Movable water and fertilizer integrated machine and assembling device thereof

Abstract

The application discloses a kind of water and fertilizer integrated machine's assembling device and mobile water and fertilizer integrated machine, belong to agricultural machinery manufacturing field, including support seat, telescopic feeding mechanism being installed in the front side of support seat and swing feeding mechanism being installed in telescopic feeding mechanism.The front side of telescopic feeding mechanism is equipped with the clamping part one for clamping the main part in support bracket, one end of swing feeding mechanism is rotatably installed in the back side of first push plate in telescopic feeding mechanism, and the other end is equipped with the clamping part two for clamping side arm part in support bracket.In the application, when support seat advances to equipment box, main part is first contacted and positioned with positioning shoulder, second push plate continues to close first push plate and drives telescopic component to fold, swing arm is driven to swing from outside to inside by connecting plate and pin shaft, so that side arm part is attached with positioning boss on both sides of pipeline, synchronous positioning of three welding points is realized, and assembly efficiency is improved.

Description

Technical Field

[0001] This invention relates to the field of agricultural machinery manufacturing technology, and more specifically, to a device for automated welding and assembly of support components in an integrated water and fertilizer machine, and an integrated water and fertilizer machine manufactured using the device. Background Technology

[0002] The integrated water and fertilizer machine is an important agricultural piece of equipment for achieving precision irrigation and fertilization. Its rear housing typically houses pipes for connecting external pipelines, as well as a support frame for supporting the pipes and mounting other components. This support frame generally consists of a horizontally positioned main body and side arms located on either side of the main body. During assembly, the main body and side arms need to be welded and secured to the positioning shoulders on the rear of the equipment housing and the positioning bosses on the sidewalls of the pipes, respectively.

[0003] However, because the bracket has three independent welding points (one on the main body and one on each of the two side arms), and the side arms can rotate around their connection points before being fixed, it results in many degrees of freedom in positioning and makes assembly difficult. Traditional welding methods typically employ a step-by-step positioning and welding process, that is, welding the main body first, and then positioning and welding the two side arms separately. This method is not only cumbersome and inefficient, but also prone to introducing positioning errors due to multiple clamping, affecting the overall form and position tolerances of the bracket and the reliability of the pipeline connection. In addition, it requires a high degree of manual intervention and is difficult to adapt to the needs of mass automated production. Therefore, there is an urgent need for an assembly device that can achieve one-time positioning and synchronous welding of all components of the bracket. Summary of the Invention

[0004] The present invention aims to provide an assembly device and a water and fertilizer integrated machine to solve the problems of cumbersome process, low efficiency and accumulation of positioning errors caused by the independent positioning of multiple welding points in the existing bracket assembly process.

[0005] To achieve the above objectives, the present invention provides the following technical solution:

[0006] An assembly device for an integrated water and fertilizer machine includes a support base, a telescopic feeding mechanism installed on the front side of the support base, and a swing feeding mechanism installed in the telescopic feeding mechanism.

[0007] The front side of the telescopic feeding mechanism is provided with a clamping part for placing the main body of the bracket to be welded.

[0008] One end of the swing-type feeding mechanism is rotatably mounted on the back side of the first push plate in the telescopic feeding mechanism, and the other end of the swing-type feeding mechanism is provided with a clamping part two for placing the side arm of the bracket to be welded.

[0009] Furthermore, the telescopic feeding mechanism includes:

[0010] A first push plate and a second push plate arranged in parallel front to back;

[0011] An elastic guide is installed between the first push plate and the second push plate, the elastic guide being used to provide guiding and resetting driving force for the extension and retraction of the first push plate and the second push plate;

[0012] Two sets of telescopic components are symmetrically installed between the first push plate and the second push plate. The two sets of telescopic components are respectively connected to two swing-type feeding mechanisms and are used to drive the swing-type feeding mechanisms to rotate along the rotation axis of the side arm.

[0013] Furthermore, the elastic guide includes at least two guide posts, one end of which is fixed to the back side of the first push plate, and the other end of which passes through the second push plate and is connected to a limit nut.

[0014] A reset spring is fitted on the guide post located between the first push plate and the second push plate to drive the first push plate and the second push plate to separate and reset.

[0015] Furthermore, each set of the telescopic components includes at least two sets of telescopic members arranged vertically;

[0016] The telescopic component includes a first rod and a second rod. One end of the first rod and the second rod are connected by a connecting rod and can rotate relative to each other. The other ends of the first rod and the second rod are respectively hinged to corresponding supports to form a "V"-shaped telescopic component. The supports are respectively installed on the first push plate and the second push plate.

[0017] The lower end of the connecting rod is fixed with a connecting plate, and the connecting plate is provided with a vertical elongated hole.

[0018] Furthermore, the swing-type feeding mechanism includes a swing arm and a pin that mounts the back of the swing arm;

[0019] The upper end of the swing arm is rotatably mounted on the back side of the first push plate, and the pin is located at the lower end of the swing arm. The pin passes through the elongated hole and is limited by a nut.

[0020] Furthermore, the second clamping part includes a second clamping seat and an elastic pad located inside the second clamping seat; the second clamping seat is mounted on one side of the lower end of the swing arm by means of a connecting block.

[0021] Furthermore, the clamping part includes two clamping plates arranged vertically, and the distance between the clamping plates is not less than the thickness of the main body.

[0022] Furthermore, the front side of the first push plate located between the clamping plates is provided with a positioning rib that cooperates with the positioning groove located on the back side of the main body and is used for positioning the main body.

[0023] Furthermore, the positioning rib is in the shape of a triangular prism.

[0024] The present invention also provides a mobile fertigation machine, including a mobile chassis, an equipment box mounted on the upper part of the mobile chassis, and a support mounted on the rear side of the equipment box. The support includes a horizontally arranged main body and side arms disposed on both sides of the main body. The main body and the side arms are respectively welded and fixed to the pipes and positioning shoulders on the rear side of the equipment box. The fertigation machine is manufactured using the assembly device described in any of the above claims.

[0025] Compared with the prior art, the beneficial effects of the present invention are as follows:

[0026] 1. This invention achieves synchronous positioning and clamping of the main body of the support frame and the two side arms through the cooperation of a telescopic feeding mechanism and a swing feeding mechanism. When the robotic arm drives the support base to move towards the equipment box, the telescopic component, due to the positional change caused by the advancement of the second push plate, synchronously drives the two side arms to swing inward from their extended state, thereby simultaneously pushing the two side arms to contact the positioning bosses on the pipe sidewall. Throughout the process, the main body and the two side arms complete precise positioning under the same driving action, eliminating the need for step-by-step clamping and adjustments, significantly shortening the assembly cycle.

[0027] 2. This invention achieves foolproof and precise positioning of the main body within the clamping part one by setting a triangular prism-shaped positioning rib on the front side of the first push plate that cooperates with the positioning groove on the back side of the main body. Simultaneously, the elastic pad set on the inner side of the clamping part two provides stable clamping force and compensates for minor positional deviations of the side arm during swinging, ensuring a tight fit between the side arm and the positioning boss. This device features precise mechanical limits and guides throughout the entire process from clamping and positioning to pushing, effectively eliminating random errors caused by manual positioning and ensuring consistent welding quality for batch products. Attached Figure Description

[0028] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the accompanying drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are merely some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without any creative effort.

[0029] Figure 1 This is a schematic diagram illustrating the operation of the present invention;

[0030] Figure 2 for Figure 1 The main view;

[0031] Figure 3 for Figure 1 Side view;

[0032] Figure 4 This is a schematic diagram of the structure of the present invention;

[0033] Figure 5 for Figure 4 Detailed view of part A in the middle;

[0034] Figure 6 This is a schematic diagram of the main body and the first push plate portion of the present invention.

[0035] Figure 7 for Figure 6 Detailed view of section B in the middle;

[0036] Figure 8 This is a front view of the integrated water and fertilizer machine of the present invention;

[0037] Figure 9 This is a schematic diagram of the integrated water and fertilizer machine of the present invention.

[0038] The above figures include the following reference numerals:

[0039] 1-Support base;

[0040] 2-Telescopic feeding mechanism; 21-First push plate; 211-Positioning rib; 22-Second push plate; 23-Elastic guide; 231-Guide post; 232-Limit nut; 233-Reset spring; 24-Telescopic assembly; 241-First rod; 242-Second rod; 243-Connecting rod; 244-Connecting plate; 245-Elongated hole; 246-Support;

[0041] 3-Swing feeding mechanism; 31-Swing arm; 32-Pin; 33-Connecting block;

[0042] 4-Clamping part one; 41-Clamping plate;

[0043] 5-Clamping part two; 51-Clamping seat two; 52-Elastic pad;

[0044] 6-Main body; 61-Positioning groove;

[0045] 7-Side arm;

[0046] 8-Equipment box; 81-Positioning shoulder; 82-Pipe; 83-Flange; 84-Positioning boss. Detailed Implementation

[0047] 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.

[0048] The core concept of this invention is: by using the same axial movement of the robotic arm to drive the assembly device to advance towards the equipment box 8, and through the relative displacement of the first push plate 21 and the second push plate 22 in the telescopic feeding mechanism 2, the swing feeding mechanism 3 is driven to swing the side arm 7 from the unfolded avoidance posture to the closed welding posture, thereby realizing the precise timing control of the main body 6 and the two side arms 7 to complete the lateral positioning and side positioning in the same continuous pushing action.

[0049] Specifically, the above-mentioned technical concept is realized through the following method: First, a clamping part 4 is set on the front side of the telescopic feeding mechanism 2 to pre-position the main body 6, and a clamping part 5 is set at the end of the swing feeding mechanism 3 on both sides to pre-clamp the side arm 7. In the initial state, the side arm 7 is in an outwardly extended posture to avoid the flange 83 at the end of the pipe 82. When the robotic arm drives the support base 1 and the entire device to advance towards the equipment box 8, the clamping part 4 drives the main body 6 to contact the positioning shoulder 81 on the rear side of the equipment box 8 and stop advancing; while the second push plate 22, because it is rigidly connected to the support base 1, continues to move towards the first push plate 21 under the continuous pushing force of the robotic arm, compressing the return spring 233 and driving the telescopic component 24 to fold and deform. The folding deformation is converted into horizontal movement of the connecting rod 243, which is transmitted to the connecting plate 244. The elongated hole 245 on the connecting plate 244 then drives the swing arm 31 to swing from the outside to the inside around its upper hinge axis via the pin 32, ultimately causing the side arm 7 in the clamping part 5 to contact and press against the positioning bosses 84 on both sides of the pipe 82. At this point, the main body 6 and the two side arms 7 have completed the positioning of all three welding points in the same continuous advancing action, and welding operations can be performed directly. After welding is completed, the robotic arm retracts, the return spring 233 releases its elastic potential energy, and drives each component to reset in the reverse order, entering the next working cycle.

[0050] Please refer to Figures 1 to 3 This invention provides an assembly device for an integrated water and fertilizer machine. This device is mainly used for precise positioning and clamping of the main body 6 and two side arms 7 of the bracket to the positioning shoulder 81 and the positioning boss 84 on the side wall of the pipe 82 on the rear side of the equipment box 8 of the integrated water and fertilizer machine before welding. The assembly device comprises three parts: a support base 1 serving as the mounting foundation, a telescopic feeding mechanism 2 installed on the front side of the support base 1, and a swing feeding mechanism 3 installed in the telescopic feeding mechanism 2.

[0051] The support base 1 is used to connect to an external robotic arm (such as a six-axis industrial robot or a gantry-type manipulator) to drive the entire device to perform spatial movements such as translation and lifting. The support base 1 can be made of high-strength aluminum alloy or welded steel, and its back side (i.e., Figure 1The right side of the support base (in the image) is used for quick connection to the end effector of the robotic arm. To reduce weight and ensure rigidity, several weight-reducing holes or reinforcing ribs can be provided on the support base 1.

[0052] The telescopic feeding mechanism 2, serving as the "skeleton" of the entire device, has a dual function: first, its front clamping part 4 directly clamps the main body 6; second, its internal telescopic component 24 converts its lateral telescopic motion into the rotational driving force of the swing feeding mechanism 3. The entire telescopic feeding mechanism 2 can move in the front-back direction (i.e., towards or away from the equipment box 8) under the drive of the robotic arm.

[0053] The oscillating feeding mechanisms 3 are arranged in pairs (symmetrically arranged left and right), located on the left and right sides of the telescopic feeding mechanism 2, respectively. The rear end of each oscillating feeding mechanism 3 (i.e., the end closest to the equipment box 8) is rotatably mounted on the back side of the first push plate 21 in the telescopic feeding mechanism 2, and its front end is provided with a clamping part 2 5 for clamping the side arm 7. The oscillating feeding mechanism 3 can swing around its rotation axis under the drive of the telescopic assembly 24, thereby driving the side arm 7 to switch between the "extended state" and the "closed state".

[0054] Reference Figures 1 to 7 The telescopic feeding mechanism 2 mainly includes a first push plate 21, a second push plate 22, an elastic guide 23, and two sets of telescopic components 24. For ease of description, "front" is defined as the direction closer to the equipment box 8, and "rear" is the direction farther away from the equipment box 8.

[0055] Both the first push plate 21 and the second push plate 22 are rectangular flat structures, arranged parallel to each other front to back, with the first push plate 21 located in front of the second push plate 22. The front side (front face) of the first push plate 21 has a clamping part 4 for placing the main body 6; the rear side (back face) of the first push plate 21 serves as the mounting base for the swing-type feeding mechanism 3 and as the mounting surface for part of the support 246 in the telescopic assembly 24. The second push plate 22 mainly provides support for the elastic guide 23 and serves as the mounting surface for another part of the support 246 in the telescopic assembly 24.

[0056] Reference Figure 1 and Figure 7The elastic guide 23 includes two guide posts 231 (symmetrically arranged on the left and right sides in this embodiment, but can also be four or more). One end (front end) of each guide post 231 is fixed to the back side of the first push plate 21 by bolts or welding, and the other end (rear end) of the guide post 231 passes through the corresponding guide through hole on the second push plate 22 and extends to the rear of the second push plate 22. At the rear end of the guide post 231, a limit nut 232 is threadedly connected. The outer diameter of the limit nut 232 is larger than the inner diameter of the guide through hole, thereby limiting the maximum distance that the second push plate 22 can move backward relative to the first push plate 21, that is, limiting the maximum opening gap between the two.

[0057] A return spring 233 is fitted onto the guide post 231 located between the first push plate 21 and the second push plate 22. The return spring 233 is a cylindrical helical compression spring, with its front end abutting against the back side of the first push plate 21 and its rear end abutting against the front side of the second push plate 22. The return spring 233 is always in a compressed state, and its elastic force is used to push the first push plate 21 and the second push plate 22 away from each other, that is, it always has a tendency to separate them and return them to the maximum distance. The initial preload of the return spring 233 must be greater than the no-load resistance of the telescopic assembly 24 and the swing-type feeding mechanism 3 to ensure that the first push plate 21 and the second push plate 22 can remain in the maximum open position when not subjected to external thrust.

[0058] In this embodiment, the telescopic components 24 are configured in two sets, symmetrically installed between the first push plate 21 and the second push plate 22, corresponding to the left and right swing-type feeding mechanisms 3 respectively. Each set of telescopic components 24 includes at least two telescopic members arranged in the vertical direction (two in this embodiment, located at the upper and lower parts respectively). The advantage of this arrangement is that the two telescopic members act simultaneously on the same swing-type feeding mechanism 3, providing a balanced and symmetrical driving force.

[0059] Reference Figure 4 Each telescopic component includes a first rod 241 and a second rod 242. Both the first rod 241 and the second rod 242 are flat connecting rods, formed by stamping carbon structural steel. One end of the first rod 241 and the second rod 242 (i.e., the ends that are close to each other) is rotatably connected by a connecting rod 243. Specifically, the connecting rod 243 passes through through holes opened at the ends of the first rod 241 and the second rod 242, allowing the first rod 241 and the second rod 242 to rotate relative to each other around the connecting rod 243. A cotter pin or a retaining spring may be provided at the upper end of the connecting rod 243 to prevent axial movement.

[0060] The other end of the first rod 241 (i.e., the end furthest from the connecting rod 243) is hinged to a support 246 fixed to the back of the first push plate 21, and the other end of the second rod 242 is hinged to a support 246 fixed to the front of the second push plate 22. The projection positions of the two supports 246 in the front-rear direction are offset by a certain distance, so that when the first push plate 21 and the second push plate 22 are at their maximum distance, a large angle (approximately 120°~150°) is formed between the first rod 241 and the second rod 242, that is, the telescopic member is in a "nearly straight" contracted state; when the first push plate 21 and the second push plate 22 are close to each other, the angle between the first rod 241 and the second rod 242 decreases (it can decrease to below 60°), that is, the telescopic member is in a "folded" unfolded state. The entire telescopic member, viewed from the side, resembles a "V" shape, and its opening and closing angle changes with the distance between the first push plate 21 and the second push plate 22.

[0061] A connecting plate 244 is fixedly connected to the lower end of the connecting rod 243 (i.e., the portion extending beyond the lower end faces of the first rod 241 and the second rod 242). The connecting plate 244 is a vertically arranged elongated metal plate, which can be fixed to the connecting rod 243 by welding. A vertically extending elongated hole 245 is provided on the connecting plate 244. The width of the elongated hole 245 is greater than the outer diameter of the pin 32 described below, and the length is set according to the required swing angle range of the swing arm 31. The function of the elongated hole 245 is to convert the "folding / unfolding" motion of the telescopic component into a pushing and pulling drive for the lower end of the swing arm 31.

[0062] When the telescopic assembly 24 is in the "nearly straight" state, the connecting plate 244 is located relatively far from the center of the first push plate 21 (i.e., on the outside). At this time, the swing arm 31 is driven to open outward through the pin 32, and the side arm 7 is in the unfolded state. When the telescopic assembly 24 is in the "folded" state, the connecting rod 243 and the connecting plate 244 move towards the center of the first push plate 21 (i.e., on the inside). The lower end of the swing arm 31 is pulled towards the center through the pin 32, thereby driving the side arm 7 to swing towards the pipe 82 to achieve closure.

[0063] Reference Figures 2 to 4 The swing-type feeding mechanism 3 mainly includes a swing arm 31, a pin 32, and a connecting block 33.

[0064] The swing arm 31 is a long, rod-shaped component with a rectangular or I-shaped cross-section. The upper end of the swing arm 31 (i.e., the upper part near the first push plate 21) is rotatably mounted to the back of the first push plate 21 via a hinge shaft. The axis of this hinge shaft is perpendicular to the vertical plane (i.e., along the horizontal direction), allowing the swing arm 31 to swing left and right within the vertical plane. To reduce swing resistance, a needle roller bearing or a self-lubricating copper bushing can be installed at the hinge shaft.

[0065] The pin 32 is fixedly installed on the back side of the swing arm 31 (i.e., the side away from the clamping part 5), and its position is close to the lower end of the swing arm 31. The axis of the pin 32 is also arranged in the horizontal direction. The pin 32 passes through the elongated hole 245 opened on the connecting plate 244, and the end (rear end) of the pin 32 is axially limited by a nut or cotter pin to prevent the pin 32 from coming out of the elongated hole 245. The pin 32 and the elongated hole 245 are clearance fit, allowing the pin 32 to slide freely vertically within the elongated hole 245.

[0066] When the connecting rod 243 and connecting plate 244 in the telescopic assembly 24 move in the front-to-back direction, the pin 32 is subjected to the pushing and pulling force of the side wall of the elongated hole 245, which in turn drives the swing arm 31 to rotate around the hinge axis at its upper end. Since the length of the swing arm 31 is fixed, the swing amplitude of its lower end (i.e., the end where the pin 32 is located) determines the range of movement of the side arm 7. By reasonably designing the length of the swing arm 31 and the stroke of the telescopic assembly 24, the swing angle of the side arm 7 from unfolding to closing can be precisely controlled.

[0067] A clamping part 5 is fixedly installed on one side of the lower end of the swing arm 31 via a connecting block 33. One end of the connecting block 33 is fixed to the side of the swing arm 31 by bolts, and the other end extends forward to install the clamping seat 51.

[0068] In this embodiment, the clamping part 4 includes two clamping plates 41 arranged vertically opposite each other, both clamping plates 41 being fixed to the front side of the first push plate 21. The distance between the two clamping plates 41 is not less than the thickness of the main body 6 (usually slightly greater than the thickness of the main body 6 by 0.5~1mm), so that the main body 6 can be easily inserted without being too loose. The clamping plates 41 can be made of spring steel plates, having a certain elastic clamping force. More preferably, rubber pads or polyurethane pads can be attached to the inner surfaces of the two clamping plates 41 to increase friction and prevent scratching the surface of the main body 6.

[0069] A positioning rib 211 is fixedly provided on the front side of the first push plate 21 located between the upper and lower clamping plates 41. Correspondingly, a positioning groove 61 matching the shape of the positioning rib 211 is pre-machined on the back side of the main body 6 (i.e., the side facing the first push plate 21). Through the cooperation of the positioning rib 211 and the positioning groove 61, the main body 6 is quickly and accurately positioned in the clamping part 4, ensuring that the main body 6 is not tilted and preventing the main body 6 from sliding laterally during the welding process.

[0070] In a preferred embodiment of the present invention, the positioning rib 211 is shaped as a triangular prism (i.e., its cross-section is triangular). The inclined surface of the triangular prism has a guiding function when the main body 6 is pushed in, which facilitates blind insertion positioning and is beneficial to automated operation.

[0071] In this embodiment, the clamping part 2 5 includes a clamping seat 2 51 and an elastic pad 52 disposed inside the clamping seat 2 51. The clamping seat 2 51 is a metal clamping block with a C-shaped or U-shaped cross-section, and its opening faces the side of the pipe 82 (i.e., towards the center of the equipment box 8). The clamping seat 2 51 is fixedly installed on the connecting block 33 by bolts.

[0072] The elastic pad 52 is embedded in the inner wall of the clamping base 51, and its material can be oil-resistant rubber or polyurethane. The thickness of the elastic pad 52 is selected according to the thickness of the side arm 7, and is usually 2~5mm. The function of the elastic pad 52 is: on the one hand, to provide a flexible clamping force and avoid rigid clamping from damaging the surface anti-corrosion coating of the side arm 7; on the other hand, when the side arm 7 contacts the positioning boss 84 during swinging, the slight elastic deformation of the elastic pad 52 can compensate for the possible error in the swing angle of the swing arm 31, ensuring that a tight surface contact is formed between the side arm 7 and the positioning boss 84, which is beneficial to improving the welding bonding quality.

[0073] The present invention also provides a mobile fertigation machine, which includes a mobile chassis, an equipment box 8 mounted on the upper part of the mobile chassis, and a support frame mounted on the rear side of the equipment box 8. The mobile chassis can adopt a wheeled or tracked walking mechanism, and its internal components include a drive motor, a steering mechanism, etc., which are mature technologies in the field and will not be described in detail here.

[0074] The equipment box 8 houses core functional components such as a water pump, fertilizer pump, filter, solenoid valve, and control system. A pipe 82 is fixedly installed on the rear wall of the equipment box 8. One end of the pipe 82 has a flange 83 for connecting to an external water source or fertilizer pipeline. Positioning bosses 84 are provided on the left and right side walls of the pipe 82 for welding to the side arms 7 of the support frame.

[0075] The bracket includes a horizontally positioned main body 6 and side arms 7 located on the left and right sides of the main body 6, forming a U-shaped structure. The main body 6 is welded and fixed to the positioning shoulder 81 on the rear side wall of the equipment box 8, while the two side arms 7 are welded and fixed to the positioning bosses 84 on both sides of the pipe 82. This bracket not only supports the pipe 82 but also serves to install other components.

[0076] The key manufacturing process of this integrated water and fertilizer machine lies in the fact that its main body 6 and side arm 7 are positioned and simultaneously welded using the assembly device described in any of the above embodiments. Due to the use of this assembly device, the support of the integrated water and fertilizer machine has advantages such as high positioning accuracy, small welding deformation, and good consistency in the positions of the three weld points, thereby ensuring the rigidity of the connection between the pipe 82 and the equipment box 8 and extending the service life of the equipment.

[0077] The complete operation process of the assembly device of the present invention from the initial state to the completion of welding is described below.

[0078] Initial state: The return spring 233 pushes the first push plate 21 and the second push plate 22 to their maximum distance, the telescopic component 24 is nearly straight, the connecting plate 244 is on the outside, and the swing arm 31 is pulled outward by the pin 32, the side arm 7 is in the extended position to avoid the flange 83 at the end of the pipe 82. The main body 6 is placed in the clamping part 1 4 and is positioned by the positioning rib 211 and the positioning groove 61. The two side arms 7 are respectively clamped in the left and right clamping parts 2 5.

[0079] Advancement and Positioning: The robotic arm drives the support base 1 and the entire device to advance horizontally towards the equipment box 8. The clamping part 4 drives the main body 6 to first contact the positioning shoulder 81 on the rear side of the equipment box 8, and the main body 6 is axially positioned and stops advancing. The robotic arm continues to output thrust. Due to the obstruction of the first push plate 21, the second push plate 22 continues to move towards the first push plate 21, further compressing the return spring 233. At the same time, the angle between the first rod 241 and the second rod 242 in the telescopic assembly 24 decreases, changing from a nearly straight state to a folded state. The connecting rod 243 and the connecting plate 244 move towards the center of the first push plate 21. The elongated hole 245 on the connecting plate 244 drives the swing arm 31 to swing from the outside to the inside around its upper hinge axis through the pin 32, causing the clamping part 5 and the side arm 7 to close inward synchronously until the side arm 7 is tightly fitted with the positioning bosses 84 on both sides of the pipe 82. At this point, the main body 6 and the two side arms 7 complete the synchronous and precise positioning of the three welding points in the same continuous advancing motion.

[0080] Welding and Reset: Welding is performed after positioning. After welding, the robotic arm drives the support base 1 to retract, the reset spring 233 releases its elastic potential energy, pushing the second push plate 22 to reset, the telescopic component 24 changes from folded to straight, the connecting plate 244 moves outward, and the swing arm 31 is driven to open outward through the pin 32, the clamping part 2 5 disengages from the side arm 7 and returns to the unfolded position. The robotic arm continues to retract, the clamping part 1 4 disengages from the positioning shoulder 81, the device returns to the initial safe position, the welded bracket is removed, and one work cycle is completed.

[0081] As is known from common technical knowledge, this invention can be implemented through other embodiments that do not depart from its spirit or essential characteristics. Therefore, the disclosed embodiments described above are merely illustrative and not exhaustive. All modifications within the scope of this invention or its equivalents are included in this invention.

Claims

1. An assembly device for an integrated water and fertilizer machine, characterized in that, It includes a support base, a telescopic feeding mechanism installed on the front side of the support base, and a swing feeding mechanism installed in the telescopic feeding mechanism. The front side of the telescopic feeding mechanism is provided with a clamping part for placing the main body of the bracket to be welded. One end of the swing-type feeding mechanism is rotatably mounted on the back side of the first push plate in the telescopic feeding mechanism, and the other end of the swing-type feeding mechanism is provided with a clamping part two for placing the side arm of the bracket to be welded. The telescopic feeding mechanism includes: A first push plate and a second push plate arranged in parallel front to back; An elastic guide is installed between the first push plate and the second push plate, the elastic guide being used to provide guiding and resetting driving force for the extension and retraction of the first push plate and the second push plate; Two sets of telescopic components are symmetrically installed between the first push plate and the second push plate. The two sets of telescopic components are respectively connected to two swing feeding mechanisms and are used to drive the swing feeding mechanisms to rotate along the connection point of the side arm. Each set of telescopic components includes two telescopic members arranged vertically; The telescopic component includes a first rod and a second rod. One end of the first rod and the second rod are connected by a connecting rod and can rotate relative to each other. The other ends of the first rod and the second rod are respectively hinged to corresponding supports to form a "V"-shaped telescopic component. The supports are respectively installed on the first push plate and the second push plate. The lower end of the connecting rod is fixed with a connecting plate, and the connecting plate is provided with a vertical elongated hole; The swing-type feeding mechanism includes a swing arm and a pin mounted on the back side of the swing arm; The upper end of the swing arm is rotatably mounted on the back side of the first push plate, and the pin is located at the lower end of the swing arm. The pin passes through the elongated hole and is limited by a nut.

2. The assembly device for an integrated water and fertilizer machine according to claim 1, characterized in that, The elastic guide includes at least two guide posts, one end of which is fixed to the back side of the first push plate, and the other end of which passes through the second push plate and is connected to a limit nut. A reset spring is fitted on the guide post located between the first push plate and the second push plate to drive the first push plate and the second push plate to separate and reset.

3. The assembly device for an integrated water and fertilizer machine according to claim 1, characterized in that, The clamping part two includes a clamping seat two and an elastic pad located inside the clamping seat two; The second clamping seat is installed on one side of the lower end of the swing arm by means of a connecting block.

4. The assembly device for an integrated water and fertilizer machine according to claim 1, characterized in that, The clamping part includes two clamping plates arranged vertically, and the distance between the clamping plates is not less than the thickness of the main body.

5. The assembly device for an integrated water and fertilizer machine according to claim 4, characterized in that, The front side of the first push plate located between the clamping plates is provided with a positioning rib that cooperates with the positioning groove located on the back side of the main body and is used for positioning the main body.

6. The assembly device for an integrated water and fertilizer machine according to claim 5, characterized in that, The positioning rib is in the shape of a triangular prism.

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