Full-automatic welding robot for axle production

Abstract

The present application belongs to the field of mine car front axle production equipment, and particularly relates to a full-automatic welding robot for axle production. The full-automatic welding robot comprises a rack and a multi-degree-of-freedom welding manipulator arranged on one side of the rack. A beam body clamping mechanism is arranged on the rack. A component clamping and positioning mechanism is arranged on the side of the beam body clamping mechanism away from the multi-degree-of-freedom welding manipulator. The beam body clamping mechanism is arranged to tightly fix the steering knuckle lug seats on both sides of the beam body. The steering knuckle lug seats are not damaged, and the beam body is accurately positioned. The subsequent steel plate spring support and shock absorber upper mounting support welding positioning are facilitated. The component clamping and positioning mechanism is arranged to clamp and fix the steel plate spring support and shock absorber upper mounting support. The automatic welding of the mine car front axle is realized.

Description

Technical Field

[0001] This invention belongs to the field of mining car front axle production equipment, and particularly relates to a fully automatic welding robot for axle production. Background Technology

[0002] Mining vehicles, as core heavy-duty engineering machinery for mining and material transportation, operate in harsh environments and bear heavy loads, placing extremely high demands on the structural strength, stability, and reliability of the entire vehicle. The axle, as a core component for the load-bearing and steering transmission of mining vehicles, with the front axle directly responsible for steering, load-bearing, and shock absorption, directly determines the driving safety and service life of the mining vehicle through its welding quality and structural precision. It is a critical core process in the manufacturing of mining vehicles. With the rapid development of the mining machinery industry towards larger, heavier, and more precise models, the market demands for welding precision, forming consistency, and production efficiency of mining vehicle front axles are continuously increasing, highlighting the shortcomings of traditional welding production processes.

[0003] The front axle of a mining truck differs from those of ordinary passenger cars and light trucks. It employs a unique bow-shaped beam structure, with the integrated steering knuckle lugs at both ends tilted, making it difficult to secure with existing three-jaw chucks. Furthermore, since the main body of existing mining truck front axles is mostly made of castings, the clamping action of the three-jaw chuck can lead to deformation and cracking. Therefore, in current production processes, the industry commonly uses multi-degree-of-freedom welding robots to complete the welding of the mining truck front axle. These robots rely on their multi-dimensional motion capabilities to adapt to the complex weld trajectories of the front axle, solving the fundamental problems of poor accuracy and large deviations in manual welding. However, this semi-automatic welding mode only automates the welding process; workpiece positioning and clamping still heavily rely on manual operation. Specifically, before welding, each component, such as the main beam of the front axle and the steering knuckle lugs, needs to be manually aligned, fitted, and fixed. This results in high labor intensity and low efficiency. Summary of the Invention

[0004] This invention addresses the technical problems existing in the welding of front axles of mining cars by proposing a fully automated welding robot for axle production that is reasonably designed, simple in structure, easy to process, and can effectively realize automated welding of front axles of mining cars.

[0005] To achieve the above objectives, the technical solution adopted by the present invention is as follows: The present invention provides a fully automatic welding robot for axle production, including a frame and a multi-degree-of-freedom welding manipulator disposed on one side of the frame. A beam clamping mechanism is disposed on the frame, and a component clamping and positioning mechanism is disposed on the side of the beam clamping mechanism away from the multi-degree-of-freedom welding manipulator. The beam clamping mechanism includes clamping seats on both sides of the beam and a steering knuckle lug placement groove disposed on the clamping seats. A push rod for the steering knuckle lug is disposed on the clamping seats, and the push rod is coaxially disposed with the steering knuckle lug. The component clamping and positioning mechanism includes a clamping mechanism. The component includes a finger cylinder with auxiliary components mounted on its grippers. These auxiliary components include a long, plate-shaped fixing plate for mounting on the grippers and a clamping plate positioned on the side of the fixing plate away from the grippers. The clamping plate is perpendicular to the fixing plate. An auxiliary gripper is also provided on the side of the fixing plate closest to the grippers. The finger cylinder also has a clamping mechanism, which includes a clamping block and connecting rods on both sides of the clamping block. The connecting rods are hinged to the clamping block, and the end of the connecting rod away from the clamping block is hinged to the fixing plates on both sides of the finger cylinder. The clamping mechanism is located at both the upper and lower ends of the finger cylinder.

[0006] Preferably, the component clamping and positioning mechanism further includes a mounting base on the frame and an angle control block on the mounting base. The side of the angle control block near the beam clamping mechanism is inclined at 45°. A 90-degree tilting cylinder is provided on the side of the angle control block near the beam clamping mechanism. A connecting seat is provided at the power end of the 90-degree tilting cylinder. The connecting seat is in the shape of an isosceles right triangle, and the inclined surface of the connecting seat is installed at the power end of the 90-degree tilting cylinder. A telescopic cylinder is also provided on the side wall of the connecting seat. An angle adjustment cylinder is provided at the power end of the telescopic cylinder. A finger cylinder is installed at the power end of the angle adjustment cylinder. Both the angle adjustment cylinder and the 90-degree tilting cylinder are rotary cylinders. A conveyor belt for conveying components is provided between the beam clamping mechanism and the component clamping and positioning mechanism.

[0007] Preferably, the mounting base is slidably mounted on the frame.

[0008] Preferably, the frame is provided with two spaced-apart mounting seats.

[0009] Preferably, the mounting base is provided with two angle control blocks spaced apart.

[0010] Preferably, a three-degree-of-freedom truss manipulator is provided on one side of the frame, and the multi-degree-of-freedom welding manipulator is mounted on the three-degree-of-freedom truss manipulator.

[0011] Preferably, a rotating shaft is provided on the side of the clamping seat away from the beam body, and a fixed seat is provided on the frame, with the rotating shaft rotatably mounted on the fixed seat.

[0012] Compared with the prior art, the advantages and positive effects of the present invention are as follows: The present invention provides a fully automatic welding robot for axle production. By using the beam clamping mechanism, the steering knuckle lugs on both sides of the beam are clamped and fixed, which not only avoids damage to the steering knuckle lugs, but also achieves accurate positioning of the beam, thereby facilitating the welding and positioning of the subsequent leaf spring supports and shock absorber mounting supports. At the same time, through the component clamping and positioning mechanism, the leaf spring supports and shock absorber mounting supports are clamped and fixed, thereby realizing the automated welding of the front axle of the mining car. Attached Figure Description

[0013] To more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings used in the following description of the embodiments will be briefly introduced. Obviously, the drawings described below are some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0014] Figure 1 This is a structural schematic diagram of the fully automated welding robot for axle production provided in Example 1; Figure 2 This is a top view of the fully automated welding robot for axle production provided in Example 1; Figure 3 This is a schematic diagram of the beam clamping mechanism provided in Example 1; Figure 4 This is a schematic diagram of the component clamping and positioning mechanism provided in Embodiment 1; Figure 5 This is a schematic diagram of the structure of the finger cylinder provided in Example 1; Figure 6 This is a structural schematic diagram of the finger cylinder provided in Example 1 from another angle; Figure 7 This is a schematic diagram of the structure of the finger cylinder clamping and tightening the steel leaf spring support provided in Example 1; Figure 8 This is a schematic diagram of the structure of the finger cylinder clamping and tightening the mounting bracket on the shock absorber as provided in Example 1. Figure 9 A schematic diagram of another angle showing the finger cylinder clamping and tightening the mounting bracket on the shock absorber as provided in Example 1; In the above figures, 1. Frame; 2. Three-degree-of-freedom truss manipulator; 21. Multi-degree-of-freedom welding manipulator; 3. Beam clamping mechanism; 31. Fixed seat; 32. Clamping seat; 321. Steering knuckle ear seat placement slot; 33. Push rod; 34. Motor reducer; 4. Component clamping and positioning mechanism; 41. Mounting seat; 42. Angle control block; 43. 90-degree tilting cylinder; 44. Connecting seat; 45. Telescopic cylinder; 46. Angle adjustment cylinder; 47. Finger cylinder; 471. Gripper; 472. Fixed plate; 473. Clamping plate; 474. Auxiliary gripper; 475. Tightening block; 476. Connecting rod; 5. Conveyor belt; 6. Mine car front axle; 61. Beam; 62. Steering knuckle ear seat; 63. Steel leaf spring support; 64. Shock absorber mounting support. Detailed Implementation

[0015] To better understand the above-mentioned objectives, features, and advantages of the present invention, the present invention will be further described below in conjunction with the accompanying drawings and embodiments. It should be noted that, unless otherwise specified, the embodiments and features described in these embodiments can be combined with each other.

[0016] Numerous specific details are set forth in the following description in order to provide a full understanding of the invention. However, the invention may also be practiced in other ways than those described herein, and therefore the invention is not limited to the specific embodiments disclosed in the following specification.

[0017] Example 1, as Figures 1-6 As shown, this embodiment aims to provide a device capable of automating the welding of existing mine car front axles 6. To this end, the fully automated welding robot for axle production provided in this embodiment includes a frame 1 and a multi-degree-of-freedom welding manipulator 21 mounted on one side of the frame 1. In this embodiment, the frame 1 primarily serves as a base, while the multi-degree-of-freedom welding manipulator 21 is a commonly used welding manipulator. Considering the length of the mine car front axle 6, a three-degree-of-freedom truss manipulator 2 is provided on one side of the frame 1 for welding convenience. The multi-degree-of-freedom welding manipulator 21 is mounted on the three-degree-of-freedom truss manipulator 2. The three-degree-of-freedom truss manipulator 2 is mainly used to achieve movement in the X, Y, and Z axes, thereby ensuring the welding requirements of the multi-degree-of-freedom welding manipulator 21. The three-degree-of-freedom truss manipulator 2 is also a commonly used device, and its structure has not been modified in this embodiment; therefore, it will not be described in detail here.

[0018] Considering that the existing mine car front axle 6 adopts a special bow-shaped beam body 61 structure and the steering knuckle lugs 62 integrated at both ends are inclined, which makes it impossible to use a three-jaw chuck for fixing, a special fixing mechanism for the beam body 61 is provided. For this purpose, a beam body clamping mechanism 3 is provided on the frame 1. Specifically, the beam body clamping mechanism 3 includes clamping seats 32 on both sides of the beam body 61 and steering knuckle lug placement slots 321 provided on the clamping seats 32. In this embodiment, the clamping seats 32 are generally rectangular, and the steering knuckle lugs 62 are... The lug seat placement groove 321 is set to fit the bottom surface of the steering knuckle seat 62. In this way, when the mine car front axle 6 is placed on the clamping seat 32, the steering knuckle seat 62 of the mine car front axle 6 will fit into the steering knuckle seat placement groove 321. Of course, this refers to the state when the mine car front axle 6 is placed horizontally. In addition, it should be noted that the length of the steering knuckle seat placement groove 321 is greater than the length of the steering knuckle seat 62. The purpose of this setting is to facilitate the placement of the steering knuckle seat 62. Of course, this "greater than" is not slightly greater than, but at least one-third to one-half of the length.

[0019] In order to fix and position the front axle 6 of the mine car, in this embodiment, the clamping seat 32 is provided with a push rod 33 for the steering knuckle lug 62. The push rod 33 is a hydraulic push rod, and the power end of the push rod 33 is set in two sections. The smaller diameter end is used to insert into the hole of the steering knuckle lug 62, while the larger diameter end is used to press the steering knuckle lug 62 tightly. Since the push rod 33 and the steering knuckle lug 62 are coaxially set, the positioning of the entire front axle 6 of the mine car can be accurately ensured, thus preparing for welding.

[0020] Considering that the current state of the mine car front axle 6 places the leaf spring support 63 and the shock absorber mounting support 64 on the side of the beam 61, which would make welding inconvenient for the multi-degree-of-freedom welding robot 21, in this embodiment, a rotating shaft is provided on the side of the gripper 32 away from the beam 61, and a fixed seat 31 is provided on the frame 1. The rotating shaft is rotatably mounted on the fixed seat 31, and a motor reducer 34 connected to the rotating shaft is provided on the fixed seat 31. One or two motor reducers 34 can be provided. It should be noted that if only one motor reducer 34 is provided, a limit pin needs to be provided on the other fixed seat 31 to ensure that the gripper 32 does not rotate when the beam 61 is placed.

[0021] After the beam body 61 is fixed, it is necessary to place the steel leaf spring support 63 and the shock absorber mounting support 64. For this purpose, a component clamping and positioning mechanism 4 is provided on the side of the beam body clamping mechanism 3 away from the multi-degree-of-freedom welding robot 21.

[0022] Considering that existing clamping mechanisms are relatively large, while the distance between the leaf spring support 63 and the shock absorber mounting support 64 is small, clamping and fixing them one by one would be inefficient. If only clamping cylinders are used for fixing, there would be instability. Similarly, considering that the upper and lower plates of the leaf spring support 63 are relatively long, while the left and right plates are relatively short, and the shock absorber mounting support 64 has two square-section connecting columns with a plate between them, this embodiment provides a component clamping and positioning mechanism 4 that includes a... The finger cylinder 47 of the clamping assembly has an auxiliary component installed on the gripper 471. Specifically, the auxiliary component includes a fixed plate 472 that is long and plate-shaped and is mounted on the gripper 471, and a clamping plate 473 that is located on the side of the fixed plate 472 away from the gripper 471. The fixed plate 472 extends the gripper 471 of the finger cylinder 47 to both sides, and the clamping plate 473 achieves clamping under the action of the finger cylinder 47. For this purpose, the clamping plate 473 is set at a perpendicular angle to the fixed plate 472, thus achieving the clamping of the two shorter plates of the leaf spring support 63.

[0023] Considering that relying solely on clamping may result in unstable fixation, this embodiment also includes a clamping mechanism on the finger cylinder 47. The clamping mechanism includes a clamping block 475 and connecting rods 476 on both sides of the clamping block 475. In this embodiment, the clamping block 475 is cylindrical, and its centerline coincides with the centerline of the finger cylinder 47. The connecting rods 476 are hinged to the clamping block 475, with one end of the connecting rod away from the clamping block 475 hinged to the fixing plates 472 on both sides of the finger cylinder 47. Thus, as the grippers 471 open, the distance between the clamping block 475 and the finger cylinder 47 decreases, and as the grippers 471 close, the distance increases. This achieves clamping of the component. Figure 7 As shown, clamping requires two surfaces, therefore, the clamping mechanism is located at the upper and lower ends of the finger cylinder 47. This achieves clamping and clamping of the component, ensuring a secure fixation. Since the fixation is primarily performed from within the component, it occupies limited space, facilitating simultaneous clamping of the leaf spring support 63 and the shock absorber mounting support 64. Because the spacing between the clamping plates 473 is relatively large and can only clamp the connecting column of the shock absorber mounting support 64, there is a possibility of unstable fixation. Therefore, an auxiliary clamping claw 474 is provided on the side of the fixing plate 472 near the clamping claw 471. This results in a smaller spacing between the two auxiliary clamping claws 474, allowing them to clamp a plate between the two connecting columns. This clamping position places the clamping mechanism between the two connecting columns, effectively completing the clamping process. The clamping and clamping state is as follows: Figure 8 , Figure 9 As shown.

[0024] In this way, two finger cylinders 47 can be set up simultaneously to fix the leaf spring support 63 and the shock absorber mounting support 64 at the same time. After the multi-degree-of-freedom welding robot 21 completes the spot welding, the finger cylinders 47 disengage, and the motor reducer 34 controls the gripper 32 to flip so that the welding surface faces upward, thus completing the welding.

[0025] Considering the need for automatic feeding by the finger cylinder 47, the component clamping and positioning mechanism 4 also includes a mounting base 41 mounted on the frame 1 and an angle control block 42 mounted on the mounting base 41. The mounting base 41 and the fixed base 31 have the same function: to raise the height. The angle control block 42 works in conjunction with the 90-degree tilting cylinder 43 to achieve a 90-degree tilt at the output end. Therefore, the angle control block 42 is generally rectangular, but the side of the angle control block 42 closest to the beam clamping mechanism 3 is tilted at 45°. The 90-degree tilting cylinder 43 is mounted on the side of the angle control block 42 closest to the beam clamping mechanism 3. At the same time, a connecting seat 44 is mounted on the power end of the 90-degree tilting cylinder 43. The connecting seat 44 is an isosceles right triangle. The inclined surface of the connecting seat 44 is mounted on the power end of the 90-degree tilting cylinder 43. Thus, a 180° rotation of the 90-degree tilting cylinder 43 will cause the connecting seat 44 to tilt 90°, achieving a change from vertical downward to horizontal towards the beam 61. For this purpose, a telescopic cylinder 45 is also provided on the side wall of the connecting seat 44. Since the shock absorber mounting support 64 is tilted relative to the beam 61, an angle adjustment cylinder 46 is provided on the power end of the telescopic cylinder 45. A finger cylinder 47 is mounted on the power end of the angle adjustment cylinder 46. Both the angle adjustment cylinder 46 and the 90-degree tilting cylinder 43 are rotary cylinders. A conveyor belt for transporting components is provided between the beam clamping mechanism 3 and the component clamping and positioning mechanism 4. Thus, it is only necessary to place the leaf spring support 63 and the shock absorber mounting support 64 on the conveyor belt at specified intervals. The placement of the leaf spring support 63 and the shock absorber mounting support 64 can be achieved by printing the outer contour on the conveyor belt or by using some placement templates.

[0026] To place the two leaf spring supports 63 and the two shock absorber mounting supports 64 in one go, in this embodiment, the frame 1 is provided with two spaced-apart mounting seats 41. Two spaced-apart angle control blocks 42 are provided on each mounting seat 41. The rotation of the connecting seat 44 needs to be from vertically downwards to horizontally to the left and right, and then to horizontally facing the beam body 61. Therefore, the rotation angles of the 90-degree tilting cylinders 43 on the two angle control blocks 42 need to be controlled in opposite directions. Simultaneously, the mounting seats 41 are slidably mounted on the frame 1 to ensure that the two mounting seats 41 maintain sufficient spacing during rotation.

[0027] With the above setup, the workers first place the leaf spring support 63 and the shock absorber mounting support 64 on the conveyor belt according to the predetermined positions. Then, the 90-degree tilting cylinder 43 controls the finger cylinder 47 to be vertically downward. When the leaf spring support 63 and the shock absorber mounting support 64 have moved to the designated positions, the telescopic cylinder 45 actuates, causing the finger cylinder 47 to clamp and tighten. Then, the telescopic cylinder 45 resets, and the 90-degree tilting cylinder 43 controls the finger cylinder 47 to be horizontally oriented towards the beam body 61. Then, the mounting base 41 moves to the designated position, and the telescopic cylinder... Action 45 causes the leaf spring support 63 and the shock absorber mounting support 64 to press against the beam body 61. At this time, the multi-degree-of-freedom welding robot 21 moves to complete the spot welding. After the spot welding is completed, the telescopic cylinder 45 moves to reset the mounting seat 41. Then, the 90-degree tilting cylinder 43 controls the finger cylinder 47 to be vertically downward. At this time, the motor reducer 34 controls the gripper 32 to tilt, so that the leaf spring support 63 and the shock absorber mounting support 64 are vertically upward. The multi-degree-of-freedom welding robot 21 completes the welding. After the welding is completed, the workers can use a gantry crane to lift and transport it.

[0028] The above description is merely a preferred embodiment of the present invention and is not intended to limit the present invention in any other way. Any person skilled in the art may make changes or modifications to the above-disclosed technical content to create equivalent embodiments for application in other fields. However, any simple modifications, equivalent changes, and modifications made to the above embodiments based on the technical essence of the present invention without departing from the scope of the present invention shall still fall within the protection scope of the present invention.

Claims

1. A fully automated welding robot for axle production, comprising a frame and a multi-degree-of-freedom welding manipulator mounted on one side of the frame, characterized in that, The frame is equipped with a beam gripping mechanism. A component gripping and positioning mechanism is located on the side of the beam gripping mechanism away from the multi-degree-of-freedom welding robot. The beam gripping mechanism includes gripping seats on both sides of the beam and steering knuckle lug placement slots on the gripping seats. A push rod for the steering knuckle lug is provided on the gripping seat, and the push rod is coaxially arranged with the steering knuckle lug. The component gripping and positioning mechanism includes finger cylinders for gripping components. An auxiliary component is mounted on the gripper of the finger cylinder, and the auxiliary component includes... The finger cylinder has a long, plate-shaped fixed plate mounted on the gripper and a clamping plate located on the side of the fixed plate away from the gripper. The clamping plate is set at a perpendicular angle to the fixed plate. An auxiliary gripper is also provided on the side of the fixed plate near the gripper. The finger cylinder is also provided with a clamping mechanism, which includes a clamping block and connecting rods on both sides of the clamping block. The connecting rods are hinged to the clamping block. The end of the connecting rod away from the clamping block is hinged to the fixed plates on both sides of the finger cylinder. The clamping mechanism is located at the upper and lower ends of the finger cylinder.

2. The fully automated welding robot for axle production according to claim 1, characterized in that, The component clamping and positioning mechanism further includes a mounting base on the frame and an angle control block on the mounting base. The side of the angle control block near the beam clamping mechanism is inclined at 45°. A 90-degree tilting cylinder is provided on the side of the angle control block near the beam clamping mechanism. A connecting seat is provided at the power end of the 90-degree tilting cylinder. The connecting seat is in the shape of an isosceles right triangle, and the inclined surface of the connecting seat is installed at the power end of the 90-degree tilting cylinder. A telescopic cylinder is also provided on the side wall of the connecting seat. An angle adjustment cylinder is provided at the power end of the telescopic cylinder. A finger cylinder is installed at the power end of the angle adjustment cylinder. Both the angle adjustment cylinder and the 90-degree tilting cylinder are rotary cylinders. A conveyor belt for conveying components is provided between the beam clamping mechanism and the component clamping and positioning mechanism.

3. The fully automatic welding machine for axle production according to claim 2, characterized in that, The mounting base is slidably mounted on the frame.

4. The fully automatic welding machine for axle production according to claim 3, characterized in that, The frame is provided with two spaced-apart mounting bases.

5. The fully automatic welding machine for axle production according to claim 4, characterized in that, The mounting base is equipped with two angle control blocks spaced apart.

6. A fully automatic welding machine for axle production according to any one of claims 1 to 5, characterized in that, A three-degree-of-freedom truss manipulator is provided on one side of the frame, and the multi-degree-of-freedom welding manipulator is mounted on the three-degree-of-freedom truss manipulator.

7. The fully automatic welding machine for axle production according to claim 6, characterized in that, A rotating shaft is provided on the side of the clamping seat away from the beam body, and a fixed seat is provided on the frame. The rotating shaft is rotatably mounted on the fixed seat.

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