A mobile robot spot welding station for a flexible welding line

Abstract

The present application relates to spot welding workstation technical field, and disclose a kind of mobile robot spot welding workstation for flexible welding line, including base, the top of the base is fixedly connected with two welding tables, the top and bottom of two The parts contained in welding table are same, the top of the base is slidably connected with spot welding robot, by conveying assembly, hydraulic oil is conveyed into piston cylinder, the hydraulic oil in piston cylinder, will push spring push rod, spring push frame one and spring push frame two move, then, by extrusion assembly, multiple extrusion plates are pushed to rotate extrusion body assembly, form multiple-point lamination, the clamping point of dispersed extrusion plate can cover the positioning area of different body, even if camber exists difference, also can be through multiple-point distribution to realize stable clamping, can adapt to multiple shapes of body assembly, effectively prevent when new vehicle model needs to be replaced, corresponding tooling needs to be replaced, to reduce replacement time, speed up welding efficiency.

Description

Technical Field

[0001] This invention relates to the field of spot welding workstation equipment technology, specifically a mobile robot spot welding workstation for flexible welding lines. Background Technology

[0002] Mobile robot spot welding workstations are a revolutionary solution that integrates spot welding robots, spot welding guns, and their controllers onto an autonomous mobile robot or AGV / AMR platform. This allows welding units to move freely within the production line, moving to the required locations to perform spot welding tasks according to production instructions. The core value lies in improving welding quality stability, production efficiency, and flexibility, and it is widely used in high-volume, high-precision welding scenarios such as automobile manufacturing.

[0003] When welding automotive body assemblies, mobile robot spot welding workstations often need to adapt to various types of car bodies for welding. During welding, the car body usually needs to be fixed. The common clamping method is to use an arc-shaped plate that adapts to the curved surface of the car body for rigid clamping. When changing to a new car model, due to the different shape of the car body, the arc-shaped plate may be difficult to adapt to different car bodies, and corresponding tooling needs to be changed, which is time-consuming, labor-intensive, and reduces welding efficiency. Summary of the Invention

[0004] To solve the above technical problems, the present invention provides a mobile robot spot welding workstation for a flexible welding line, including a base, two welding tables fixedly connected to the top of the base, the top and bottom of the two welding tables containing the same parts, a spot welding robot slidably connected to the top of the base, and a rack fixedly connected to the side wall of the base. A motor is fixedly connected to the top of the spot welding robot, and a gear is fixedly connected to the bottom of the motor's output end. The outer wall of the gear meshes with the side wall of the rack. The fixing mechanism is fixedly installed at the bottom of the welding table to provide the compressive force for fixing the car body; The clamping mechanism is fixedly mounted on the top of the welding table and is used to fix the car body. A limiting mechanism is slidably mounted on the top of the welding table to apply preload to the car body; In use, the assembled car body assembly is placed on top of the welding table. Power is provided by the fixing mechanism, which allows the clamping and limiting mechanisms to fix the car body. Then, the spot welding robot is started to spot weld the car body. During the spot welding process, the starting motor can drive the gear to rotate and mesh with the rack, allowing the spot welding robot to move.

[0005] Preferably, the fixing mechanism includes: The drive assembly is fixedly mounted at the bottom of the welding station; A conveying component is slidably disposed on the inner wall of the driving component; When the vehicle body assembly is fixed, the drive assembly is activated to move the conveying assembly, causing the conveying assembly to squeeze the liquid to flow.

[0006] Preferably, the clamping mechanism includes: The extrusion assembly is fixedly mounted on the top of the welding table by a fastener; The fasteners include four piston cylinders fixedly connected to the top of the welding table. Each of the four piston cylinders has a spring push rod slidably connected to its inner wall, and a sealing ring is fixedly connected to the outer wall of each of the four spring push rods. The bonding assembly is slidably mounted on the inner wall of the piston cylinder via a slider; The sliding component includes a retaining ring that is slidably connected to the inner wall of the piston cylinder; In this process, when the conveying component squeezes the liquid to flow, the liquid enters the squeezing component and, through the bonding component, pushes the spring push rod to move.

[0007] Preferably, the limiting mechanism includes: A lifting assembly is slidably mounted on top of the welding table; The pre-tightening component is slidably disposed on the inner wall of the lifting component; When the conveying components move, the lifting components will rise, causing the pretensioning components to move closer to the body assembly and apply a pretensioning force to the body assembly.

[0008] Preferably, the drive assembly includes a hydraulic cylinder fixedly connected to the bottom of the welding table, a hydraulic cylinder fixedly connected to the bottom of the hydraulic cylinder, and hydraulic oil disposed inside the hydraulic cylinder; The conveying assembly includes a piston block that is slidably connected to the inner wall of the hydraulic cylinder, four conveying pipes that are connected through the inner wall of the hydraulic cylinder, the top output end of the hydraulic cylinder that is fixedly connected to the bottom of the piston block, and a sealing ring 2 that is fixedly connected to the outer wall of the piston block. When clamping the vehicle body assembly, the hydraulic cylinder extends, pushing the piston block upward and squeezing the hydraulic oil in the hydraulic cylinder into the delivery pipe.

[0009] Preferably, the extrusion assembly includes three rotating plates rotatably connected to the outer wall of the spring push rod, extrusion plates rotatably connected to the inner walls of the twelve rotating plates, three hydraulic chambers opened on the inner walls of the four spring push rods, and the inner walls of the four piston cylinders communicating with the outer walls of the four conveying pipes.

[0010] Preferably, the extrusion assembly further includes a spring pusher frame 1 slidably connected to the inner wall of the hydraulic chamber, a spring pusher frame 2 slidably connected to the inner wall of each of the twelve spring pusher frames 1, a group of three sets of the twelve spring pusher frames 1, a slidably connected inner wall of each of the four piston cylinders to the outer wall of the four sets of spring pusher frames 1, a sealing ring 3 fixedly connected to the outer wall of each of the twelve spring pusher frames 1, and a sealing ring 3 fixedly connected to the outer wall of each of the twelve spring pusher frames 2; Hydraulic oil enters the piston cylinder through the delivery pipe. The hydraulic oil entering the piston cylinder pushes the spring push rod, spring push frame one, and spring push frame two to move. The spring push rod drives the rotating plate and the extrusion plate to move towards the body assembly. When the spring push rod contacts the body assembly, the spring push rod stops moving, and the hydraulic oil pushes spring push frame one and spring push frame two to continue moving. As the spring-driven frame moves continuously, it comes into contact with the rotating plate, pushing the rotating plate to rotate. This causes the extrusion plate to rotate towards the body assembly. As the rotating plate continues to rotate, the extrusion plate comes into contact with the body assembly, and the top of the extrusion plate is blocked, causing the rotating plate to stop moving. Then, hydraulic oil pushes the spring-driven frame 2 to move and contact the extrusion plate, pushing the extrusion plate to rotate and contact the curved surface of the body assembly. Through the movement of multiple spring-driven frames 1 and 2, multiple extrusion plates are pushed to rotate and extrude the body assembly, forming a multi-point fit. The clamping points of the dispersed extrusion plates can cover the positioning areas of different body parts. Even if there are differences in the curved surface, stable clamping can be achieved through multi-point distribution. It can adapt to various body assemblies and effectively prevents the need to change corresponding tooling when changing to a new model, thereby reducing changeover time and speeding up welding efficiency.

[0011] Preferably, the fitting assembly includes a second blocking ring that is slidably connected to the inner wall of the hydraulic chamber, and a first throttling hole is provided on the inner wall of each of the four first blocking rings, and a second throttling hole is provided on the inner wall of each of the twelve second blocking rings. The side walls of the four blocking rings are fixedly connected to the side walls of the four spring push rods, and the side walls of the twelve blocking rings are fixedly connected to the side walls of the twelve spring push frames. In this process, after the hydraulic oil enters the piston cylinder, it first contacts the first retaining ring. Some of the hydraulic oil enters the gap between the spring push rod and the first retaining ring through the first throttle orifice. Because the first throttle orifice is small, the hydraulic oil will generate greater resistance when entering the first throttle orifice, which will increase the thrust of the hydraulic oil on the first retaining ring, squeezing the first retaining ring and the spring push rod to move, driving the first spring push frame and the second spring push frame to move, allowing the spring push rod to accumulate rebound force until the spring push rod contacts the body assembly. After that, the spring push rod will stop moving, and the hydraulic oil will fill the gap between the spring push rod and the first retaining ring. The hydraulic oil will then come into contact with the second blocking ring. A small amount of hydraulic oil will enter the gap between the second blocking ring and the first spring pusher through the second throttle hole. The hydraulic oil will then push the first and second spring pushers to move, causing the first spring pusher to accumulate rebound force until the first spring pusher pushes the rotating plate to stop rotating. After that, the hydraulic oil will push the second spring pusher to move, causing the second spring pusher to accumulate rebound force, so that the spring pusher, the first spring pusher, and the second spring pusher move in sequence. To effectively prevent the hydraulic oil from filling the piston cylinder and causing it to squeeze the first and second spring pushers to move first, the second spring pusher will push the extrusion plate to rotate and tilt the extrusion plate. This may cause a single extrusion plate to contact the vehicle body first, after which the second spring pusher will stop moving, and the spring pusher rod will continue to be pushed by the hydraulic oil, while the second spring pusher and the second spring pusher will remain stationary. When the spring push rod moves, the second spring push frame and the first spring push frame will squeeze out the hydraulic oil in the hydraulic chamber. At this time, the piston block will continue to squeeze the hydraulic oil into the piston cylinder, which will generate two opposing forces, forming back pressure. This will cause a clamping process, increase the squeezing force of a single extrusion plate on the car body, and easily cause dents in thinner parts of the car body.

[0012] Preferably, the lifting assembly includes two push plates slidably connected to the top of the welding table, each push plate having a connecting rod at its bottom, and the top of each connecting rod near the hydraulic cylinder being fixedly connected to the bottom of the piston block. Both connecting rods are rotatably connected to the top of the side away from the hydraulic cylinder, and the inner walls of both connecting rods are rotatably connected to the bottom of the two push plates. When the piston block rises, it drives the connecting rod to move, which in turn pushes the connecting rod to rotate, causing the push plate to move towards the vehicle body.

[0013] Preferably, the pre-tightening assembly includes two spring rods slidably connected to the inner wall of the push plate, and a pre-tightening plate is fixedly connected to the side wall of each of the four spring rods; The process involves moving the pretensioning plate and spring rod. As the pretensioning plate continues to move, it comes into contact with the vehicle body. Then, as the push plate continues to move, the spring rod is compressed, accumulating rebound force and increasing the pretensioning force on the pretensioning plate and vehicle body. This restricts vehicle body movement, ensuring the vehicle body remains level and effectively preventing issues. In complex curved surfaces, the initial distance between the vehicle body and multiple spring push rods may be inconsistent. If a single spring push rod contacts the vehicle body first, the hydraulic pressure of the hydraulic oil acts on that spring push rod, potentially causing the vehicle body to tilt. This could reduce the contact area between multiple compression plates and the vehicle body, affecting clamping stability.

[0014] The present invention has the following beneficial effects: (1) When using this invention, the operator places the assembled car body assembly on the top of the welding table using a hoisting device or robotic arm. After placement, the hydraulic cylinder is extended and hydraulic oil is delivered into the piston cylinder through the conveying component. The hydraulic oil in the piston cylinder will push the spring push rod, spring push frame one and spring push frame two to move. Then, the extrusion component pushes multiple extrusion plates to rotate and extrude the car body assembly, forming a multi-point fit. The clamping points of the dispersed extrusion plates can cover the positioning areas of different car bodies. Even if there are differences in the arc surface, stable clamping can be achieved through multi-point distribution. It can adapt to car body assemblies of various shapes, effectively preventing the need to change the corresponding tooling when changing to a new car model, thereby reducing the change time and speeding up the welding efficiency.

[0015] (2) After the hydraulic oil enters the piston cylinder, the spring push rod, spring push frame one and spring push frame two move in sequence through the fitting component. This effectively prevents the hydraulic oil from filling the piston cylinder and squeezing spring push frame one and spring push frame two to move first. Spring push frame two will push the extrusion plate to rotate and then tilt the extrusion plate. This may cause a single extrusion plate to contact the car body first, and then spring push frame two will stop moving. The spring push rod will continue to be pushed by the hydraulic oil, while spring push frame two and spring push frame two are in a stationary state. When the spring push rod moves, spring push frame two and spring push frame one will squeeze out the hydraulic oil in the hydraulic chamber. At this time, the piston block will continue to squeeze the hydraulic oil into the piston cylinder, which will generate two opposing forces, forming back pressure. This will cause a clamping process, increase the extrusion force of a single extrusion plate on the car body, and easily cause dents in thinner parts of the car body.

[0016] (3) When the piston block rises, the connecting rod will move, and the connecting rod will push the connecting rod to rotate. The connecting rod will move the push plate towards the vehicle body, which will move the pre-tightening plate and the spring rod, so that the pre-tightening plate will contact the vehicle body. After that, the push plate will continue to move, which will increase the pre-tightening force on the pre-tightening plate and the vehicle body, ensuring that the vehicle body is in a horizontal state. This effectively prevents the vehicle body from being too curved. The initial distance between the vehicle body and multiple spring push rods may be inconsistent. When a single spring push rod contacts the vehicle body first, the hydraulic pressure of the hydraulic oil will act on the spring push rod that contacts the vehicle body first, which may cause the vehicle body to tilt. This may reduce the contact area between multiple extrusion plates and the vehicle body, affecting the stability of clamping.

[0017] (4) In this invention, the hydraulic oil in the piston block squeezes the hydraulic cylinder and flows into multiple piston cylinders respectively. When the blocking ring 1 and the spring push rod move, when a spring push rod contacts the car body first, the hydraulic oil in the piston cylinder will flow through the throttle hole 1. Since the throttle hole 1 is small, the hydraulic oil flow resistance is large. A large amount of hydraulic oil will concentrate into the other piston cylinders that have not contacted the car body until the other spring push rods are in contact with the car body. After that, the hydraulic oil will concentrate to push multiple spring push frame 1 and spring push frame 2 to move, ensuring that multiple extrusion plates clamp the car body at multiple points at the same time. This effectively prevents the initial distance between multiple spring push rods and the car body from being inconsistent. The spring push rod that contacts the car body first will continuously increase the extrusion force on the car body, which can easily cause excessive extrusion force on one side. Attached Figure Description

[0018] To more clearly illustrate the technical solutions of the embodiments of the present invention, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0019] Figure 1 This is a schematic diagram of the overall structure of the present invention; Figure 2 This is a schematic diagram of the base of the present invention from the left. Figure 3 This is a schematic diagram of the welding station structure of the present invention; Figure 4 This is a cross-sectional schematic diagram of the hydraulic cylinder of the present invention; Figure 5 This is a schematic cross-sectional view of the piston cylinder of the present invention from the right side. Figure 6 For the present invention Figure 5 Enlarged view of point A in the middle; Figure 7 This is a schematic diagram of the extrusion plate operation process of the present invention; Figure 8 This is a cross-sectional schematic diagram of the welding station of the present invention.

[0020] The attached diagram lists the components represented by each number as follows: In the diagram: 1. Fixing mechanism; 11. Drive assembly; 12. Conveying assembly; 13. Base; 14. Welding table; 15. Spot welding robot; 16. Rack; 17. Motor; 18. Gear; 111. Hydraulic cylinder; 112. Hydraulic cylinder; 121. Piston block; 122. Conveying pipe; 2. Clamping mechanism; 21. Extrusion assembly; 22. Adhesion assembly; 211. Piston cylinder; 212. Spring push rod; 213. Rotating plate; 214. Extrusion plate; 215. Hydraulic chamber; 216. Spring push frame one; 217. Spring push frame two; 221. Blocking ring one; 222. Throttling orifice one; 223. Blocking ring two; 224. Throttling orifice two; 3. Limiting mechanism; 31. Lifting assembly; 32. Pre-tightening assembly; 311. Push plate; 312. Connecting rod; 313. Connecting rod; 321. Pre-tightening plate; 322. Spring rod. Detailed Implementation

[0021] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0022] Example 1, please refer to Figures 1-4 The present invention is a mobile robot spot welding workstation for a flexible welding line, including a base 13, two welding stations 14 fixedly connected to the top of the base 13, the top and bottom of the two welding stations 14 contain the same parts, a spot welding robot 15 is slidably connected to the top of the base 13, and a rack 16 is fixedly connected to the side wall of the base 13. A motor 17 is fixedly connected to the top of the spot welding robot 15, and a gear 18 is fixedly connected to the bottom of the output end of the motor 17. The outer wall of the gear 18 meshes with the side wall of the rack 16. Fixing mechanism 1 is fixedly installed at the bottom of welding table 14 to provide the compressive force for fixing the vehicle body; Clamping mechanism 2 is fixedly mounted on the top of welding table 14 and is used to fix the car body; The limiting mechanism 3 is slidably disposed on the top of the welding table 14 and is used to apply pre-tightening force to the car body; In use, the assembled car body assembly is placed on top of the welding table 14. Power is provided by the fixing mechanism 1 to fix the car body by the clamping mechanism 2 and the limiting mechanism 3. Then, the spot welding robot 15 is started to spot weld the car body. During the spot welding process, the starting motor 17 can drive the gear 18 to rotate and mesh with the rack 16, so that the spot welding robot 15 can move.

[0023] Fixed mechanism 1 includes: Drive assembly 11 is fixedly mounted on the bottom of welding table 14; The conveying component 12 is slidably disposed on the inner wall of the driving component 11; When the vehicle body assembly is fixed, the drive assembly 11 is activated to push the conveying assembly 12 to move, causing the conveying assembly 12 to squeeze the liquid to flow.

[0024] Clamping mechanism 2 includes: The extrusion assembly 21 is fixedly mounted on the top of the welding table 14 by a fastener; The fasteners include four piston cylinders 211 fixedly connected to the top of the welding table 14. Spring push rods 212 are slidably connected to the inner walls of the four piston cylinders 211, and sealing rings are fixedly connected to the outer walls of the four spring push rods 212. The bonding component 22 is slidably disposed on the inner wall of the piston cylinder 211 via a sliding member; The sliding component includes a retaining ring 221 that is slidably connected to the inner wall of the piston cylinder 211; When the conveying component 12 squeezes the liquid to flow, the liquid enters the squeezing component 21 and pushes the spring push rod 212 to move through the bonding component 22.

[0025] Limiting mechanism 3 includes: Lifting assembly 31 is slidably disposed on top of welding table 14; Pre-tightening component 32 is slidably disposed on the inner wall of lifting component 31; When the conveying component 12 moves, the lifting component 31 will rise, causing the pretensioning component 32 to move closer to the body assembly and apply a pretensioning force to the body assembly.

[0026] Example 2, please refer to Figures 2-8 The present invention is a mobile robot spot welding workstation for a flexible welding line. Based on Example 1, the drive component 11 includes a hydraulic cylinder 111 fixedly connected to the bottom of the welding table 14, a hydraulic cylinder 112 fixedly connected to the bottom of the hydraulic cylinder 111, and hydraulic oil is provided inside the hydraulic cylinder 111. The conveying assembly 12 includes a piston block 121 slidably connected to the inner wall of the hydraulic cylinder 111, four conveying pipes 122 are connected through the inner wall of the hydraulic cylinder 111, the top output end of the hydraulic cylinder 112 is fixedly connected to the bottom of the piston block 121, and a sealing ring 2 is fixedly connected to the outer wall of the piston block 121. When clamping the vehicle body assembly, the hydraulic cylinder 112 extends, pushing the piston block 121 upward, squeezing the hydraulic oil in the hydraulic cylinder 111 into the delivery pipe 122.

[0027] The extrusion assembly 21 includes three rotating plates 213 rotatably connected to the outer wall of the spring push rod 212, extrusion plates 214 rotatably connected to the inner walls of the twelve rotating plates 213, three hydraulic chambers 215 opened on the inner walls of the four spring push rods 212, and the inner walls of the four piston cylinders 211 communicating with the outer walls of the four conveying pipes 122.

[0028] The extrusion assembly 21 also includes a spring pusher frame 216 that is slidably connected to the inner wall of the hydraulic chamber 215. A spring pusher frame 217 is slidably connected to the inner wall of each of the twelve spring pusher frames 216. The twelve spring pusher frames 216 are grouped in groups of three. The inner walls of the four piston cylinders 211 are slidably connected to the outer walls of the four groups of spring pusher frames 216. A sealing ring 3 is fixedly connected to the outer wall of each of the twelve spring pusher frames 216. A sealing ring 3 is fixedly connected to the outer wall of each of the twelve spring pusher frames 217. Hydraulic oil enters the piston cylinder 211 through the delivery pipe 122. The hydraulic oil entering the piston cylinder 211 pushes the spring push rod 212, the first spring push frame 216 and the second spring push frame 217 to move. The spring push rod 212 drives the rotating plate 213 and the pressing plate 214 to move towards the vehicle body assembly. When the spring push rod 212 contacts the vehicle body assembly, the spring push rod 212 stops moving, and the hydraulic oil pushes the first spring push frame 216 and the second spring push frame 217 to continue moving. As the spring-driven frame 216 continues to move, it will contact the rotating plate 213, pushing the rotating plate 213 to rotate. This will cause the pressing plate 214 to rotate towards the vehicle assembly. As the rotating plate 213 continues to rotate, the pressing plate 214 will contact the vehicle assembly, causing its top to be blocked, and the rotating plate 213 will stop moving. Then, hydraulic oil will push the spring-driven frame 217 to move and contact the pressing plate 214, pushing the pressing plate 214 to rotate, causing the pressing plate 214 to contact the curved surface of the vehicle assembly. Figure 7 As shown in the position of G, multiple spring-driven frames 216 and 217 move to push multiple extrusion plates 214 to rotate and extrude the body assembly, forming a multi-point fit. The clamping points of the dispersed extrusion plates 214 can cover the positioning areas of different body parts. Even if there are differences in the curvature, stable clamping can be achieved through multi-point distribution. It can adapt to body assemblies of various shapes, effectively preventing the need to change corresponding tooling when changing to a new model, thereby reducing changeover time and speeding up welding efficiency.

[0029] The bonding component 22 includes a second blocking ring 223 that is slidably connected to the inner wall of the hydraulic chamber 215. A throttling orifice 222 is provided on the inner wall of each of the four first blocking rings 221, and a second throttling orifice 224 is provided on the inner wall of each of the twelve second blocking rings 223. The side walls of the four blocking rings 221 are fixedly connected to the side walls of the four spring push rods 212, and the side walls of the twelve blocking rings 223 are fixedly connected to the side walls of the twelve spring push frames 216. In this process, after the hydraulic oil enters the piston cylinder 211, it first contacts the blocking ring 221. Some of the hydraulic oil enters the gap between the spring push rod 212 and the blocking ring 221 through the throttle orifice 222. Since the throttle orifice 222 is small, the hydraulic oil will generate a large resistance when entering the throttle orifice 222, which will increase the thrust of the hydraulic oil on the blocking ring 221, squeezing the blocking ring 221 and the spring push rod 212 to move, driving the spring push frame 216 and the spring push frame 217 to move, allowing the spring push rod 212 to accumulate rebound force until the spring push rod 212 contacts the body assembly. After that, the spring push rod 212 will stop moving, and the hydraulic oil will fill the gap between the spring push rod 212 and the blocking ring 221. The hydraulic oil will then come into contact with the second blocking ring 223. A small amount of hydraulic oil will enter the gap between the second blocking ring 223 and the first spring pusher 216 through the second throttle hole 224. The hydraulic oil will then push the first spring pusher 216 and the second spring pusher 217 to move, causing the first spring pusher 216 to accumulate rebound force until the first spring pusher 216 pushes the rotating plate 213 to stop rotating. After that, the hydraulic oil will push the second spring pusher 217 to move, causing the second spring pusher 217 to accumulate rebound force, so that the spring pusher 212, the first spring pusher 216 and the second spring pusher 217 move in sequence. To effectively prevent hydraulic oil from filling the piston cylinder 211 and causing it to first squeeze the spring pusher 216 and the spring pusher 217 to move, the spring pusher 217 will push the extrusion plate 214 to rotate, causing the extrusion plate 214 to tilt. This may cause a single extrusion plate 214 to contact the vehicle body first, after which the spring pusher 217 will stop moving, the spring pusher rod 212 will continue to be pushed by the hydraulic oil, and the spring pusher 217 and the spring pusher 217 will remain stationary. When the spring push rod 212 moves, the spring push frame 217 and the spring push frame 216 will squeeze out the hydraulic oil in the hydraulic chamber 215. At this time, the piston block 121 will continuously squeeze the hydraulic oil into the piston cylinder 211, which will generate two opposing forces, forming back pressure. This will cause a clamping process, increasing the squeezing force of the single extrusion plate 214 on the car body, which may easily cause dents in the thinner parts of the car body.

[0030] The lifting assembly 31 includes two push plates 311 that are slidably connected to the top of the welding table 14. Each of the two push plates 311 has a connecting rod 312 at its bottom. The top of each connecting rod 312 near the hydraulic cylinder 112 is fixedly connected to the bottom of the piston block 121. The top of each of the two connecting rods 312, on the side away from the hydraulic cylinder 112, is rotatably connected to a connecting rod 313, and the inner wall of each of the two connecting rods 313 is rotatably connected to the bottom of the two push plates 311. When the piston block 121 rises, it will drive the connecting rod 312 to move. The connecting rod 312 will push the connecting rod 313 to rotate, and the push plate 311 will move towards the vehicle body through the connecting rod 313.

[0031] The pretensioning assembly 32 includes two spring rods 322 that are slidably connected to the inner wall of the push plate 311, and a pretensioning plate 321 is fixedly connected to the side wall of each of the four spring rods 322; The movement of the pretension plate 321 and spring rod 322 causes the pretension plate 321 to contact the vehicle body. As the pretension plate 321 continues to move, it comes into contact with the vehicle body. Then, the push plate 311 continues to move, which compresses the spring rod 322, causing it to accumulate rebound force and increase the pretension force on the pretension plate 321 and the vehicle body. This restricts the movement of the vehicle body and ensures that the vehicle body is in a horizontal state. This effectively prevents the vehicle body from tilting if the surface of the vehicle body is complex and the initial distance between the vehicle body and multiple spring push rods 212 is inconsistent. If a single spring push rod 212 contacts the vehicle body first, the hydraulic pressure of the hydraulic oil will act on the spring push rod 212 that contacts the vehicle body first, which may reduce the contact area between multiple extrusion plates 214 and the vehicle body, affecting the stability of the clamping.

[0032] The number of the above components is not limited. Those skilled in the art can set it freely according to actual needs, as long as the above components are installed at the corresponding component connection positions.

[0033] A specific application of this embodiment is as follows: When using this invention, the operator places the assembled car body assembly on the top of the welding table 14 using a hoisting device or a robotic arm. After placement, the hydraulic cylinder 112 is extended, pushing the piston block 121 upward, squeezing the hydraulic oil in the hydraulic cylinder 111 into the delivery pipe 122. The hydraulic oil then enters the piston cylinder 211 through the delivery pipe 122. The hydraulic oil entering the piston cylinder 211 pushes the spring push rod 212, the first spring push frame 216, and the second spring push frame 217 to move. The spring push rod 212 drives the rotating plate 213 and the extrusion plate 214 to move towards the car body assembly. When the spring push rod 212 contacts the car body assembly, the spring push rod 212 stops moving, and the hydraulic oil pushes the first spring push frame 216 and the second spring push frame 217 to continue moving. As the spring-driven frame 216 continues to move, it will contact the rotating plate 213, pushing the rotating plate 213 to rotate. This will cause the pressing plate 214 to rotate towards the vehicle assembly. As the rotating plate 213 continues to rotate, the pressing plate 214 will contact the vehicle assembly, causing its top to be blocked, and the rotating plate 213 will stop moving. Then, hydraulic oil will push the spring-driven frame 217 to move and contact the pressing plate 214, pushing the pressing plate 214 to rotate, causing the pressing plate 214 to contact the curved surface of the vehicle assembly. Figure 7 As shown in the position of G, multiple spring-driven frames 1 216 and 217 move to push multiple extrusion plates 214 to rotate and extrude the body assembly, forming multi-point contact. The clamping points of the dispersed extrusion plates 214 can cover the positioning areas of different body parts. Even if there are differences in the curvature, stable clamping can be achieved through multi-point distribution. It can adapt to body assemblies of various shapes, effectively preventing the need to change the corresponding tooling when changing to a new model, thereby reducing changeover time and speeding up welding efficiency. After the body assembly is fixed, the spot welding robot 15 is started to spot weld the body assembly. During the spot welding process, the starting motor 17 can drive the gear 18 to rotate and mesh with the rack 16, allowing the spot welding robot 15 to slide on the top of the base 13 and change the welding position of the spot welding robot 15. Secondly, after the hydraulic oil enters the piston cylinder 211, it will first contact the blocking ring 221. Some of the hydraulic oil will enter the gap between the spring push rod 212 and the blocking ring 221 through the throttle orifice 222. Since the throttle orifice 222 is small, the hydraulic oil will generate a large resistance when entering the throttle orifice 222, which will increase the thrust of the hydraulic oil on the blocking ring 221, squeeze the blocking ring 221 and the spring push rod 212 to move, drive the spring push frame 216 and the spring push frame 217 to move, and allow the spring push rod 212 to accumulate rebound force until the spring push rod 212 contacts the body assembly. After that, the spring push rod 212 will stop moving, and the hydraulic oil will fill the gap between the spring push rod 212 and the blocking ring 221. The hydraulic oil will then come into contact with the second blocking ring 223. A small amount of hydraulic oil will enter the gap between the second blocking ring 223 and the first spring pusher 216 through the second throttle hole 224. The hydraulic oil will then push the first spring pusher 216 and the second spring pusher 217 to move, causing the first spring pusher 216 to accumulate rebound force until the first spring pusher 216 pushes the rotating plate 213 to stop rotating. After that, the hydraulic oil will push the second spring pusher 217 to move, causing the second spring pusher 217 to accumulate rebound force, so that the spring pusher 212, the first spring pusher 216 and the second spring pusher 217 move in sequence. To effectively prevent hydraulic oil from filling the piston cylinder 211 and causing it to first squeeze the spring pusher 216 and the spring pusher 217 to move, the spring pusher 217 will push the extrusion plate 214 to rotate, causing the extrusion plate 214 to tilt. This may cause a single extrusion plate 214 to contact the vehicle body first, after which the spring pusher 217 will stop moving, the spring pusher rod 212 will continue to be pushed by the hydraulic oil, and the spring pusher 217 and the spring pusher 217 will remain stationary. When the spring push rod 212 moves, the spring push frame 217 and the spring push frame 216 will squeeze out the hydraulic oil in the hydraulic chamber 215. At this time, the piston block 121 will continuously squeeze the hydraulic oil into the piston cylinder 211, which will generate two opposing forces, forming back pressure. This will cause a clamping process, increasing the squeezing force of the single extrusion plate 214 on the car body, which may easily cause dents in the thinner parts of the car body. Secondly, when the piston block 121 rises, it will drive the connecting rod 312 to move. The connecting rod 312 will push the connecting rod 313 to rotate. Through the connecting rod 313, the push plate 311 will move towards the vehicle body, driving the pre-tightening plate 321 and the spring rod 322 to move. As the pre-tightening plate 321 continues to move, it will contact the vehicle body. After that, the push plate 311 will continue to move, which will cause the spring rod 322 to be squeezed, so that the spring rod 322 accumulates rebound force, increasing the pre-tightening force on the pre-tightening plate 321 and the vehicle body, restricting the movement of the vehicle body, ensuring that the vehicle body is in a horizontal state, and effectively preventing the complex curvature of the vehicle body. The initial distance between the vehicle body and multiple spring push rods 212 may be inconsistent. When a single spring push rod 212 contacts the vehicle body first, the hydraulic pressure of the hydraulic oil acts on the spring push rod 212 that contacts the vehicle body first, which may easily push the vehicle body to tilt. This may reduce the contact area between multiple extrusion plates 214 and the vehicle body, affecting the stability of clamping. Secondly, when the hydraulic oil in the hydraulic cylinder 111 is squeezed by the piston block 121 flows into multiple piston cylinders 211 and pushes the blocking ring 221 and the spring push rod 212 to move, when one spring push rod 212 contacts the vehicle body first, the hydraulic oil in that piston cylinder 211 will flow through the throttle orifice 222. Since the throttle orifice 222 is small, the hydraulic oil flow resistance is large, and a large amount of hydraulic oil will concentrate in the remaining piston cylinders 211 that are not in contact with the vehicle body until the remaining spring push rods 212 are in contact with the vehicle body. After that, the hydraulic oil will concentrate to push multiple spring push frames 216 and 217 to move, ensuring that multiple extrusion plates 214 clamp the vehicle body at multiple points at the same time, effectively preventing the initial distance between multiple spring push rods 212 and the vehicle body from being inconsistent. The spring push rod 212 that contacts the vehicle body first will continuously increase the extrusion force on the vehicle body, which can easily cause excessive extrusion force on one side.

[0034] The preferred embodiments of the present invention disclosed above are merely illustrative of the invention. These preferred embodiments do not exhaustively describe all details, nor do they limit the invention to the specific implementations described. Clearly, many modifications and variations can be made based on the content of this specification. This specification selects and specifically describes these embodiments to better explain the principles and practical applications of the invention, thereby enabling those skilled in the art to better understand and utilize the invention. The invention is limited only by the claims and their full scope and equivalents.

Claims

1. A mobile robot spot welding workstation for a flexible welding line, comprising a base (13), two welding stations (14) fixedly connected to the top of the base (13), the top and bottom of the two welding stations (14) containing the same parts, a spot welding robot (15) slidably connected to the top of the base (13), and a rack (16) fixedly connected to the side wall of the base (13). The spot welding robot (15) has a motor (17) fixedly connected to its top, and a gear (18) fixedly connected to the bottom of the output end of the motor (17). The outer wall of the gear (18) meshes with the side wall of the rack (16). The feature is that... Also includes: Fixing mechanism (1), which is fixedly installed at the bottom of welding table (14) to provide the extrusion force for fixing the vehicle body; Clamping mechanism (2), which is fixedly installed on the top of welding table (14) for fixing the car body; The limiting mechanism (3) is slidably disposed on the top of the welding table (14) for applying pre-tightening force to the vehicle body; When in use, the assembled car body assembly is placed on top of the welding table (14). Power is provided by the fixing mechanism (1) to fix the car body by the clamping mechanism (2) and the limiting mechanism (3). Then, the spot welding robot (15) is started to spot weld the car body. During the spot welding process, the starting motor (17) can drive the gear (18) to rotate and mesh with the rack (16) to move the spot welding robot (15).

2. The mobile robot spot welding workstation for a flexible welding line according to claim 1, characterized in that: The fixing mechanism (1) includes: A drive assembly (11) is fixedly disposed at the bottom of the welding table (14); A conveying assembly (12) is slidably disposed on the inner wall of the driving assembly (11); When the vehicle body assembly is fixed, the drive assembly (11) is activated to push the conveying assembly (12) to move, so that the conveying assembly (12) squeezes the liquid to make it flow.

3. A mobile robot spot welding workstation for a flexible welding line according to claim 1, characterized in that: The clamping mechanism (2) includes: An extrusion assembly (21) is fixedly mounted on the top of the welding table (14) by means of a fastener; The fasteners include four piston cylinders (211) fixedly connected to the top of the welding table (14), and spring push rods (212) are slidably connected to the inner walls of the four piston cylinders (211). Adhesion assembly (22), which is slidably disposed on the inner wall of piston cylinder (211) via a sliding member; The sliding component includes a blocking ring (221) that is slidably connected to the inner wall of the piston cylinder (211). When the conveying component (12) squeezes the liquid to flow, the liquid enters the squeezing component (21) and pushes the spring push rod (212) to move through the bonding component (22).

4. A mobile robot spot welding workstation for a flexible welding line according to claim 1, characterized in that: The limiting mechanism (3) includes: A lifting assembly (31) is slidably disposed on top of the welding table (14); A pre-tightening assembly (32) is slidably disposed on the inner wall of the lifting assembly (31); When the conveying component (12) moves, the lifting component (31) will rise, causing the pretensioning component (32) to move closer to the body assembly and apply a pretensioning force to the body assembly.

5. A mobile robot spot welding workstation for a flexible welding line according to claim 2, characterized in that: The drive assembly (11) includes a hydraulic cylinder (111) fixedly connected to the bottom of the welding table (14), and a hydraulic cylinder (112) is fixedly connected to the bottom of the hydraulic cylinder (111). Hydraulic oil is provided inside the hydraulic cylinder (111). The conveying assembly (12) includes a piston block (121) slidably connected to the inner wall of the hydraulic cylinder (111), and four conveying pipes (122) are connected through the inner wall of the hydraulic cylinder (111). The top output end of the hydraulic cylinder (112) is fixedly connected to the bottom of the piston block (121). When clamping the body assembly, the hydraulic cylinder (112) is extended by starting, pushing the piston block (121) to rise, squeezing the hydraulic oil in the hydraulic cylinder (111) into the delivery pipe (122).

6. A mobile robot spot welding workstation for a flexible welding line according to claim 3, characterized in that: The extrusion assembly (21) includes three rotating plates (213) rotatably connected to the outer wall of the spring push rod (212), and extrusion plates (214) rotatably connected to the inner walls of the twelve rotating plates (213). Three hydraulic chambers (215) are opened on the inner walls of the four spring push rods (212), and the inner walls of the four piston cylinders (211) are connected to the outer walls of the four conveying pipes (122).

7. A mobile robot spot welding workstation for a flexible welding line according to claim 6, characterized in that: The extrusion assembly (21) also includes a spring pusher frame (216) slidably connected to the inner wall of the hydraulic chamber (215), and a spring pusher frame (217) slidably connected to the inner wall of each of the twelve spring pusher frames (216). The twelve spring pusher frames (216) are grouped in groups of three, and the inner walls of the four piston cylinders (211) are slidably connected to the outer walls of the four groups of spring pusher frames (216). Hydraulic oil entering the delivery pipe (122) will enter the piston cylinder (211), and the hydraulic oil will push the spring push rod (212), spring push frame one (216) and spring push frame two (217) to move towards the body assembly. The spring push rod (212) will drive the rotating plate (213) and the extrusion plate (214) to move and extrude the body assembly.

8. A mobile robot spot welding workstation for a flexible welding line according to claim 6, characterized in that: The bonding component (22) includes a second blocking ring (223) that is slidably connected to the inner wall of the hydraulic chamber (215). A throttling hole (222) is provided on the inner wall of each of the four first blocking rings (221), and a throttling hole (224) is provided on the inner wall of each of the twelve second blocking rings (223). The side walls of the four blocking rings (221) are fixedly connected to the side walls of the four spring push rods (212), and the side walls of the twelve blocking rings (223) are fixedly connected to the side walls of the twelve spring push frames (216). When the hydraulic oil enters the piston cylinder (211), it will push the spring push rod (212) to move through the first blocking ring (221). When the spring push rod (212) stops moving, the hydraulic oil will push the spring push frame (216) to move through the second blocking ring (223).

9. A mobile robot spot welding workstation for a flexible welding line according to claim 4, characterized in that: The lifting assembly (31) includes two push plates (311) slidably connected to the top of the welding table (14). The bottom of each of the two push plates (311) is provided with a connecting rod (312). The top of each of the two connecting rods (312) near the hydraulic cylinder (112) is fixedly connected to the bottom of the piston block (121). The top of each of the two connecting rods (312) away from the hydraulic cylinder (112) is rotatably connected to a connecting rod (313), and the inner wall of each of the two connecting rods (313) is rotatably connected to the bottom of the two push plates (311). When the piston block (121) moves, it will drive the connecting rod (312) to move. The connecting rod (312) will push the connecting rod (313) to rotate, and the push plate (311) will move towards the vehicle body assembly through the connecting rod (313).

10. A mobile robot spot welding workstation for a flexible welding line according to claim 9, characterized in that: The pretensioning assembly (32) includes two spring rods (322) slidably connected to the inner wall of the push plate (311), and a pretensioning plate (321) is fixedly connected to the side wall of each of the four spring rods (322). When the push plate (311) moves, it will drive the pretension plate (321) and the spring rod (322) to move, so that the pretension plate (321) contacts the body assembly. Then, the push plate (311) continues to move, which will increase the pretension force of the spring rod (322) on the body.

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