Assembly welding auxiliary device of arm barrel full-automatic robot welding workstation

Abstract

The utility model discloses an assembling and welding auxiliary device of a full-automatic arm barrel robot welding workstation, which has the following advantages and effects: 1, the assembling and welding auxiliary device is suitable for four-plate tailor-welded arm barrel products, four plates are respectively fed, and an assembling and welding clamp is automatically positioned; 2, the arrangement of the assembly welding clamp facilitates the remodeling switching of workpieces of different specifications (the workpieces of different specifications are switched to corresponding inner tube mold assemblies), and is suitable for small-batch multi-specification production; 3, the internal positioning size of the workpiece is ensured by the only inner tube mold assembly, and the workpiece processing quality is improved; 4, spot welding and full welding are designed on the same group welding clamp, so that the production efficiency is improved, secondary positioning deviation is avoided, and the workpiece quality is improved; and 5, the multi-robot synchronous welding system and equipment adopt a multi-axis cooperation mode of a plurality of welding robots, four splicing welding seams are fully welded at a time, the production efficiency is improved, and the influence of preorder welding deformation on subsequent welding is avoided.

Description

TECHNICAL FIELD

[0001] The utility model relates to arm cylinder welding technical field of straight / curved arm vehicle, especially relates to a kind of arm cylinder full-automatic robot welding workstation's assembly welding auxiliary device. BACKGROUND

[0002] The curved arm vehicle and the straight arm vehicle can realize the movement and operation in multiple directions, and are usually used to cross obstacles or other special-shaped structures.Compared with the straight arm vehicle, the curved arm vehicle has a telescopic curved arm structure, and is more flexible in rotation, and is more suitable for some small space and complex structure areas, but the carrying capacity is not as good as that of the straight arm vehicle, and the operation height is relatively low.

[0003] At present, the welding production line of the arm cylinder in China uses manual welding, and there are problems of low efficiency, low yield, inconvenient operation and long welding time, which restricts the efficiency of the welding production of the arm cylinder. UTILITY MODEL CONTENT

[0004] The utility model provides a kind of arm cylinder full-automatic robot welding workstation's assembly welding auxiliary device, with the action of convenient improvement welding efficiency, improve yield, solve the changeover of different specifications workpiece.

[0005] The above technical purpose of the utility model is realized by the following technical scheme: a kind of arm cylinder full-automatic robot welding workstation's assembly welding auxiliary device, including assembly welding fixture, inner tube module component;The assembly welding fixture includes main frame, bottom plate centering assembly for being set on main frame and being used to center the bottom plate of workpiece, multiple side plate centering assemblies for being symmetrically set on both sides of main frame and respectively realizing the centering of the two side plates of workpiece, multiple side plate turnover assemblies for being symmetrically set on both sides of main frame and respectively realizing the turnover of the two side plates of workpiece, assembly pair compression assembly for being walkably set on main frame and being used to compress the two side plates and top plate of workpiece, auxiliary positioning assembly for being walkably set on main frame and being used to assist the positioning of one end of the four plates of workpiece, ranging point laser for being set on the starting point end of main frame, winch for being set on the end of main frame, wherein the assembly pair compression assembly includes inner tube mold clamping mechanism for clamping inner tube module component;The bottom of the inner tube module component and the bottom plate of workpiece are rolling friction, the two side plates of workpiece are positioned by abutting on the two side end faces of the inner tube module component, and the top plate of workpiece is positioned by abutting on the upper surface of the inner tube module component, the ranging point laser is used to measure the position of the inner tube module component, and the winch is used to pull the inner tube module component to move;The assembly pair compression assembly and workpiece are rolling friction compression, and move following the position of the inner tube module component during working process, so that the position of action point in compression process corresponds to the position of the inner tube module component.

[0006] By adopting the technical scheme, the following steps are performed when welding a workpiece of a certain specification: (S1) hoisting a bottom plate of the workpiece, positioning the bottom plate through a bottom plate centering assembly and an auxiliary positioning assembly; (S2) clamping an inner tire mold assembly of a pressing assembly through an inner tire mold clamping mechanism of the pressing assembly, moving the pressing assembly to a starting point of a main frame, and placing the inner tire mold assembly at a starting point end of the bottom plate; (S3) hoisting side plates of the workpiece, positioning the side plates through a side plate centering assembly and an auxiliary positioning assembly, and turning over the side plates through a side plate turning over assembly, so that the two side plates are located on both sides of the bottom plate; (S4) hoisting a top plate of the workpiece, lapping the top plate on top of the two side plates, and positioning one end of the top plate through the auxiliary positioning assembly; (S5) working of the pressing assembly, pressing the two side plates at two side end surfaces of the inner tire mold assembly, and pressing the top plate at an upper surface of the inner tire mold assembly, so that positioning of the four plates of the workpiece is completed; (S7) an external welding robot performs spot welding on joint seams of the four plates of the workpiece in a moving process, the inner tire mold assembly is moved by cooperation of a winch, and the pressing assembly moves along with the inner tire mold assembly, so that the four plates close to the spot welding position can be kept in accurate positioning; (S8) the external welding robot performs full welding on the joint seams of the four plates synchronously, and the product is lowered after completion, so that the welding efficiency is improved and the yield is improved.

[0007] The bottom plate centering assembly comprises two first straight rails arranged on the main frame, two first racks symmetrically arranged and slidably connected to the two first straight rails, a first gear arranged on the main frame and engaged with the two first racks, two centering clamping blocks respectively arranged at one end of the two first racks away from each other, and a first cylinder arranged between the main frame and one of the first racks and driving the first rack to move.

[0008] By adopting the technical scheme, in the moving process of the first cylinder driving the first rack connected thereto in one direction, the other first rack is driven to move in the opposite direction through the engagement of the first gear, so that the movement of the two centering clamping blocks in the direction of approaching or moving away from each other is controlled. In the movement of the two centering clamping blocks in the direction of approaching each other, the force can be applied to both sides of the bottom plate of the workpiece, and the bottom plate centering positioning can be completed under the common action of the plurality of bottom plate centering assemblies. Meanwhile, the structure design of the bottom plate centering assembly can facilitate the changeover switching of workpieces of different specifications.

[0009] The further setting of the utility model is that the side plate centering assembly comprises a linear rail cylinder arranged on the main frame, and a pressing block arranged on the sliding table of the linear rail cylinder.

[0010] By adopting the above technical scheme, when the side plate is arranged on the main frame, the pressing block pushes the side plate under the linear rail cylinder, thereby driving the side plate of the workpiece to move towards the direction close to the bottom plate, and the side plate centering assembly can complete the centering and positioning of the side plate under the common action of multiple side plate centering assemblies.

[0011] The further setting of the utility model is that the side plate turnover assembly comprises a Y-direction servo adjustment module arranged on the main frame, an angle turnover module arranged on the Y-direction servo adjustment module, a Z-direction servo adjustment module arranged on the angle turnover module, and multiple electromagnets arranged on the Z-direction servo adjustment module.

[0012] By adopting the above technical scheme, multiple electromagnets are arranged to adsorb the side plate of the workpiece, thereby completing the turnover operation of the side plate when the angle turnover module rotates the side plate to the vertical state, and realizing the splicing with the bottom plate; meanwhile, the Y-direction servo adjustment module can drive the side plate to be adjusted in the Y-direction (the width direction of the main frame), and the Z-direction servo adjustment module can drive the side plate to be adjusted in the Z-direction, so as to facilitate the switching of different specifications of workpieces.

[0013] The further setting of the utility model is that the Y-direction servo adjustment module comprises a mounting bottom plate arranged on the main frame, two Y-direction linear rails arranged on the mounting bottom plate, a Y-direction sliding support slidingly arranged on the two Y-direction linear rails, and a second cylinder arranged between the mounting bottom plate and the Y-direction sliding support, wherein the sliding direction of the Y-direction sliding support is the width direction of the main frame; the angle turnover module comprises a turnover support rotatably connected to the Y-direction sliding support, two second racks slidingly arranged on the Y-direction sliding support, a connecting rod arranged between the two second racks, two second gears rotatably connected to the turnover support and having the same center axis as the rotation axis of the turnover support, and a third cylinder arranged between the Y-direction sliding support and the connecting rod, wherein the two second gears are engaged with the two second racks, respectively; and the Z-direction servo adjustment module comprises two Z-direction linear rails arranged on the turnover support, a Z-direction sliding plate slidingly arranged on the two Z-direction linear rails, and a fourth cylinder arranged between the turnover support and the Z-direction sliding plate, wherein multiple electromagnets are arranged on the Z-direction sliding plate.

[0014] By adopting the technical scheme, when the side plate overturning assembly overturns the side plate, the side plate is first adsorbed by the plurality of electromagnets, then when the third cylinder of the angle overturning module moves, the overturning support is driven to rotate to the vertical state by the second rack and the second gear, so that the side plate is overturned and spliced with the bottom plate; meanwhile, the side plate can be adjusted in the Y direction by the operation of the second cylinder in the Y direction servo adjustment module, and the side plate can be adjusted in the Z direction by the operation of the fourth cylinder in the Z direction servo adjustment module, so as to facilitate the switching of different specifications of workpieces.

[0015] The utility model discloses further provide: the group pair pressure assembly includes the first servo frame of walkable setting in the main frame, the side plate pressure wheel mechanism of being used for the side plate of workpiece and being pressed in the two side faces of inner tire module assembly and setting in the both sides of first servo frame, the top plate pressure mechanism of being used for the top plate of workpiece and being pressed on the upper surface of inner tire module assembly and setting in the top of first servo frame, the top plate pressure wheel mechanism of being used for the top plate of workpiece and being pressed on the upper surface of inner tire module assembly and setting in the top of first servo frame, the inner tire mould clamping mechanism also sets up in first servo frame, the contact of side plate pressure wheel mechanism, top plate pressure mechanism, top plate pressure wheel mechanism and workpiece is rolling friction.

[0016] By adopting the technical scheme, in the team pressure assembly, the side plate of the workpiece is pressed on the side face of the inner tire module assembly by the side plate pressure wheel mechanism, the top plate of the workpiece is pressed on the upper surface of the inner tire module assembly by the top plate pressure mechanism and the top plate pressure wheel mechanism, and the contact of the side plate pressure wheel mechanism, the top plate pressure mechanism and the top plate pressure wheel mechanism and the workpiece is rolling friction, so that the friction between the workpiece and the team pressure assembly can be reduced during the movement of the team pressure assembly following the position of the inner tire module assembly.

[0017] The further setting of the utility model discloses: the side plate compression wheel mechanism includes the left slide frame of horizontal sliding setting in the one side of first servo frame, two left compression wheels of rotationally connecting on left slide frame and along the vertical direction setting, the first servo lead screw module of setting between first servo frame and left slide frame, the right slide frame of horizontal sliding setting in the other side of first servo frame, the telescopic plate, the first elastic telescopic connecting piece of setting in telescopic plate and right slide frame support, two right compression wheels of rotationally connecting on two telescopic plates and along the vertical direction setting, the second servo lead screw module of setting between first servo frame and right slide frame, the top plate compression mechanism includes the first electric cylinder of setting on first servo frame, the first connecting plate of setting on the output shaft of first electric cylinder, the first movable plate, a plurality of second elastic telescopic connecting pieces of setting between first connecting plate and first movable plate, two long rollers of rotationally setting on the lower surface of first movable plate, the top plate compression wheel mechanism includes the second electric cylinder of setting on first servo frame, the second connecting plate of setting on the output shaft of second electric cylinder, the second movable plate, a plurality of third elastic telescopic connecting pieces of setting between second connecting plate and second movable plate, the upper compression wheel of rotationally setting on the lower surface of second movable plate, the inner tube mould clamping mechanism includes the fifth cylinder of setting on left slide upper end, the left clamping block of setting on the cylinder axle of fifth cylinder, the sixth cylinder of setting on right slide frame, the right clamping block of setting on the cylinder axle of sixth cylinder.

[0018] By adopting the technical scheme, in the side plate pressing wheel mechanism, the side where the left pressing wheel is located is the reference, and the side where the right pressing wheel is located is elastically pressed through the first elastic extension connection, so that the right pressing wheel can be spring buffered during the pressing process, and the common action of the two left pressing wheels and the common action of the two right pressing wheels respectively press the two side plates of the inner tire mold assembly on the two sides of the workpiece, and the contact with the workpiece is rolling friction, so that the two side plates of the workpiece can be tightly attached to the inner tire mold assembly; meanwhile, the positions of the left pressing wheels can be quickly driven to move by the first servo lead screw module, and the right pressing wheels can be quickly driven to move by the second servo lead screw module, so as to facilitate the switching of different specifications of workpieces. In the top plate pressing mechanism, when the top plate of the workpiece is introduced into the two side plates, if the horizontal introduction mode is selected, the top plate can be placed on the long roller, and under the walking cooperation of the pressing assembly, the top plate can be quickly introduced into the middle of the two side plates of the workpiece. In the top plate pressing wheel mechanism, the work of the second electric cylinder can drive the upper pressing wheel to move downward to press and position the introduced top plate, and the contact with the workpiece is rolling friction, and the contact with the workpiece is elastically buffered through the third elastic extension connecting piece, so that the top plate is tightly attached to the inner tire mold assembly; meanwhile, the second electric cylinder can quickly drive the upper pressing wheel to rise and fall, so as to facilitate the switching of different specifications of workpieces. In the inner tire mold clamping mechanism, after the welding of the previous workpiece is completed, the fifth cylinder and the sixth cylinder can respectively drive the left clamping block and the right clamping block to move in the direction of moving downward and approaching each other, so as to clamp the inner tire mold assembly, so that after the bottom plate of the subsequent workpiece is installed, the inner tire mold assembly can be moved to the starting end of the bottom plate.

[0019] The utility model discloses further provide: the auxiliary positioning assembly includes the second servo frame of the walkable setting in the main frame, two symmetrical setting side plate positioning mechanism that the second servo frame both sides, two symmetrical setting bottom plate positioning mechanism that the second servo frame, set in the top of second servo frame's top plate positioning mechanism, the side plate positioning mechanism includes the vertical lift setting of second servo frame's lift plate, set between second servo frame and lift plate's seventh cylinder, set in lift plate and be used for the positioning of workpiece's side plate one end face's first stopper, bottom plate positioning mechanism includes the horizontal sliding setting of second servo frame's moving plate, set between second servo frame and moving plate's eighth cylinder, set in moving plate and be used for the positioning of bottom plate one end face's second stopper, top plate positioning mechanism includes the vertical lift setting of second servo frame's upper pressing plate, set between second servo frame and upper pressing plate's ninth cylinder, set in upper pressing plate and be used for the positioning of workpiece's top plate one end face's third stopper, set in upper pressing plate and be used for the support board of workpiece's top plate rests.

[0020] By adopting the technical scheme, during movement of the second servo rack along the main frame, one end of the two side plates of the workpiece can be pushed by the two first stop blocks to realize X-direction (length direction of the main frame) positioning, one end of the bottom plate of the workpiece can be pushed by the two first stop blocks to realize X-direction positioning, and one end of the top plate of the workpiece can be pushed by the third stop block to realize X-direction positioning; meanwhile, the position of the first stop plate can be adjusted up and down, the position of the second stop plate can be adjusted horizontally, and the position of the third stop block can be adjusted up and down, so that the switching of different specifications of workpieces is facilitated; meanwhile, when the top plate of the workpiece is fed, the support plate can support one end of the top plate of the workpiece.

[0021] The inner tube mold assembly further comprises an inner tube mold welding frame, a plurality of moving rollers arranged at the bottom of the inner tube mold welding frame, a lifting lug arranged at both ends of the inner tube mold welding frame, and a connecting ring arranged at one end of the inner tube mold welding frame.

[0022] The moving rollers arranged at the bottom of the inner tube mold welding frame realize rolling friction with the bottom plate of the workpiece, so that the friction with the bottom plate can be reduced when the connecting ring of the inner tube mold welding frame is pulled to move by the winch, and the movement is facilitated; meanwhile, the lifting lug is arranged, which facilitates the lifting and use of different types of inner tube mold welding frames during the switching of different specifications of workpieces.

[0023] In summary, the beneficial effects of the utility model are:

[0024] 1. Adapted to four-plate tailor-welded arm cylinder products, four plates are fed respectively, and the assembly welding fixture is automatically positioned;

[0025] 2. The assembly welding fixture is arranged to facilitate the switching of different specifications of workpieces (different specifications of workpieces switch corresponding inner tube mold assemblies), and is suitable for small-batch multi-specification production;

[0026] 3. The unique inner tube mold assembly ensures the internal positioning size of the workpiece, and improves the workpiece processing quality;

[0027] 4. In cooperation with the external welding robot, the spot welding is designed to be full welding on the same group of welding fixtures, which improves the production efficiency, avoids the secondary positioning deviation, and improves the workpiece quality; BRIEF DESCRIPTION OF DRAWINGS

[0028] Figure 1 is a structural schematic view of the utility model (including an external welding robot system in the figure);

[0029] Figure 2 is a structural schematic view of the assembly welding fixture in the utility model;

[0030] Figure 3 is a structural schematic view of the bottom plate centering assembly in the utility model;

[0031] Figure 4 is the structure schematic view of the side plate centering assembly in the utility model;

[0032] Figure 5 is the structure schematic view of the side plate turnover mechanism in the utility model;

[0033] Figure 6 is the structure schematic view of the side plate turnover mechanism in the utility model from another angle;

[0034] Figure 7 is the structure schematic view of the group pressing assembly in the utility model;

[0035] Figure 8 is the structure schematic view of the group pressing assembly in the utility model from another angle;

[0036] Figure 9 is the structure sectional view of the group pressing assembly in the utility model;

[0037] Figure 10 is the structure schematic view of the auxiliary positioning assembly in the utility model;

[0038] Figure 11 is Figure 10 the local enlarged view of A in the utility model;

[0039] Figure 12 is the structure schematic view of the inner tube mold assembly in the utility model.

[0040] Reference: 1, group welding fixture; 1-1, main frame; 1-2, bottom plate centering assembly; 1-2-1, first linear rail; 1-2-2, first rack; 1-2-3, first gear; 1-2-4, centering clamping block; 1-2-5, first air cylinder; 1-3, side plate centering assembly; 1-3-1, linear rail air cylinder; 1-3-2, pressing block; 1-4, side plate overturning assembly; 1-4-1, Y direction servo adjustment module; 1-4-1-1, mounting bottom plate; 1-4-1-2, Y direction linear rail; 1-4-1-3, Y direction sliding support; 1-4-1-4, second air cylinder; 1-4-2, angle overturning module; 1-4-2-1, overturning support; 1-4-2-2, second rack; 1-4-2-3, connecting rod; 1-4-2-4, second gear; 1-4-2-5, third air cylinder; 1-4-3, Z direction servo adjustment module; 1-4-3-1, Z direction linear rail; 1-4-3-2, Z direction sliding plate; 1-4-3-3, fourth air cylinder; 1-4-4, electromagnet; 1-5, group pressing assembly; 1-5-1, first servo rack; 1-5-2, side plate pressing wheel mechanism; 1-5-2-1, left sliding frame; 1-5-2-2, left pressing wheel; 1-5-2-3, first servo screw module; 1-5-2-4, right sliding frame; 1-5-2-5, telescopic plate; 1-5-2-6, first elastic telescopic connecting piece; 1-5-2-7, right pressing wheel; 1-5-2-8, second servo screw module; 1-5-3, top plate pressing mechanism; 1-5-3-1, first electric cylinder; 1-5-3-2, first connecting plate; 1-5-3-3, first movable plate; 1-5-3-4, second elastic telescopic connecting piece; 1-5-3-5, long roller; 1-5-4, top plate pressing wheel mechanism; 1-5-4-1, second electric cylinder; 1-5-4-2, second connecting plate; 1-5-4-3, second movable plate; 1-5-4-4, third elastic telescopic connecting piece; 1-5-4-5, upper pressing wheel; 1-5-5, inner tire mold clamping mechanism; 1-5-5-1, fifth air cylinder; 1-5-5-2, left clamping block; 1-5-5-3, sixth air cylinder; 1-5-5-4, right clamping block; 1-6, auxiliary positioning assembly; 1-6-1, second servo rack; 1-6-2, side plate positioning mechanism; 1-6-2-1, lifting plate; 1-6-2-2, seventh air cylinder; 1-6-2-3, first stop block; 1-6-3, bottom plate positioning mechanism; 1-6-3-1, moving plate; 1-6-3-2, eighth air cylinder; 1-6-3-3, second stop block; 1-6-4, top plate positioning mechanism; 1-6-4-1, upper pressing plate; 1-6-4-2, ninth air cylinder; 1-6-4-3, third stop block; 1-6-4-4, support plate; 1-7, distance measuring point laser; 1-8, winch; 2, inner tire mold assembly; 2-1, inner tire mold welding frame; 2-2, moving roller; 2-3, lifting lug; 2-4, connecting ring. DETAILED DESCRIPTION

[0041] The utility model will be described in further detail below in combination with the drawings.

[0042] Embodiment: a kind of arm cylinder full-automatic robot welding workstation's group welding auxiliary device, as shown in Figure Figure 1 , including group welding fixture 1, inner tube mould module 2.

[0043] As shown in Figure 1 And Figure 2 , group welding fixture 1 includes main frame 1-1, bottom plate centering assembly 1-2 for being set on main frame 1-1 and being used to center the bottom plate of workpiece, multiple symmetrically set on both sides of main frame 1-1 and respectively realize the centering of two side plates of workpiece side plate centering assembly 1-3, multiple symmetrically set on both sides of main frame 1-1 and respectively realize the overturning of two side plates of workpiece side plate overturning assembly 1-4, walkable setting on main frame 1-1 and being used to compress two side plates and top plate of workpiece group compression assembly 1-5, walkable setting on main frame 1-1 and being used to assist positioning the end of four plates of workpiece auxiliary positioning assembly 1-6, ranging point laser 1-7 setting in the starting end of main frame 1-1, winch 1-8 setting in the end of main frame 1-1, wherein group compression assembly 1-5 includes inner tube mould clamping mechanism 1-5-5 (see Figure 7 And Figure 8 ) for clamping inner tube mould module 2.

[0044] As shown in Figure 1 And Figure 12 , the bottom of inner tube mould module 2 and the bottom plate of workpiece are rolling friction, two side plates of workpiece are positioned by abutting against the two side end faces of inner tube mould module 2, the top plate of workpiece is positioned by abutting against the upper surface of inner tube mould module 2, ranging point laser 1-7 is used to measure the position of inner tube mould module 2, winch 1-8 is used to pull inner tube mould module 2 to move;Group compression assembly 1-5 and workpiece are rolling friction compression and move following the position of inner tube mould module 2 in the working process, so that the position of action point in compression process corresponds to the position of inner tube mould module 2.

[0045] As shown in Figure 2 And Figure 3As shown in

[0046] As shown in Figure 2 and Figure 4 As shown in

[0047] As shown in Figure 2 and Figure 5 As shown in

[0048] As shown in Figure 5 and Figure 6As shown, the Y-direction servo adjustment module 1-4-1 includes a mounting base plate 1-4-1-1 arranged on the main frame 1-1, two Y-direction linear rails 1-4-1-2 arranged on the mounting base plate 1-4-1-1, a Y-direction sliding bracket 1-4-1-3 slidingly arranged on the two Y-direction linear rails 1-4-1-2, and a second air cylinder 1-4-1-4 arranged between the mounting base plate 1-4-1-1 and the Y-direction sliding bracket 1-4-1-3, the sliding direction of the Y-direction sliding bracket 1-4-1-3 being the width direction of the main frame 1-1. The angle flipping module 1-4-2 includes a flipping bracket 1-4-2-1 rotatably connected to the Y-direction sliding bracket 1-4-1-3, two second racks 1-4-2-2 slidingly arranged on the Y-direction sliding bracket 1-4-1-3, a connecting rod 1-4-2-3 arranged between the two second racks 1-4-2-2, two second gears 1-4-2-4 rotatably connected to the flipping bracket 1-4-2-1 and having their central axes coinciding with the rotation axis of the flipping bracket 1-4-2-1, and a third air cylinder 1-4-2-5 arranged between the Y-direction sliding bracket 1-4-1-3 and the connecting rod 1-4-2-3, the two second gears 1-4-2-4 being engaged with the two second racks 1-4-2-2 respectively. The Z-direction servo adjustment module 1-4-3 includes two Z-direction linear rails 1-4-3-1 arranged on the flipping bracket 1-4-2-1, a Z-direction sliding plate 1-4-3-2 slidingly arranged on the two Z-direction linear rails 1-4-3-1, and a fourth air cylinder 1-4-3-3 arranged between the flipping bracket 1-4-2-1 and the Z-direction sliding plate 1-4-3-2, a plurality of electromagnets 1-4-4 being arranged on the Z-direction sliding plate 1-4-3-2.

[0049] As shown in Figure 3 , Figures 7 to 9 The pair of pressing assemblies 1-5 includes a first servo frame 1-5-1 walkably arranged on the main frame 1-1, a side plate pressing wheel mechanism 1-5-2 arranged on both sides of the first servo frame 1-5-1 and used for pressing the side plate of the workpiece on the two side surfaces of the inner tire mold assembly 2, a top plate pressing mechanism 1-5-3 arranged on the top of the first servo frame 1-5-1 and used for pressing the top plate of the workpiece on the upper surface of the inner tire mold assembly 2, a top plate pressing wheel mechanism 1-5-4 arranged on the top of the first servo frame 1-5-1 and used for pressing the top plate of the workpiece on the upper surface of the inner tire mold assembly 2, and an inner tire mold clamping mechanism 1-5-5 also arranged on the first servo frame 1-5-1, the contact positions of the side plate pressing wheel mechanism 1-5-2, the top plate pressing mechanism 1-5-3, and the top plate pressing wheel mechanism 1-5-4 with the workpiece being rolling friction. The first servo frame 1-5-1 is provided with a driving device capable of walking on the main frame 1-1 (a conventional technical means in the art, which will not be described in detail here).

[0050] As shown in Figures 7 to 9As shown, the side plate pressing wheel mechanism 1-5-2 includes a left sliding frame 1-5-2-1 horizontally slidingly arranged on one side of the first servo rack 1-5-1, two left pressing wheels 1-5-2-2 rotatably connected to the left sliding frame 1-5-2-1 and arranged along a vertical direction, a first servo lead screw module 1-5-2-3 (a combination of a servo motor and a lead screw) arranged between the first servo rack 1-5-1 and the left sliding frame 1-5-2-1, a right sliding frame 1-5-2-4 horizontally slidingly arranged on the other side of the first servo rack 1-5-1, an expansion plate 1-5-2-5, a first elastic expansion connecting piece 1-5-2-6 arranged between the expansion plate 1-5-2-5 and a right sliding frame 1-5-2-4 support, two right pressing wheels 1-5-2-7 rotatably connected to the two expansion plates 1-5-2-5 respectively and arranged along a vertical direction, and a second servo lead screw module 1-5-2-8 arranged between the first servo rack 1-5-1 and the right sliding frame 1-5-2-4. The top plate pressing mechanism 1-5-3 includes a first electric cylinder 1-5-3-1 arranged on the first servo rack 1-5-1, a first connecting plate 1-5-3-2 arranged on an output shaft of the first electric cylinder 1-5-3-1, a first movable plate 1-5-3-3, a plurality of second elastic expansion connecting pieces 1-5-3-4 arranged between the first connecting plate 1-5-3-2 and the first movable plate 1-5-3-3, and two long rollers 1-5-3-5 rotatably arranged on a lower surface of the first movable plate 1-5-3-3. The top plate pressing wheel mechanism 1-5-4 includes a second electric cylinder 1-5-4-1 arranged on the first servo rack 1-5-1, a second connecting plate 1-5-4-2 arranged on an output shaft of the second electric cylinder 1-5-4-1, a second movable plate 1-5-4-3, a plurality of third elastic expansion connecting pieces 1-5-4-4 arranged between the second connecting plate 1-5-4-2 and the second movable plate 1-5-4-3, and an upper pressing wheel 1-5-4-5 rotatably arranged on a lower surface of the second movable plate 1-5-4-3. The inner tube mold clamping mechanism 1-5-5 includes a fifth air cylinder 1-5-5-1 arranged on an upper end of the left sliding frame 1-5-2-1, a left clamping block 1-5-5-2 arranged on a cylinder shaft of the fifth air cylinder 1-5-5-1, a sixth air cylinder 1-5-5-3 arranged on the right sliding frame 1-5-2-4, and a right clamping block 1-5-5-4 arranged on a cylinder shaft of the sixth air cylinder 1-5-5-3.

[0051] As Figures 7 to 9The structure of the first elastic expansion connecting piece 1-5-2-6, the second elastic expansion connecting piece 1-5-3-4 and the third elastic expansion connecting piece 1-5-4-4 can be composed of an expansion guide rod, a compression spring and a anti-loose nut. Take the second elastic expansion connecting piece as an example, the expansion guide rod is arranged on the first movable plate 1-5-3-3 and passes through the first connecting plate 1-5-3-2, the compression spring is sleeved on the expansion guide rod and abuts against the first connecting plate 1-5-3-2 and the first movable plate 1-5-3-3, and the anti-loose nut is threadedly connected on the end of the expansion guide rod passing through the first connecting plate 1-5-3-2. Details are not described herein.

[0052] As shown in Figure 2 and Figure 10 The auxiliary positioning assembly 1-6 comprises a second servo rack 1-6-1 arranged on the main frame 1-1 and capable of walking, two side plate positioning mechanisms 1-6-2 symmetrically arranged on both sides of the second servo rack 1-6-1, two bottom plate positioning mechanisms 1-6-3 symmetrically arranged on the second servo rack 1-6-1, and a top plate positioning mechanism 1-6-4 arranged on the top of the second servo rack 1-6-1. The second servo rack 1-6-1 is provided with a driving device capable of walking on the main frame 1-1 (a conventional technical means in the art, and details are not described herein).

[0053] As shown in Figure 10 and Figure 11 The side plate positioning mechanism 1-6-2 comprises a lifting plate 1-6-2-1 arranged vertically on the second servo rack 1-6-1, a seventh cylinder 1-6-2-2 arranged between the second servo rack 1-6-1 and the lifting plate 1-6-2-1, and a first stopper 1-6-2-3 arranged on the lifting plate 1-6-2-1 and used for positioning the end face of the side plate of the workpiece. The bottom plate positioning mechanism 1-6-3 comprises a moving plate 1-6-3-1 arranged horizontally and slidingly on the second servo rack 1-6-1, an eighth cylinder 1-6-3-2 arranged between the second servo rack 1-6-1 and the moving plate 1-6-3-1, and a second stopper 1-6-3-3 arranged on the moving plate 1-6-3-1 and used for positioning the end face of the bottom plate. The top plate positioning mechanism 1-6-4 comprises an upper pressing plate 1-6-4-1 arranged vertically on the second servo rack 1-6-1, a ninth cylinder 1-6-4-2 arranged between the second servo rack 1-6-1 and the upper pressing plate 1-6-4-1, a third stopper 1-6-4-3 arranged on the upper pressing plate 1-6-4-1 and used for positioning the end face of the top plate of the workpiece, and a support plate 1-6-4-4 arranged on the upper pressing plate 1-6-4-1 and used for supporting the top plate of the workpiece.

[0054] As shown in Figure 1 and Figure 12As shown, the inner tire mold assembly 2 comprises an inner tire mold welding frame 2-1, a plurality of moving rollers 2-2 arranged at the bottom of the inner tire mold welding frame 2-1, lifting lugs 2-3 arranged at both ends of the inner tire mold welding frame 2-1, and a connecting ring 2-4 arranged at one end of the inner tire mold welding frame 2-1.

[0055] The following steps are performed when welding a workpiece of a certain specification: (S1) hoisting the bottom plate of the workpiece, positioning the bottom plate through the bottom plate centering assembly 1-2 and the auxiliary positioning assembly 1-6; (S2) clamping the inner tire mold assembly 2 by the inner tire mold clamping mechanism 1-5-5 of the assembly and pressing assembly 1-5, moving the assembly and pressing assembly 1-5 to the starting point of the main frame 1-1, and placing the inner tire mold assembly 2 at the starting point end of the bottom plate; (S3) hoisting the side plates of the workpiece, positioning the side plates through the side plate centering assembly 1-3 and the auxiliary positioning assembly 1-6, and turning over the side plates through the side plate turning over assembly 1-4, so that the two side plates are located on both sides of the bottom plate; (S4) hoisting the top plate of the workpiece, lapping on the top of the two side plates, and positioning one end of the top plate through the auxiliary positioning assembly 1-6; (S5) working of the assembly and pressing assembly 1-5, pressing the two side plates at the two side end surfaces of the inner tire mold assembly 2, and pressing the top plate at the upper surface of the inner tire mold assembly 2, at this time, the positioning of the four plates of the workpiece is completed; (S7) the external welding robot performs spot welding on the joint seams of the four plates of the workpiece during movement, the hoist 1-8 drags the inner tire mold assembly 2 to move, and the assembly and pressing assembly 1-5 moves with the inner tire mold assembly 2, so that the four plates close to the spot welding position can be kept in accurate positioning; (S8) the external welding robot performs full welding on the joint seams of the four plates synchronously, and the product is lowered after completion; finally, the welding efficiency is improved, and the yield is improved.

[0056] The utility model discloses the following beneficial effects: 1, adapt to four board splicing welding arm barrel product, four boards are respectively fed, and the automatic positioning of assembly welding fixture 1;2, the setting of assembly welding fixture 1 is convenient for the changeover of different specifications workpieces (the changeover of different specifications workpieces corresponding inner tire mold assembly 2), and small batch multi-specification production is adapted;3, rely on only inner tire mold assembly 2 to guarantee the internal positioning size of workpiece, improve workpiece processing quality;4, cooperate with the welding robot outside, design spot welding full welding on the same assembly welding fixture 1, improve production efficiency, avoid secondary positioning deviation, improve workpiece quality.

[0057] The specific embodiment is only an explanation of the utility model, and it is not a limitation of the utility model, and those skilled in the art can make modifications without creative contribution after reading the specification, but as long as it is within the scope of the utility model claims, it is protected by the patent law.

Claims

1. A set-up welding aid for a full-automatic robotic welding station of an arm barrel, characterized in that: The group welding fixture (1) and the inner tire mold assembly (2); The group welding fixture (1) comprises a main frame (1-1), a bottom plate centering assembly (1-2) arranged on the main frame (1-1) and used for centering the bottom plate of the workpiece, a plurality of side plate centering assemblies (1-3) symmetrically arranged on both sides of the main frame (1-1) and respectively used for centering two side plates of the workpiece, a plurality of side plate overturning assemblies (1-4) symmetrically arranged on both sides of the main frame (1-1) and respectively used for overturning the two side plates of the workpiece, a group centering assembly (1-5) walkably arranged on the main frame (1-1) and used for pressing the two side plates and the top plate of the workpiece, an auxiliary positioning assembly (1-6) walkably arranged on the main frame (1-1) and used for auxiliary positioning one end of the four plates of the workpiece, a ranging point laser (1-7) arranged at the starting end of the main frame (1-1), and a winch (1-8) arranged at the end of the main frame (1-1), wherein the group centering assembly (1-5) comprises an inner tire mold clamping mechanism (1-5-5) used for clamping the inner tire mold assembly (2); The bottom of the inner tire mold assembly (2) is in rolling friction with the bottom plate of the workpiece, the two side plates of the workpiece are positioned against the two side end faces of the inner tire mold assembly (2), and the top plate of the workpiece is positioned against the upper surface of the inner tire mold assembly (2), the ranging point laser (1-7) is used for measuring the position of the inner tire mold assembly (2), and the winch (1-8) is used for pulling the inner tire mold assembly (2) to move; the group centering assembly (1-5) is in rolling friction and pressing with the workpiece and moves following the position of the inner tire mold assembly (2) during the working process, so that the position of the acting point in the pressing process corresponds to the position of the inner tire mold assembly (2).

2. A set-up welding aid for a full automatic robotic welding station of arm cylinders according to claim 1, characterized in that: The bottom plate centering assembly (1-2) comprises two first straight rails (1-2-1) arranged on the main frame (1-1), two first racks (1-2-2) symmetrically arranged and respectively connected to the two first straight rails (1-2-1) in a sliding mode, a first gear (1-2-3) arranged on the main frame (1-1) and engaged with the two first racks (1-2-2), two centering clamping blocks (1-2-4) respectively arranged at the ends of the two first racks (1-2-2) away from each other, and a first cylinder (1-2-5) arranged between the main frame (1-1) and one of the first racks (1-2-2) and used to drive the first rack (1-2-2) to move.

3. A set-up welding aid for a full automatic robotic welding station of an arm cylinder, according to claim 1, characterized in that: The side plate centering assembly (1-3) comprises a linear rail cylinder (1-3-1) arranged on the main frame (1-1) and a pressing block (1-3-2) arranged on the sliding table of the linear rail cylinder (1-3-1).

4. A set-up welding aid for a full automatic robotic welding station of arm cylinders according to claim 1, characterized in that: The side plate overturning assembly (1-4) comprises a Y-direction servo adjustment module (1-4-1) arranged on the main frame (1-1), an angle overturning module (1-4-2) arranged on the Y-direction servo adjustment module (1-4-1), a Z-direction servo adjustment module (1-4-3) arranged on the angle overturning module (1-4-2), and a plurality of electromagnets (1-4-4) arranged on the Z-direction servo adjustment module (1-4-3).

5. The assembly welding auxiliary device of the full-automatic robot welding work station according to claim 4, wherein: The Y-direction servo adjustment module (1-4-1) comprises a mounting bottom plate (1-4-1-1) arranged on the main frame (1-1), two Y-direction straight rails (1-4-1-2) arranged on the mounting bottom plate (1-4-1-1), a Y-direction sliding support (1-4-1-3) arranged on the two Y-direction straight rails (1-4-1-2) in a sliding mode, and a second cylinder (1-4-1-4) arranged between the mounting bottom plate (1-4-1-1) and the Y-direction sliding support (1-4-1-3), wherein the sliding direction of the Y-direction sliding support (1-4-1-3) is the width direction of the main frame (1-1). The angle flipping module (1-4-2) comprises a flipping support (1-4-2-1) rotatably connected to the Y-direction sliding support (1-4-1-3), two second racks (1-4-2-2) slidingly arranged on the Y-direction sliding support (1-4-1-3), a connecting rod (1-4-2-3) arranged between the two second racks (1-4-2-2), two second gears (1-4-2-4) rotatably connected to the flipping support (1-4-2-1) and having their central axes coinciding with the rotation axis of the flipping support (1-4-2-1), and a third cylinder (1-4-2-5) arranged between the Y-direction sliding support (1-4-1-3) and the connecting rod (1-4-2-3), wherein the two second gears (1-4-2-4) are respectively engaged with the two second racks (1-4-2-2); The Z-direction servo adjustment module (1-4-3) comprises two Z-direction linear rails (1-4-3-1) arranged on the flipping support (1-4-2-1), a Z-direction sliding plate (1-4-3-2) slidingly arranged on the two Z-direction linear rails (1-4-3-1), and a fourth cylinder (1-4-3-3) arranged between the flipping support (1-4-2-1) and the Z-direction sliding plate (1-4-3-2), wherein a plurality of electromagnets (1-4-4) are arranged on the Z-direction sliding plate (1-4-3-2).

6. A set-up welding aid for a full automatic robotic welding station of an arm cylinder according to claim 1, characterized in that: The pair compression assembly (1-5) comprises a first servo frame (1-5-1) walkably arranged on the main frame (1-1), a side plate compression wheel mechanism (1-5-2) arranged on both sides of the first servo frame (1-5-1) and used for compressing the side plate of the workpiece on the two sides of the inner tire module assembly (2), a top plate compression mechanism (1-5-3) arranged on the top of the first servo frame (1-5-1) and used for compressing the top plate of the workpiece on the upper surface of the inner tire module assembly (2), a top plate compression wheel mechanism (1-5-4) arranged on the top of the first servo frame (1-5-1) and used for compressing the top plate of the workpiece on the upper surface of the inner tire module assembly (2), and the inner tire module clamping mechanism (1-5-5) is also arranged on the first servo frame (1-5-1), wherein the contact between the side plate compression wheel mechanism (1-5-2), the top plate compression mechanism (1-5-3), the top plate compression wheel mechanism (1-5-4) and the workpiece is rolling friction.

7. The assembly welding auxiliary device of the full-automatic robot welding work station of the arm cylinder according to claim 6, characterized in that: The side plate pressing wheel mechanism (1-5-2) comprises a left sliding frame (1-5-2-1) horizontally slidingly arranged on one side of the first servo rack (1-5-1), two left pressing wheels (1-5-2-2) rotatably connected to the left sliding frame (1-5-2-1) and arranged along the vertical direction, a first servo lead screw module (1-5-2-3) arranged between the first servo rack (1-5-1) and the left sliding frame (1-5-2-1), a right sliding frame (1-5-2-4) horizontally slidingly arranged on the other side of the first servo rack (1-5-1), an extension plate (1-5-2-5), a first elastic extension connecting piece (1-5-2-6) arranged between the extension plate (1-5-2-5) and the right sliding frame (1-5-2-4) support, two right pressing wheels (1-5-2-7) rotatably connected to the two extension plates (1-5-2-5) respectively and arranged along the vertical direction, and a second servo lead screw module (1-5-2-8) arranged between the first servo rack (1-5-1) and the right sliding frame (1-5-2-4); The top plate pressing mechanism (1-5-3) comprises a first electric cylinder (1-5-3-1) arranged on the first servo rack (1-5-1), a first connecting plate (1-5-3-2) arranged on the output shaft of the first electric cylinder (1-5-3-1), a first movable plate (1-5-3-3), a plurality of second elastic extension connecting pieces (1-5-3-4) arranged between the first connecting plate (1-5-3-2) and the first movable plate (1-5-3-3), and two long rollers (1-5-3-5) rotatably arranged on the lower surface of the first movable plate (1-5-3-3); The top plate pressing wheel mechanism (1-5-4) comprises a second electric cylinder (1-5-4-1) arranged on the first servo rack (1-5-1), a second connecting plate (1-5-4-2) arranged on the output shaft of the second electric cylinder (1-5-4-1), a second movable plate (1-5-4-3), a plurality of third elastic extension connecting pieces (1-5-4-4) arranged between the second connecting plate (1-5-4-2) and the second movable plate (1-5-4-3), and an upper pressing wheel (1-5-4-5) rotatably arranged on the lower surface of the second movable plate (1-5-4-3); The inner tube mold clamping mechanism (1-5-5) comprises a fifth cylinder (1-5-5-1) arranged on the upper end of the left sliding frame (1-5-2-1), a left clamping block (1-5-5-2) arranged on the cylinder shaft of the fifth cylinder (1-5-5-1), a sixth cylinder (1-5-5-3) arranged on the right sliding frame (1-5-2-4), and a right clamping block (1-5-5-4) arranged on the cylinder shaft of the sixth cylinder (1-5-5-3).

8. A set-up aid for a full-automatic robotic welding station of arm cylinders according to claim 1, characterized in that: The auxiliary positioning assembly (1-6) comprises a second servo frame (1-6-1) arranged on the main frame (1-1) and capable of being walked on, two side plate positioning mechanisms (1-6-2) symmetrically arranged on both sides of the second servo frame (1-6-1), two bottom plate positioning mechanisms (1-6-3) symmetrically arranged on the second servo frame (1-6-1), and a top plate positioning mechanism (1-6-4) arranged on the top of the second servo frame (1-6-1). The side plate positioning mechanism (1-6-2) comprises a lifting plate (1-6-2-1) vertically arranged on the second servo frame (1-6-1), a seventh cylinder (1-6-2-2) arranged between the second servo frame (1-6-1) and the lifting plate (1-6-2-1), and a first stop block (1-6-2-3) arranged on the lifting plate (1-6-2-1) and used for positioning one end face of the side plate of the workpiece. The bottom plate positioning mechanism (1-6-3) comprises a moving plate (1-6-3-1) horizontally arranged on the second servo frame (1-6-1), an eighth cylinder (1-6-3-2) arranged between the second servo frame (1-6-1) and the moving plate (1-6-3-1), and a second stop block (1-6-3-3) arranged on the moving plate (1-6-3-1) and used for positioning one end face of the bottom plate. The top plate positioning mechanism (1-6-4) comprises an upper pressing plate (1-6-4-1) vertically arranged on the second servo frame (1-6-1), a ninth cylinder (1-6-4-2) arranged between the second servo frame (1-6-1) and the upper pressing plate (1-6-4-1), a third stop block (1-6-4-3) arranged on the upper pressing plate (1-6-4-1) and used for positioning one end face of the top plate of the workpiece, and a support plate (1-6-4-4) arranged on the upper pressing plate (1-6-4-1) and used for supporting the top plate of the workpiece.

9. A set-up aid for a full-automatic robotic welding station of arm cylinders according to claim 1, characterized in that: The inner tube mold assembly (2) comprises an inner tube mold welding frame (2-1), a plurality of moving rollers (2-2) arranged at the bottom of the inner tube mold welding frame (2-1), lifting lugs (2-3) arranged at both ends of the inner tube mold welding frame (2-1), and a connecting ring (2-4) arranged at one end of the inner tube mold welding frame (2-1).

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