Clamping device for robot welding side shovel plate

Abstract

The clamping device for the robot welding side shovel plate comprises a position changing machine and a feeding table, the feeding table is connected to a sliding rail in a sliding mode, the position changing machine comprises a position changing machine stand column, a position changing machine clamping end and a platform, and the position changing machine clamping end is located on the side, close to the feeding table, of the position changing machine stand column; the clamping end of the position changing machine acts along the overturning center shaft to drive the platforms to synchronously move along with the clamping end of the position changing machine, and the shovel plate is conveyed to the position between the platforms through the feeding table to be positioned and clamped. The utility model belongs to the technical field of welding fixtures, and particularly relates to a side shovel plate welding fixture which aims at welding clamping and displacement of a side shovel plate, utilizes accurate positioning of a flexible fixture, flexibly clamps side shovel plates of different sizes and weights, is suitable for accurate adaptation of various workpieces, realizes overturning of the workpieces at any angle, adjusts a welding seam to be suitable for a welding position, and improves welding efficiency. And the welding accessibility and the welding automation rate of the robot are improved.

Description

Technical Field

[0001] The utility model belongs to the technical field of welding fixtures, in particular to a clamping device for robot welding side shovels. Background Art

[0002] With the advancement of coal mining technology and the rapid development of related engineering machinery, roadheaders (TBMs) are playing a vital role in mechanized mining operations. The shovel blade is a crucial structural component within the TBM, serving as the source of underground material collection. Due to its unique shape and complex structure, the zongzi-shaped structure, which can weigh over one ton and stand over two meters tall, is typically welded manually.

[0003] Traditional welding clamping devices require a crane to flip or stand upright for welding, which results in high labor intensity, low efficiency, and poor safety. Utility Model Content

[0004] The technical problem to be solved by the utility model is the welding clamping and displacement of the side shovel plate. The flexible clamp is used for precise positioning to flexibly clamp the side shovel plates of different sizes and weights. It is suitable for precise adaptation of a variety of workpieces, and can realize the flipping of the workpiece at any angle. The weld is adjusted to a position suitable for welding, thereby improving the welding accessibility and welding automation rate of the robot.

[0005] In order to solve the above technical problems, the technical solution adopted by the present invention is as follows: a clamping device for robot welding side shovels, comprising a positioner and a loading platform, wherein the loading platform is slidably connected to a slide rail;

[0006] The positioner includes a positioner column, a positioner clamping end and a platform. The positioner clamping end is located on the positioner column near the loading platform. The positioner clamping end moves along the flip center axis, driving the platform to move synchronously with the positioner clamping end, and the shovel plate is transported to the platform through the loading platform for positioning and clamping.

[0007] Furthermore, the positioner clamping end includes a positioner fixture beam, a main flip plate and a clamping drive assembly, wherein:

[0008] The main flip plate is rotatably connected to the positioner column and is close to one side of the loading platform. The positioner clamp beam is slidably arranged on both sides of the main flip plate. The clamping drive component is arranged between the main flip plate and the positioner clamp beam, and the positioner clamp beam is driven to move by the clamping drive component.

[0009] Furthermore, the loading platform is slidably arranged on a slide rail, and a chain belt is driven by a motor; a first cylinder is provided at the bottom of the loading platform for pushing the loading material onto the loading platform.

[0010] Furthermore, an outer gear plate is fixedly connected to one side of the main flip plate close to the positioner column, and the outer gear plate is rotationally connected to the positioner column via a bearing.

[0011] Furthermore, the clamping drive assembly includes a screw, a moving block and a connecting plate, wherein:

[0012] The two ends of the main flip plate away from the positioner column are equipped with bearing seats, the two ends of the screw are rotatably connected in the bearing seats, the main flip plate is equipped with a second motor at a position away from the positioner column, and the output end of the second motor is engaged with the screw through a worm gear;

[0013] The moving block is threadedly connected to both ends of the screw and fixedly connected to the positioner fixture beam; the connecting plate is fixedly connected to one end of the positioner fixture beam and is close to the direction of the main flip plate; the connecting plate is symmetrical up and down, and the connecting plate is slidably connected to the upper and lower side walls of the positioner fixture beam.

[0014] Furthermore, a first motor is provided on the inner side wall of the positioner column, the output end of the first motor passes through the positioner column and is located below the outer gear plate, the output end of the first motor is fixedly connected to a driving wheel, the driving wheel is engaged with the outer gear plate, and drives the main flip plate to rotate.

[0015] Furthermore, a flip drive assembly is connected between the platform and the positioner fixture beam, and the flip drive assembly is fixedly installed inside the positioner fixture beam.

[0016] Furthermore, the flip drive assembly includes a third motor, a first flip gear, a second flip gear and a side flip plate, wherein:

[0017] The second flip gear is rotatably connected to the inner side wall of the positioner fixture beam via a gear shaft, the third motor is fixedly installed inside the positioner fixture beam, the first flip gear is fixedly connected to the output end of the third motor, and the first flip gear is meshed with the second flip gear;

[0018] The side flip plate is rotatably connected to the positioner fixture beam and is fixedly connected to the gear shaft connected to the second flip gear. The platform is fixedly connected to the side flip plate and is away from the positioner fixture beam.

[0019] Furthermore, a second cylinder is provided on the platform, and a pressure plate is connected to the telescopic end of the second cylinder; a positioning hole is also provided on the platform, and a positioning shaft is inserted into the positioning hole.

[0020] After adopting the above structure, the utility model has the following beneficial effects: for the welding process of the side shovel of the tunnel boring machine, the workpiece can be flexibly positioned and clamped, the workpiece can be flipped at any angle, the weld can be adjusted to a position suitable for welding, the welding accessibility of the robot can be improved, and the working efficiency of the robot can be fully utilized;

[0021] (1) The loading platform is guided and transported along the slide rail to load the side shovel onto the clamping end of the positioner. The positioner column supports the clamping end of the positioner and is driven by the second motor to synchronously drive the platform axial flip. The platform is vertically flipped between the opposite side walls of the positioner clamping end, and the welding position of the side shovel can be changed at will, thereby realizing the precise positioning of the side shovel welding process.

[0022] (2) The side shovels are clamped at the clamping end of the positioner through the clamping drive assembly, which enables the positioner fixture beam to move in opposite directions along the two sides of the main flip plate, adjust the distance between the symmetrical platforms, clamp side shovels of different sizes and weights, and achieve precise adaptation of various side shovels;

[0023] (3) The symmetrical platform carries the loads on both sides of the bottom of the opposite side shovel plate, and the positioning shaft limits the two sides of the opposite side shovel plate, and the pressure plate on the platform presses vertically on the upper wall of the side shovel plate to achieve flexible clamping of the opposite side shovel plate. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] The accompanying drawings are used to provide a further understanding of the present invention and constitute a part of the specification. Together with the embodiments of the present invention, they are used to explain the present invention and do not constitute a limitation to the present invention.

[0025] Figure 1 This is a schematic diagram of the overall structure of a clamping device for robot welding side shovel plates proposed in the utility model;

[0026] Figure 2 A half-section view of a positioner column of a clamping device for robot welding side shovel plates proposed in the present invention;

[0027] Figure 3 for Figure 2 A magnified view of part A;

[0028] Figure 4 This is a top view of the clamping end of a positioner for robot welding side shovel plates proposed in the present invention;

[0029] Figure 5 This is a schematic diagram of the structure of a clamping drive assembly of a clamping device for robot welding side shovels proposed in the present invention;

[0030] Figure 6 This is a schematic diagram of the structure of a flip drive assembly of a clamping device for robot welding side shovels proposed in the present invention;

[0031] Figure 7 for Figure 5 A magnified view of part B;

[0032] Figure 8 for Figure 5Magnified view of part C.

[0033] In the accompanying drawings: 1. positioner, 2. loading table, 3. slide rail, 4. positioner column, 5. positioner clamping end, 6. platform, 7. positioner fixture beam, 8. main flip plate, 9. clamping drive assembly, 10. first cylinder, 11. outer gear plate, 12. screw, 13. moving block, 14. connecting plate, 15. bearing seat, 16. second motor, 17. first motor, 18. driving wheel, 19. flip drive assembly, 20. third motor, 21. first flip gear, 22. second flip gear, 23. side flip plate, 24. second cylinder, 25. pressure plate, 26. positioning hole, 27. positioning shaft. DETAILED DESCRIPTION

[0034] like Figure 1 As shown, a clamping device for robot welding side shovels includes a positioner 1 and a loading platform 2. The loading platform 2 is slidably connected to a slide rail 3. The loading platform 2 carries the side shovel and is driven by a motor to drive a chain belt. The slide rail 3 guides the conveying side shovel to move to the positioner 1. A first cylinder 10 is provided at the bottom of the loading platform 2 for pushing the loading platform 2 to load the material, thereby realizing the loading of the side shovel.

[0035] In order to realize the clamping of the side shovel for loading, the positioner 1 includes a positioner column 4, a positioner clamping end 5 and a platform 6. The positioner clamping end 5 is located on the positioner column 4 close to the loading platform 2. The positioner clamping end 5 moves along the flip center axis, driving the platform 6 to move synchronously with the positioner clamping end 5. The positioner column 4 is used to support the positioner clamping end 5 and the platform 6, and the shovel is transported to the platform 6 through the loading platform 2 for positioning and clamping.

[0036] like Figure 2 、 Figure 5 、 Figure 7 and Figure 8 As shown, in order to realize the loading and clamping of side shovels of different sizes and weights, the positioner clamping end 5 includes a positioner clamp beam 7, a main flip plate 8 and a clamping drive assembly 9. The main flip plate 8 is rotatably connected to the positioner column 4 and close to one side of the loading platform 2. The positioner clamp beam 7 is slidably arranged on both sides of the main flip plate 8. The main flip plate 8 is connected to and carries the symmetrical positioner clamp beam 7. The clamping drive assembly 9 is arranged between the main flip plate 8 and the positioner clamp beam 7. The positioner clamp beam 7 is driven by the clamping drive assembly 9 to move, so that side shovels of different sizes and weights can be clamped between the symmetrical platforms 6.

[0037] In order to achieve flexible clamping of the side shovels on the symmetrical platform 6 so that various side shovels can be accurately adapted after loading, the clamping drive assembly 9 includes a screw 12, a moving block 13 and a connecting plate 14. The two ends of the main flip plate 8 away from the positioner column 4 are installed with bearing seats 15. The two ends of the screw 12 are rotatably connected in the bearing seats 15. The main flip plate 8 is installed away from the positioner column 4. The second motor 16 is installed at a position where the main flip plate 8 is away from the positioner column 4. The output end of the second motor 16 is engaged with the screw 12 through a worm gear. The moving block 13 is threadedly connected to the two ends of the screw 12 and is fixedly connected to the positioner fixture beam 7; the connecting plate 14 is fixedly connected to one end of the positioner fixture beam 7. And it is close to the direction of the main flip plate 8; the connecting plate 14 is symmetrical up and down, and the connecting plate 14 is slidably connected to the upper and lower side walls of the positioner fixture beam 7. The bearing seat 15 carries the two ends of the screw 12, and the second motor 16 drives the screw 12 to rotate in the bearing seat 15, so that the moving block 13 connected to the outer wall of the screw 12 moves in the opposite direction, driving the symmetrical positioner fixture beam 7 to move in the opposite direction, so that side shovel plates of different sizes are clamped between the symmetrical platforms 6. At the same time, the connecting plate 14 is slidably buckled on both sides of the main flip plate 8, and slides along the length direction of the main flip plate 8 with the positioner fixture beam 7, thereby improving the movement and clamping stability of the positioner fixture beam 7;

[0038] A second cylinder 24 is provided on the platform 6, and a pressure plate 25 is connected to the telescopic end of the second cylinder 24. A positioning hole 26 is also provided on the platform 6, and a positioning shaft 27 is inserted in the positioning hole 26. When the side shovel plate is loaded between the symmetrical platforms 6, the symmetrical platform 6 supports the bottom wall of the side shovel plate, and a positioning shaft 27 is inserted in the positioning hole 26, which is used to limit the outer walls on both sides of the side shovel plate and drive the second cylinder 24 to drive the pressure plate 25 to press down in the vertical direction of the platform 6, thereby realizing flexible positioning and clamping of the side shovel plate.

[0039] like Figure 2 、 Figure 3 、 Figure 4 and Figure 6 As shown, in order to achieve accurate positioning of the side shovel plate during welding, the clamped side shovel plate is axially flipped along the central axis of the positioner fixture beam 7. The main flip plate 8 is fixedly connected to the side of the positioner column 4 close to the outer gear plate 11. The outer gear plate 11 is rotatably connected to the positioner column 4 through a bearing.

[0040] A first motor 17 is provided on the inner side wall of the positioner column 4. The output end of the first motor 17 passes through the positioner column 4 and is located below the outer gear plate 11. The output end of the first motor 17 is fixedly connected to a driving wheel 18, which is engaged with the outer gear plate 11 to drive the first motor 17 to rotate. The driving wheel 18 is engaged with the outer gear plate 11, so that the driving wheel 18 drives the main flip plate 8 to drive the side shovel plate axially flipped at one end of the positioner column 4;

[0041] At the same time, in order to realize the flipping of the side shovel plate at any angle after clamping, the symmetrical platform 6 is flipped perpendicular to the flipping direction of the positioner fixture beam 7, and a flip driving component 19 is connected between the platform 6 and the positioner fixture beam 7. The flip driving component 19 is fixedly installed inside the positioner fixture beam 7. The flip driving component 19 includes a third motor 20, a first flip gear 21, a second flip gear 22 and a side flip plate 23. The second flip gear 22 is connected to the inner wall of the positioner fixture beam 7 through a gear shaft. The third motor 20 is fixedly installed inside the positioner fixture beam 7. The first flip gear 21 is fixed. Connected to the output end of the third motor 20, the first flip gear 21 is meshed with the second flip gear 22, the side flip plate 23 is rotatably connected to the positioner clamp beam 7, and is fixedly connected to the gear shaft connected to the second flip gear 22, the platform 6 is fixedly connected to the side flip plate 23, and is away from the positioner clamp beam 7, driving the third motor 20 to rotate, so that the first flip gear 21 drives the second flip gear 22 to rotate, and at the same time drives the side flip plate 23 connected to the inner wall of the positioner clamp beam 7 to rotate, so that the platform 6 can be flipped between the symmetrical positioner clamp beams 7, and the side shovel plate can be flipped at any angle after clamping.

[0042] When in use, the side shovel to be processed is placed on the loading platform 2, and the motor drives the chain belt to make the loading platform 2 move back and forth along the guide rail between the symmetrically distributed positioners 1 to load the material. When loading, the loading platform 2 and the side shovel are sent to the clamping end 5 of the positioner for clamping. After the side shovel is clamped, the loading platform 2 is withdrawn to provide more space for turning over for welding;

[0043] In the initial state, the positioner clamping end 5 is in an open state, and the symmetrical positioner clamp beams 7 are driven by the clamping drive assembly 9 to move in opposite directions along the two sides of the main flip plate 8. The screw 12 is driven to rotate in the bearing seat 15 by the second motor 16, so that the moving block 13 connected to the outer wall of the screw 12 drives the symmetrical positioner clamp beams 7 to move in opposite directions. During the movement, the connecting plates 14 sliding on the upper and lower sides are used to improve the movement and clamping stability of the positioner clamp beam 7. The symmetrical platform 6 carries the bottom wall of the side shovel plate to lift the side shovel plate, and the positioning shaft 27 inserted in the positioning hole 26 is used to limit the outer walls of the two sides of the side shovel plate. The second cylinder 24 is driven to drive the pressure plate 25 to press vertically downward and press on the upper wall of the side shovel plate to achieve flexible positioning and clamping of the side shovel plate.

[0044] After clamping, in order to realize that the side shovel plate can be flipped at any angle during the welding process, the weld is adjusted to a position suitable for welding, and the precise positioning of the side shovel plate during welding is improved, the first motor 17 is driven to rotate, and the driving wheel 18 drives the meshing outer gear plate 11 to rotate. At the same time, the main flip plate 8 drives the side shovel plate axially flipped at one end of the positioner column 4, and drives the third motor 20 to rotate, so that the first flip gear 21 drives the second flip gear 22 to rotate, and at the same time drives the side flip plate 23 connected to the inner wall of the positioner fixture beam 7 to rotate, so that the platform 6 can flip between the symmetrical positioner fixture beams 7, and the side shovel plate can be flipped and adjusted at any angle after clamping, thereby improving the welding accessibility of the robot, giving full play to the working efficiency of the robot, and effectively solving the problems of poor safety of crane flipping, large workpiece, high labor intensity of workers, and low efficiency, replacing the traditional robot combined with welding platform 6 and crane hoisting flip welding method.

[0045] Although the embodiments of the present invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions, and variations may be made to these embodiments without departing from the principles and spirit of the present invention, and the scope of the present invention is defined by the appended claims and their equivalents. In short, if those skilled in the art are inspired by the present invention and, without departing from the purpose of the present invention, design structures and embodiments similar to the technical solution without inventiveness, they shall fall within the scope of protection of the present invention.

Claims

1. A clamping device for robot welding side shovel, characterized by: It comprises a positioner (1) and a loading platform (2), wherein the loading platform (2) is slidably connected to a slide rail (3); The positioner (1) comprises a positioner column (4), a positioner clamping end (5) and a platform (6); the positioner clamping end (5) is located on the positioner column (4) near the loading platform (2); the positioner clamping end (5) moves along the flip center axis, driving the platform (6) to move synchronously with the positioner clamping end (5), and transporting the shovel plate to the platform (6) through the loading platform (2) for positioning and clamping.

2. The clamping device for robot welding side shovel according to claim 1, characterized in that: The positioner clamping end (5) comprises a positioner clamping beam (7), a main turning plate (8) and a clamping drive assembly (9), wherein: The main flip plate (8) is rotatably connected to the positioner column (4) and is close to one side of the loading platform (2). The positioner clamp beam (7) is slidably arranged on both sides of the main flip plate (8). The clamping drive component (9) is arranged between the main flip plate (8) and the positioner clamp beam (7), and the positioner clamp beam (7) is driven to move by the clamping drive component (9).

3. The clamping device for robot welding side shovel according to claim 2, characterized in that: The loading platform (2) is slidably arranged on a slide rail (3), and a chain belt is driven by a motor; a first cylinder (10) is provided at the bottom of the loading platform (2) for pushing the loading platform (2) to load materials.

4. The clamping device for robot side shovel welding according to claim 3, characterized in that: An outer gear disc (11) is fixedly connected to one side of the main flip plate (8) close to the positioner column (4), and the outer gear disc (11) and the positioner column (4) are rotatably connected via a bearing.

5. A clamping device for robot side shovel welding according to any one of claims 2 to 4, characterized in that: The clamping drive assembly (9) comprises a screw (12), a moving block (13) and a connecting plate (14), wherein: The two ends of the main flip plate (8) away from the positioner column (4) are equipped with bearing seats (15), the two ends of the screw (12) are rotatably connected in the bearing seats (15), the main flip plate (8) is equipped with a second motor (16) away from the positioner column (4), and the output end of the second motor (16) is engaged with the screw (12) through a worm gear; The moving block (13) is threadedly connected to both ends of the screw rod (12) and fixedly connected to the positioner fixture beam (7); the connecting plate (14) is fixedly connected to one end of the positioner fixture beam (7) and is close to the direction of the main flip plate (8); the connecting plate (14) is symmetrical up and down, and the connecting plate (14) is slidably connected to the upper and lower side walls of the positioner fixture beam (7).

6. The clamping device for robot welding side shovels according to claim 5, characterized in that: A first motor (17) is provided on the inner side wall of the positioner column (4), an output end of the first motor (17) passes through the positioner column (4) and is located below the outer gear plate (11), and a driving wheel (18) is fixedly connected to the output end of the first motor (17), and the driving wheel (18) is engaged with the outer gear plate (11) to drive the main flip plate (8) to rotate.

7. A clamping device for robot welding side shovels according to any one of claims 1 to 4 and 6, characterized in that: A flip drive assembly (19) is connected between the platform (6) and the positioner fixture beam (7), and the flip drive assembly (19) is fixedly installed inside the positioner fixture beam (7).

8. The clamping device for robot side shovel welding according to claim 7, characterized in that: The flip drive assembly (19) comprises a third motor (20), a first flip gear (21), a second flip gear (22) and a side flip plate (23), wherein: The second flip gear (22) is rotatably connected to the inner wall of the positioner fixture beam (7) via a gear shaft, the third motor (20) is fixedly installed inside the positioner fixture beam (7), the first flip gear (21) is fixedly connected to the output end of the third motor (20), and the first flip gear (21) is meshed with the second flip gear (22); The side flip plate (23) is rotatably connected to the positioner fixture beam (7) and fixedly connected to the gear shaft connected to the second flip gear (22). The platform (6) is fixedly connected to the side flip plate (23) and is away from the positioner fixture beam (7).

9. A clamping device for robot welding side shovels according to any one of claims 1, 2-4, 6, and 8, characterized in that: A second cylinder (24) is provided on the platform (6), and a pressure plate (25) is connected to the telescopic end of the second cylinder (24); a positioning hole (26) is also provided on the platform (6), and a positioning shaft (27) is inserted into the positioning hole (26).

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