according to claim 1, characterized in that, The frame calibration and pre-assembly steps include a preliminary positioning sub-step: controlling multiple calibration mechanisms to move synchronously, so that the ends of each component quickly approach the target position; And / or, The frame calibration and pre-assembly steps include a fine-tuning sub-step: controlling at least one calibration mechanism, which is an active module, to move precisely independently of other modules to correct the position and angle of the components.

6. The frame assembly positioning and assembly method according to claim 1, characterized in that, The positioning and fixing step includes a contour surface constraint sub-step: driving the lateral constraint component to move toward the contour surface of the frame structure, so that the second limiting member of the lateral constraint component abuts against the contour surface, thereby achieving the limiting constraint on the overall shape of the frame. And / or, The positioning and fixing step also includes a lateral reinforcement sub-step: applying a lateral clamping force to the contour surface of the frame through a lateral constraint component.

7. The frame assembly positioning and assembly method according to any one of claims 1 or 5, characterized in that, The positioning and fixing step includes a corner piece locking sub-step: driving the first limiting piece to connect with the corner piece at the corner of the pre-assembled frame to achieve additional fixing of the key connection points of the frame; And / or, The positioning and fixing step includes a position adjustment and locking sub-step: fixing the support to the limiting support or fixing seat by a locking member to restrict the movement of the support in subsequent processes; And / or, The positioning and fixing step includes a main fixture locking sub-step: fixing the assembly fixture to the limiting support through a detachable connection to constrain the movement of the assembly fixture as a whole.

8. A container end plate welding production line, used to perform the frame assembly positioning and assembly method according to any one of claims 1 to 7, characterized in that, include: Assembly fixtures are used to support components that form a closed frame structure; A calibration mechanism, comprising multiple calibration mechanisms arranged circumferentially around the assembly fixture, is used to calibrate the position and angle of the components and to push them to abut against each other to complete the pre-assembly of the frame structure. A positioning and fixing mechanism is provided on the assembly fixture, and the positioning and fixing mechanism is used to apply a positioning and fixing force to the frame structure after pre-assembly.

9. The container end plate welding production line according to claim 8, characterized in that, The assembly fixture includes a support base (120) and a support member (130). The support member (130) is slidably connected to the support base (120). The calibration mechanism is disposed on the support member (130). The support member (130) can be adjusted in position relative to the support base (120) to adjust the distance between two oppositely disposed calibration mechanisms. The positioning and fixing mechanism includes a first limiting component (300), which includes a first driving member (320) and a first limiting member (330). The first driving member (320) is used to drive the first limiting member (330) to move so as to connect with the corner piece of the pre-assembled frame corner. And / or, The positioning and fixing mechanism includes a lateral constraint component (200), which includes a second driving member (210) and a second limiting member (220). The second driving member (210) is used to drive the second limiting member (220) to move so that the second limiting member (220) can abut against the contour surface of the pre-assembled frame.

10. The container end plate welding production line according to claim 8, characterized in that, The calibration mechanism includes a fixed module and multiple movable modules. The movable modules are movably connected to the assembly fixture and can move independently or synchronously toward the fixed module. or, The calibration mechanism consists of movable modules, all of which can move synchronously toward the center of the assembly fixture.

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