Movable arm middle section tailor-welding tool

Abstract

The utility model relates to a movable arm middle section tailor-welding tool, and belongs to the technical field of engineering mechanical robot tailor-welding. According to the technical scheme, the device is integrally installed on a positioner and matched with a welding robot and a carrying robot to complete point splicing and welding work of the middle section of the movable arm; the upper supporting arm assembly (5) and the lower supporting arm assembly (4) are arranged on the clamp lifting assembly (3) in an up-down layered mode, the upper supporting arm assembly moves up and down along the clamp lifting assembly, the fixed clamp body assembly (1) is arranged on the lower supporting arm assembly, and the movable clamp body assembly (2) is installed on the upper supporting arm assembly and moves up and down along with the upper supporting arm assembly. Scattered parts of the middle section of the movable arm are gradually placed on the clamp through the carrying robot, the whole process of assembly and welding of the middle section of the movable arm is automatically completed, manual participation is not needed in the whole process, production efficiency is greatly improved, welding quality is guaranteed, labor cost is reduced, harm to health of human bodies caused by manual welding is reduced, and production efficiency is improved. And the labor intensity of workers is reduced.

Description

Technical Field

[0001] The utility model relates to a welding fixture for the middle section of a boom, belonging to the technical field of robotic welding for construction machinery. Background Art

[0002] The automatic robotic welding technology for construction machinery refers to the technology that uses handling robots and welding robots to automatically perform assembly and welding tasks during the manufacturing process of construction machinery. This technology can improve production efficiency, reduce production costs, and ensure the consistency and stability of welding quality. The core of this technology is an advanced automated welding fixture system to ensure the consistency of weld seams. It can be applied to the manufacturing of various construction machinery, such as excavators, loaders, etc., providing higher production efficiency and product quality for manufacturers.

[0003] In the field of excavator manufacturing, for the assembly and welding of the middle section of the boom of ultra-large excavators, the middle section of the boom is composed of lower side plates, partition plates, upper side plates, lower ear plates, upper ear plates, lower arc plates, and upper arc plates by welding. Due to the absence of special fixtures, manual measurement and welding are usually carried out on a platform. Workers place the workpiece of the middle section of the boom on the platform and complete the assembly and welding of the middle section of the boom through many processes such as scribing, adjusting the assembly dimensions, clamping with quick clamps, and anti-deformation with jacks. The problems are: the consistency of weld seams cannot be guaranteed, the welding efficiency is low, the welding quality is poor, the labor intensity is high, and the welding arc light, smoke, dust, and spatter have a greater impact on the health of workers, and the labor cost is high. Summary of the Utility Model

[0004] The purpose of the utility model is to provide a welding fixture for the middle section of a boom. The handling robot gradually places the loose parts of the middle section of the boom on the fixture, and the fixture respectively performs precise positioning and pre-anti-deformation before welding through various automated mechanisms. Then, the welding robot respectively performs welding to automatically complete the entire process of assembly and welding of the middle section of the boom. The entire process does not require manual participation, greatly improving production efficiency, ensuring welding quality, and reducing labor costs.

[0005] The technical solution of the utility model is as follows:

[0006] A welding fixture for the middle section of a boom, which is integrally installed on a positioner and cooperates with a welding robot and a handling robot to complete the spot welding and welding work of the middle section of the boom. It includes a fixed fixture body component, a movable fixture body component, a fixture lifting component, a lower support arm component, and an upper support arm component. The upper support arm component and the lower support arm component are arranged in upper and lower layers on the fixture lifting component. The upper support arm component moves up and down along the fixture lifting component. The fixed fixture body component is arranged on the lower support arm component. The movable fixture body component is installed on the upper support arm component and moves up and down with the upper support arm component. The fixed fixture body component is composed of a lower lifting pin component, a lower electro-permanent magnet component, a lower ear plate positioning component, a lower arc plate positioning component, a lower side plate positioning component, a lower conductive component, a lower material detection component, and a lower arc plate support component installed on the fixed fixture body. The number of lower electro-permanent magnet components is multiple, located in the middle of the fixed fixture body. Multiple lower arc plate positioning components and multiple lower side plate positioning components are arranged around the multiple lower electro-permanent magnet components. Multiple lower ear plate positioning components, multiple lower arc plate support components, and multiple lower conductive components are arranged below the multiple lower electro-permanent magnet components. The lower material detection component is arranged between the lower electro-permanent magnet component and the lower conductive component. Multiple lower lifting pin components are arranged around the multiple lower electro-permanent magnet components. The movable fixture body component is composed of an upper lifting pin component, an upper electro-permanent magnet component, an upper ear plate positioning component, an upper arc plate positioning component, an upper side plate positioning component, an upper conductive component, an upper material detection component, and an upper arc plate support component installed on the movable fixture body. The movable fixture body component and the fixed fixture body component are matched up and down, and the same structures are arranged correspondingly.

[0007] The lower ear plate positioning component is composed of a servo motor 1, a precision reducer, a mounting seat 1, a guide rail slider 1, a sliding body 1, an ear plate positioning pin, an ear plate support block, and an ear plate pressing corner cylinder. The servo motor 1 drives the lead screw to rotate through the precision reducer, drives the sliding body 1 to move forward or backward through the guide rail slider 1. The ear plate positioning pin provides hole positioning for the ear plate. The ear plate support block provides support for the ear plate. The ear plate pressing corner cylinder presses the ear plate from above. The lower arc plate positioning component is composed of an oil cylinder 1, a mounting seat 2, a guide rail slider 2, a sliding body 2, and an arc plate positioning block 1. The oil cylinder 1 drives the sliding body 2 to move forward or backward through the guide rail slider 2. The arc plate positioning block 1 positions the edge of the arc plate. The lower side plate positioning component has the same structure as the lower arc plate positioning component and is used to position the lower side plate. The lower conductive component is composed of a mounting plate, a brush box, a snap ring, and a brush, and is used for the conduction of the welding loop current. The lower material detection component is composed of a proximity switch and a mounting bracket, and is used to detect the presence or absence of materials on the fixed fixture body component. The lower arc plate support component is fixed to the fixed fixture body by bolts and is used to provide support for the arc plate.

[0008] Specifically, the fixed clamp is further provided with a plurality of electric slide positioning components and a plurality of opening anti-deformation components; the electric slide positioning components are arranged around a plurality of lower electro-permanent magnet components, and the plurality of opening anti-deformation components are arranged at the edge of the fixed clamp; the electric slide positioning component is composed of a second servo motor, a third mounting seat, a fourth guide rail slider, a third sliding body and a second arc plate positioning block; the second servo motor drives the lead screw to rotate, drives the third sliding body to move forward or backward through the fourth guide rail slider, and the second arc plate positioning block positions the edge of the arc plate; the opening anti-deformation component is composed of a second oil cylinder, a fourth mounting seat, a guide shaft and a tightening block; the second oil cylinder drives the tightening inclined block through the guide shaft for the opening anti-deformation of the upper side plate and the lower side plate in the middle section of the boom.

[0009] The fixed clamp specifically adopts an integral welding structure, and two groups of first mounting holes are arranged at one end for fixing on the fixture lifting component, and a plurality of mounting surfaces and second mounting holes are machined for the installation of the remaining components of the fixed clamp.

[0010] The moving clamp specifically adopts an integral welding structure, and two groups of third mounting holes are arranged at one end for fixing on the upper support arm component, and a plurality of mounting surfaces and fourth mounting holes are machined for the installation of the remaining components of the moving clamp.

[0011] The lower lifting pin component is composed of a pin seat, a cylinder, a pin shaft and an oil cup. The cylinder drives the pin shaft installed in the pin seat to lift and maintain lubrication by injecting oil through the oil cup.

[0012] The lower electro-permanent magnet component is composed of a fifth mounting seat, a return cylinder, a third guide rail slider, a guide rail clamp, an electro-permanent magnet and an adjustment gasket; the electro-permanent magnet can move on the fifth mounting seat through the third guide rail slider, the guide rail clamp can lock or release the relative position of the third guide rail slider, the return cylinder can push the electro-permanent magnet to reset, and an adjustment gasket is installed on the electro-permanent magnet to adapt to the height difference of different middle sections of the boom.

[0013] The moving clamp components and the fixed clamp components are matched up and down, and the same structures are arranged correspondingly; the upper lifting pin components and the lower lifting pin components have exactly the same structures and functions; the upper electro-permanent magnet components and the lower electro-permanent magnet components have exactly the same structures and functions; the upper ear plate positioning components and the lower ear plate positioning components have exactly the same structures and functions; the upper arc plate positioning components and the lower arc plate positioning components have exactly the same structures and functions; the upper side plate positioning components and the lower side plate positioning components have exactly the same structures and functions; the upper conductive components and the lower conductive components have exactly the same structures and functions; the upper material detection components and the lower material detection components have exactly the same structures and functions; the upper arc plate support components and the lower arc plate support components have exactly the same structures and functions.

[0014] The described fixture lifting assembly is composed of a lifting fixture body, a lifting servo motor, a guide rail slider, and a lifting slide base; the lifting servo motor drives the lifting slide base to lift through the guide rail slider, and the lifting slide base is connected to the moving fixture body assembly and the upper support arm assembly.

[0015] The lifting fixture body adopts an integral welded structure, with a circle of mounting holes five provided on the bottom surface for connecting to the rotary bearing of the positioner, and two groups of mounting threaded holes provided on the side surface for installing and fixing the fixture body assembly. Multiple mounting surfaces and mounting holes six are machined for installing the remaining components of the lifting fixture body assembly.

[0016] The lower support arm assembly and the upper support arm assembly are respectively used for fixing the fixture body assembly and assisting in fixing the moving fixture body assembly, playing a role in strengthening the connection.

[0017] The middle section welding tooling of the moving arm also includes a drag chain assembly and a control cabinet assembly; the drag chain assembly is used for installing the power cables, control cables, air pipes, and oil pipes of the moving fixture body assembly and the fixture lifting assembly; the control cabinet assembly is used for the strong electricity control and weak electricity control of the entire fixture system.

[0018] The workpiece moving arm middle section for welding implementation is composed of a lower side plate, a partition plate, an upper side plate, a lower ear plate, an upper ear plate, a lower arc plate, and an upper arc plate.

[0019] The beneficial effects of the present utility model are as follows: The handling robot gradually places the loose parts of the moving arm middle section on the fixture respectively. The fixture performs precise positioning and pre - reverse deformation before welding through each automation mechanism respectively, and then the welding robot performs welding respectively, automatically completing the entire process of assembling and welding the moving arm middle section. The entire process does not require manual participation, greatly improving the production efficiency, ensuring the welding quality, reducing the labor cost, reducing the health harm to the human body caused by manual welding, and reducing the labor intensity of workers. Description of the Drawings

[0020] Figure 1 is the overall structural schematic diagram of the embodiment of the present utility model;

[0021] Figure 2 is the structural schematic diagram of the fixed fixture body assembly of the embodiment of the present utility model;

[0022] Figure 3 is the structural schematic diagram of the fixed fixture body of the embodiment of the present utility model;

[0023] Figure 4 is the structural schematic diagram of the lower lifting pin assembly of the embodiment of the present utility model;

[0024] Figure 5 is the structural schematic diagram of the lower electro - permanent magnet assembly of the embodiment of the present utility model;

[0025] Figure 6It is a schematic structural diagram of the ear plate positioning component under the embodiment of the present utility model;

[0026] Figure 7 It is a schematic structural diagram of the electric slide positioning component under the embodiment of the present utility model;

[0027] Figure 8 It is a schematic structural diagram of the lower arc plate positioning component under the embodiment of the present utility model;

[0028] Figure 9 It is a schematic structural diagram of the opening anti-deformation component under the embodiment of the present utility model;

[0029] Figure 10 It is a schematic structural diagram of the lower conductive component under the embodiment of the present utility model;

[0030] Figure 11 It is a schematic structural diagram of the lower material detection component under the embodiment of the present utility model;

[0031] Figure 12 It is a schematic structural diagram of the moving clamp specific component under the embodiment of the present utility model;

[0032] Figure 13 It is a schematic structural diagram of the moving clamp specific structure under the embodiment of the present utility model;

[0033] Figure 14 It is a schematic structural diagram of the lifting clamp component under the embodiment of the present utility model;

[0034] Figure 15 It is a schematic structural diagram of the lifting clamp specific structure under the embodiment of the present utility model;

[0035] Figure 16 It is a schematic structural diagram of the middle section of the moving arm under the embodiment of the present utility model;

[0036] Figure 17 It is a positioning schematic diagram of the lower side plate of the middle section of the moving arm under the embodiment of the present utility model;

[0037] Figure 18 It is a positioning schematic diagram of the partition plate of the middle section of the moving arm under the embodiment of the present utility model;

[0038] Figure 19 It is a positioning schematic diagram of the upper side plate of the middle section of the moving arm under the embodiment of the present utility model;

[0039] Figure 20 It is an assembly schematic diagram of the lower side plate, partition plate and upper side plate of the middle section of the moving arm under the embodiment of the present utility model;

[0040] Figure 21 It is a positioning schematic diagram of the lower arc plate of the middle section of the moving arm under the embodiment of the present utility model;

[0041] Figure 22It is a schematic diagram of the positioning of the lower ear plate in the middle section of the boom in the embodiment of the utility model;

[0042] Figure 23 It is a schematic diagram of the positioning of the upper arc plate in the middle section of the boom in the embodiment of the utility model;

[0043] Figure 24 It is a schematic diagram of the completed butt welding of the middle section of the boom in the embodiment of the utility model;

[0044] In the figure: fixed clamp specific component 1, movable clamp specific component 2, clamp lifting component 3, lower support arm component 4, upper support arm component 5, drag chain component 6, control cabinet component 7, fixed clamp specific 101, lower lifting pin component 102, lower electro-permanent magnet component 103, lower ear plate positioning component 104, electric slide positioning component 105, lower arc plate positioning component 106, lower side plate positioning component 107, opening anti-deformation component 108, lower conductive component 109, lower material detection component 110, lower arc plate support component 111, movable clamp specific 201, upper lifting pin component 202, upper electro-permanent magnet component 203, upper ear plate positioning component 204, upper arc plate positioning component 205, upper side plate positioning component 206, upper conductive component 207, upper material detection component 208, upper arc plate support component 209, lifting clamp specific 301, lifting servo motor 302, guide rail slider 303, lifting slide 304, middle section of the boom 8, lower side plate 801, partition plate 802, upper side plate 803, lower ear plate 804, upper ear plate 805, lower arc plate 806, upper arc plate 807, servo motor 1 10401, precision reduction gear 10402, mounting seat 1 10403, guide rail slider 1 10404, sliding body 1 10405, ear plate positioning pin 10406, ear plate support block 10407, ear plate pressing corner cylinder 10408, oil cylinder 1 10601, mounting seat 2 10602, guide rail slider 2 10603, sliding body 2 10604, arc plate positioning block 1 10605, mounting plate 10901, brush box 10902, snap ring 10903, brush 10904, proximity switch 11001, mounting bracket 11002, servo motor 2 10501, mounting seat 3 10502, guide rail slider 4 10503, sliding body 3 10504, arc plate positioning block 2 10505, oil cylinder 2 10801, mounting seat 4 10802, guide shaft 10803, pressing block 10804, mounting hole 1 10101, mounting hole 2 10102, mounting hole 3 20101, mounting hole 4 20102, pin seat 10201, cylinder 10202, pin shaft 10203, oil cup 10204, mounting seat 5 10301, reset cylinder 10302, guide rail slider 3 10303, guide rail clamp 10304, electro-permanent magnet 10305, adjusting gasket 10306, mounting hole 5 30101, mounting threaded hole 30102, mounting hole 6 30103. Detailed implementation mode

[0045] The following further describes the present utility model in conjunction with the accompanying drawings through embodiments.

[0046] A welding fixture for the middle section of a boom is integrally installed on a positioner and cooperates with a welding robot and a handling robot to complete the spot welding and welding work of the middle section of the boom; it includes a fixed jig body component 1, a moving jig body component 2, a jig lifting component 3, a lower support arm component 4, and an upper support arm component 5. The upper support arm component 5 and the lower support arm component 4 are arranged in upper and lower layers on the jig lifting component 3. The upper support arm component 5 moves up and down along the jig lifting component 3. The fixed jig body component 1 is arranged on the lower support arm component 4, and the moving jig body component 2 is installed on the upper support arm component 5 and moves up and down with the upper support arm component 5. The fixed jig body component 1 is composed of a lower lifting pin component 102, a lower electro-permanent magnet component 103, a lower ear plate positioning component 104, a lower arc plate positioning component 106, a lower side plate positioning component 107, a lower conductive component 109, a lower material detection component 110, and a lower arc plate support component 111 installed on the fixed jig body 101. The number of the lower electro-permanent magnet components 103 is multiple and located in the middle of the fixed jig body 101. A plurality of lower arc plate positioning components 106 and a plurality of lower side plate positioning components 107 are arranged around the multiple lower electro-permanent magnet components 103. A plurality of lower ear plate positioning components 104, a plurality of lower arc plate support components 111, and a plurality of lower conductive components 109 are arranged below the multiple lower electro-permanent magnet components 103. The lower material detection component 110 is arranged between the lower electro-permanent magnet component 103 and the lower conductive component 109. A plurality of lower lifting pin components 102 are arranged around the multiple lower electro-permanent magnet components 103. The moving jig body component 2 is composed of an upper lifting pin component 202, an upper electro-permanent magnet component 203, an upper ear plate positioning component 204, an upper arc plate positioning component 205, an upper side plate positioning component 206, an upper conductive component 207, an upper material detection component 208, and an upper arc plate support component 209. The moving jig body component 2 is matched with the fixed jig body component 1 up and down, and the same structures are arranged correspondingly.

[0047] The lower earplate positioning component 104 is composed of a first servo motor 10401, a precision reduction gear 10402, a first mounting seat 10403, a first guide rail slider 10404, a first sliding body 10405, an earplate positioning pin 10406, an earplate support block 10407, and an earplate pressing corner cylinder 10408; the first servo motor 10401 drives a lead screw to rotate through the precision reduction gear 10402, drives the first sliding body 10405 to move forward or backward through the first guide rail slider 10404, the earplate positioning pin 10406 provides hole positioning for the earplate, the earplate support block 10407 provides support for the earplate, and the earplate pressing corner cylinder 10408 presses the earplate from above; the lower arc plate positioning component 106 is composed of a first oil cylinder 10601, a second mounting seat 10602, a second guide rail slider 10603, a second sliding body 10604, and a first arc plate positioning block 10605; the first oil cylinder 10601 drives the second sliding body 10604 to move forward or backward through the second guide rail slider 10603, and the first arc plate positioning block 10605 positions the edge of the arc plate; the lower side plate positioning component 107 has the same structure as the lower arc plate positioning component 106 and is used to position the lower side plate; the lower conductive component 109 is composed of a mounting plate 10901, a brush box 10902, a snap ring 10903, and a brush 10904 and is used for the conduction of welding loop current; the lower material detection component 110 is composed of a proximity switch 11001 and a mounting bracket 11002 and is used to detect the presence or absence of materials on the fixed fixture component; the lower arc plate support component 111 is fixed to the fixed fixture 101 by bolts and is used to support the arc plate.

[0048] A plurality of electric slide seat positioning components 105 and a plurality of opening anti-deformation components 108 are further provided on the fixed fixture 101; the electric slide seat positioning components 105 are arranged around a plurality of lower electro-permanent magnet components 103, and the plurality of opening anti-deformation components 108 are arranged at the edge of the fixed fixture 101; the electric slide seat positioning component 105 is composed of a second servo motor 10501, a third mounting seat 10502, a fourth guide rail slider 10503, a third sliding body 10504, and a second arc plate positioning block 10505; the second servo motor 10501 drives a lead screw to rotate and drives the third sliding body 10504 to move forward or backward through the fourth guide rail slider 10503, and the second arc plate positioning block 10505 positions the edge of the arc plate; the opening anti-deformation component 108 is composed of a second oil cylinder 10801, a fourth mounting seat 10802, a guide shaft 10803, and a pressing block 10804; the second oil cylinder 10801 drives the pressing inclined block 10804 through the guide shaft 10803 and is used for the opening anti-deformation of the upper side plate and the lower side plate in the middle section of the boom.

[0049] The specific fixture body 101 adopts an integral welded structure. At one end, there are two groups of mounting holes 10101 for fixing on the fixture lifting component 3. It is machined with multiple mounting surfaces and mounting holes 10102 for mounting the remaining components of the fixture body assembly 1.

[0050] The specific moving fixture body 201 adopts an integral welded structure. At one end, there are two groups of mounting holes 20101 for fixing on the upper support arm assembly 5. It is machined with multiple mounting surfaces and mounting holes 20102 for mounting the remaining components of the moving fixture body assembly 2.

[0051] The lower lifting pin assembly 102 is composed of a pin seat 10201, a cylinder 10202, a pin shaft 10203, and an oil cup 10204. The cylinder 10202 drives the pin shaft 10203 installed in the pin seat 10201 to lift and lower, and lubrication is maintained by injecting oil through the oil cup 10204.

[0052] The lower electro-permanent magnet assembly 103 is composed of a mounting seat 10301, a reset cylinder 10302, a guide rail slider 10303, a guide rail clamp 10304, an electro-permanent magnet 10305, and an adjusting shim 10306; the electro-permanent magnet 10305 can move on the mounting seat 10301 through the guide rail slider 10303, the guide rail clamp 10304 can lock or release the relative position of the guide rail slider 10303, the reset cylinder 10302 can push the electro-permanent magnet 10305 to reset, and an adjusting shim 10306 is installed on the electro-permanent magnet 10305 to adapt to the height difference of different middle sections of the boom 8.

[0053] The moving fixture body assembly 2 and the fixed fixture body assembly 1 are vertically matched with the same structures arranged correspondingly; the upper lifting pin assembly 202 has the same structure and function as the lower lifting pin assembly 102; the upper electro-permanent magnet assembly 203 has the same structure and function as the lower electro-permanent magnet assembly 103; the upper ear plate positioning assembly 204 has the same structure and function as the lower ear plate positioning assembly 104; the upper arc plate positioning assembly 205 has the same structure and function as the lower arc plate positioning assembly 106; the upper side plate positioning assembly 206 has the same structure and function as the lower side plate positioning assembly 107; the upper conductive assembly 207 has the same structure and function as the lower conductive assembly 109; the upper material detection assembly 208 and the lower material detection assembly 110 have the same structure and function; the upper arc plate support assembly 209 has the same structure and function as the lower arc plate support assembly 111.

[0054] The described fixture lifting assembly 3 is composed of a lifting fixture body 301, a lifting servo motor 302, a guide rail slider 303, and a lifting slide base 304; the lifting servo motor 302 drives the lifting slide base 304 to lift through the guide rail slider 303, and the lifting slide base 304 is connected to the moving fixture body assembly 2 and the upper support arm assembly 5.

[0055] The lifting fixture body 301 adopts an integral welded structure, with a circle of mounting holes five 30101 provided on the bottom surface for connecting with the rotary bearing of the positioner, and two groups of mounting threaded holes 30102 provided on the side surface for installing and fixing the fixture body assembly 1. Multiple mounting surfaces and mounting holes six 30103 are machined for installing the remaining components of the lifting fixture body assembly 3.

[0056] The lower support arm assembly 4 and the upper support arm assembly 5 are respectively used for fixing the fixture body assembly 1 and assisting in fixing the moving fixture body assembly 2, playing a role in strengthening the connection.

[0057] The middle section of the moving arm welding fixture also includes a drag chain assembly 6 and a control cabinet assembly 7; the drag chain assembly 6 is used for installing the power cables, control cables, air pipes, and oil pipes of the moving fixture body assembly 2 and the fixture lifting assembly 3; the control cabinet assembly 7 is used for the strong electricity control and weak electricity control of the entire fixture system.

[0058] The workpiece moving arm middle section 8 for welding implementation is composed of a lower side plate 801, a partition plate 802, an upper side plate 803, a lower ear plate 804, an upper ear plate 805, a lower arc plate 806, and an upper arc plate 807.

[0059] This embodiment includes the following steps:

[0060] ① The handling robot places the lower side plate 801 on the lower electro-permanent magnet assembly 103 of the fixture body assembly 1, and the lower side plate 801 is adsorbed and positioned. The lower arc plate positioning assembly 106 and the lower side plate positioning assembly 107 around the lower side plate 801 press against the lower side plate 801, making the outer edge of the lower side plate 801 contact and align with the pin shaft 10203 of the lower lifting pin assembly 102, and precisely positioning the lower side plate 801.

[0061] ② The handling robot respectively clamps and places the two partition plates 802 at the corresponding positions of the lower side plate 801. The lower edges of the two partition plates 802 are respectively vertically placed on the left and right sides of the lower side plate 801, and the welding robot welds the lower edges of the two partition plates 802 to the lower side plate 801 firmly.

[0062] ③The handling robot places the upper side plate 803 on the upper power magnet assembly 203 of the movable fixture body assembly 2. The upper side plate 803 is adsorbed and positioned. The upper arc plate positioning assembly 205 and the upper side plate positioning assembly 206 around the upper side plate 803 respectively press against the upper side plate 803, making the outer edge of the lower side plate 803 contact and align with the pin shaft of the upper and lower lifting pin assembly 202, and precisely positioning the upper side plate 803.

[0063] ④The lifting servo motor 302 on the fixture lifting assembly 3 drives the movable fixture body assembly 2 to move downward, so that the upper side plate 803 contacts and aligns with the upper edges of the two partition plates 802. The welding robot welds the upper edges of the two partition plates 802 and the upper side plate 803 firmly.

[0064] ⑤The handling robot places the lower arc plate 806 in front of the lower side plate 801 and the upper side plate 803 on the fixed fixture body assembly 1. The electric slide positioning assembly 105 and the lower arc plate positioning assembly 106 cooperate to precisely position the lower arc plate 806.

[0065] ⑥The handling robot places the lower ear plate 804 outside the lower arc plate 806 on the fixed fixture body assembly 1. The ear plate positioning pin 10406 on the lower ear plate positioning assembly 104 provides hole positioning for the lower ear plate 804, the ear plate support block 10407 provides support for the lower ear plate 804, and the ear plate pressing corner cylinder 10408 presses the lower ear plate 804 from above; similarly, the upper ear plate 805 is positioned by the upper ear plate positioning assembly 204 on the movable fixture body assembly 2. After positioning, the welding robot welds the upper side plate 803, the lower side plate 801, the lower arc plate 806 and the lower ear plate 804 firmly.

[0066] ⑦Under the action of the lower ear plate positioning assembly 104 on the fixed fixture body assembly 1 and the upper ear plate positioning assembly 204 on the movable fixture body assembly 2, move in the direction away from the upper and lower lifting pin assembly 202 to leave a gap. The handling robot places the upper arc plate 807 in the above gap. The electric slide positioning assembly 105 positions the upper arc plate 807. The welding robot welds the upper side plate 803, the lower side plate 801, the upper arc plate 807 and the upper ear plate 805 firmly.

[0067] ⑧The lifting servo motor 302 on the fixture lifting assembly 3 drives the movable fixture body assembly 2 to move upward and separate from the fixed fixture body assembly 1. The handling robot takes away the welded middle section 8 of the boom, completing the welding of the middle section 8 of the boom.

[0068] After the positioning of the upper ear plate 805 and the lower ear plate 804 is completed, the opening anti-deformation assembly 108 is used to pre-deform the openings of the upper side plate 803 and the lower side plate 801, and then welding is carried out.

[0069] For the welding fixture for the middle section of the boom provided by the utility model, the handling robot gradually places the loose parts of the middle section of the boom on the fixture respectively. The fixture performs precise positioning and pre-anti-deformation before welding through various automated mechanisms respectively, and the welding robot performs welding respectively, so as to automatically complete the whole process of assembling and welding the middle section of the boom. The whole process does not require manual participation, and the production efficiency has been greatly improved compared with manual welding and assembly, and the welding quality is guaranteed, and the labor cost is reduced.

Claims

1. A welding fixture for the middle section of a boom, characterized in that: It is integrally installed on the positioner and cooperates with the welding robot and the handling robot to complete the dotting and welding work of the middle section of the boom. It includes a fixed fixture body component (1), a movable fixture body component (2), a fixture lifting component (3), a lower support arm component (4) and an upper support arm component (5). The upper support arm component (5) and the lower support arm component (4) are arranged in upper and lower layers on the fixture lifting component (3). The upper support arm component (5) moves up and down along the fixture lifting component (3). The fixed fixture body component (1) is arranged on the lower support arm component (4). The movable fixture body component (2) is installed on the upper support arm component (5) and moves up and down with the upper support arm component (5). The fixed fixture body component (1) is composed of a lower lifting pin component (102), a lower electro-permanent magnet component (103), a lower ear plate positioning component (104), a lower arc plate positioning component (106), a lower side plate positioning component (107), a lower conductive component (109), a lower material detection component (110) and a lower arc plate support component (111) installed on the fixed fixture body (101). The number of the lower electro-permanent magnet components (103) is multiple and located in the middle of the fixed fixture body (101). Multiple lower arc plate positioning components (106) and multiple lower side plate positioning components (107) are arranged around the multiple lower electro-permanent magnet components (103). Multiple lower ear plate positioning components (104), multiple lower arc plate support components (111) and multiple lower conductive components (109) are arranged below the multiple lower electro-permanent magnet components (103). The lower material detection component (110) is arranged between the lower electro-permanent magnet component (103) and the lower conductive component (109). Multiple lower lifting pin components (102) are arranged around the multiple lower electro-permanent magnet components (103). The movable fixture body component (2) is composed of an upper lifting pin component (202), an upper electro-permanent magnet component (203), an upper ear plate positioning component (204), an upper arc plate positioning component (205), an upper side plate positioning component (206), an upper conductive component (207), an upper material detection component (208) and an upper arc plate support component (209) installed on the movable fixture body (201). The movable fixture body component (2) is vertically matched with the fixed fixture body component (1), and the same structures are arranged correspondingly. The lower ear plate positioning component (104) consists of a first servo motor (10401), a precision speed reducer (10402), a first mounting seat (10403), a first guide rail slider (10404), a first sliding body (10405), an ear plate positioning pin (10406), an ear plate support block (10407), and an ear plate pressing corner cylinder (10408); the first servo motor (10401) drives the lead screw to rotate through the precision speed reducer (10402), drives the first sliding body (10405) to move forward or backward through the first guide rail slider (10404), the ear plate positioning pin (10406) provides hole positioning for the ear plate, the ear plate support block (10407) provides support for the ear plate, and the ear plate pressing corner cylinder (10408) presses the ear plate from above; the lower arc plate positioning component (106) consists of a first oil cylinder (10601), a second mounting seat (10602), a second guide rail slider (10603), a second sliding body (10604), and a first arc plate positioning block (10605); the first oil cylinder (10601) drives the second sliding body (10604) to move forward or backward through the second guide rail slider (10603), and the first arc plate positioning block (10605) positions the edge of the arc plate; the lower side plate positioning component (107) has the same structure as the lower arc plate positioning component (106) and is used to position the lower side plate; the lower conductive component (109) consists of a mounting plate (10901), a brush box (10902), a circlip (10903), and a brush (10904) and is used for the conduction of the welding loop current; the lower material detection component (110) consists of a proximity switch (11001) and a mounting bracket (11002); the lower arc plate support component (111) is fixed to the fixed fixture body (101) by bolts.

2. The welding fixture for the middle section of the boom according to claim 1, wherein: A plurality of electric slide positioning components (105) and a plurality of opening anti-deformation components (108) are further provided on the fixed fixture body (101); the electric slide positioning components (105) are arranged around a plurality of lower electro-permanent magnet components (103), and the plurality of opening anti-deformation components (108) are arranged at the edge of the fixed fixture body (101); the electric slide positioning component (105) consists of a second servo motor (10501), a third mounting seat (10502), a fourth guide rail slider (10503), a third sliding body (10504), and a second arc plate positioning block (10505); the second servo motor (10501) drives the lead screw to rotate and drives the third sliding body (10504) to move forward or backward through the fourth guide rail slider (10503), and the second arc plate positioning block (10505) positions the edge of the arc plate; the opening anti-deformation component (108) consists of a second oil cylinder (10801), a fourth mounting seat (10802), a guide shaft (10803), and a pressing block; the second oil cylinder (10801) drives the pressing inclined block through the guide shaft (10803).

3. The welding fixture for the middle section of the boom according to claim 1, characterized in that: The power-down permanent magnet assembly (103) consists of a fifth mounting base (10301), a reset cylinder (10302), a third guide rail slider (10303), a guide rail clamp (10304), a permanent magnet (10305), and an adjusting shim (10306); the permanent magnet (10305) can move on the fifth mounting base (10301) through the third guide rail slider (10303), the guide rail clamp (10304) can lock or release the relative position of the third guide rail slider (10303), the reset cylinder (10302) pushes the permanent magnet (10305) to reset, and the adjusting shim (10306) is installed on the permanent magnet (10305).

4. A boom middle section welding and assembling tooling according to claim 3, characterized in that: The fixture lifting assembly (3) consists of a lifting fixture body (301), a lifting servo motor (302), a guide rail slider (303), and a lifting slide base (304); the lifting servo motor (302) drives the lifting slide base (304) to lift through the guide rail slider (303), and the lifting slide base (304) is connected to the moving fixture body assembly (2) and the upper support arm assembly (5).

Images