A directional double needle welding apparatus

Abstract

The utility model relates to a kind of directional double needle welding equipment, including jig circulation conveying, collaborative work system and modularization carrier unit;Jig circulation conveying system has closed loop track (including work, backflow track) and drive assembly;Collaborative work system is along closed loop track and is equipped with material transfer mechanical arm etc. The utility model provides a kind of directional double needle welding equipment to solve the problems existing in the aspects such as jig circulation conveying, workpiece clamping positioning, equipment layout and welding quality stability of existing welding equipment, realize efficient, accurate, stable welding operation.

Description

Technical Field

[0001] This utility model relates to the field of welding equipment technology, specifically to a directional double-needle welding device. Background Technology

[0002] In the existing field of welding equipment, traditional welding equipment has many shortcomings for work scenarios requiring efficient and precise welding. For example, the efficiency of the fixture circulation conveyor system is low, resulting in limited production cycle time; the positioning accuracy of the carrier during the welding process is insufficient, making it susceptible to displacement errors caused by mechanical vibration, which in turn affects the welding quality; the clamping stability of workpieces of different sizes is poor, making it difficult to adapt to workpieces of various specifications; the equipment layout is not reasonable, the carrier reflow can easily interfere with the welding operation, and it occupies a large area. Therefore, a new type of directional double-needle welding equipment is needed to solve the above problems. Utility Model Content

[0003] In view of this, the present invention provides a directional double-needle welding device to solve the problems existing in the existing welding equipment in terms of fixture circulation and conveying, workpiece clamping and positioning, equipment layout and welding quality stability, so as to achieve efficient, accurate and stable welding operations.

[0004] The objective of this utility model is achieved through the following technical solution:

[0005] A directional double-needle welding device includes a fixture circulation conveying system, a collaborative operation system, and several modular carrier units. The fixture circulation conveying system comprises a closed-loop track and a drive assembly. The closed-loop track includes a working track and a return track. The collaborative operation system consists of a material transfer robotic arm, an identification and coding device, a dual welding actuator, and a posture-changing unloading device, arranged sequentially along the closed-loop track. Several modular carrier units are pulled along the closed-loop track by the drive assembly. The drive assembly includes a power unit for pushing the continuously arranged modular carrier units in the return track and a transfer mechanism for synchronously transferring the modular carrier units corresponding to multiple workstations in the working track. The transfer mechanism includes a linear actuator, a transfer plate, and multiple C-shaped clamping parts disposed on the transfer plate; each modular carrier unit includes a base and an elastic self-clamping mechanism. The base slides in conjunction with the working track and the return track; the elastic self-clamping mechanism includes symmetrically arranged clamping arms, a return spring, and a wedge-shaped guide assembly. The wedge-shaped guide assembly forms a workpiece clamping cavity with a variable cross-section, generating self-locking clamping through the wedge action when the workpiece is placed; the working track is provided with spaced positioning stations, each positioning station is provided with an elastic clamping member, which presses the base against the guide rail reference positioning surface. The C-shaped clamping parts realize the station transfer of the base through the transfer plate drive.

[0006] The efficient cyclic transport of the fixture is achieved through the collaborative design of closed-loop tracks and modular carrier units. The separate setup of the working track and return track optimizes the equipment layout and prevents carrier recirculation from interfering with welding operations. The wedge-shaped action of the elastic self-clamping mechanism can adaptively and stably clamp workpieces of different sizes, and combined with the synchronous transfer function of the transfer mechanism, significantly improves the consistency of welding cycle time. The design of the elastic clamping components at the positioning station and the guide rail reference positioning surface ensures the positioning accuracy of the carrier during the welding process and eliminates displacement errors caused by mechanical vibration. The overall system achieves the dual advantages of continuous production and rapid changeover through the dynamic adaptation of modular carriers and track structures.

[0007] Preferably, the C-shaped clamping portions of the transplanting plate are arranged at equal intervals along its length, and the inner contour of the clamping portion is fitted with the outer contour of the base with a clearance.

[0008] The equidistant arrangement of the C-shaped clamping parts enables the transfer plate to grasp carriers in a regular manner. Combined with the gap-fitting structure, it achieves stress-free contact transfer, ensuring precise positioning of the carrier during transfer while avoiding wear caused by mechanical interference. The non-contact guiding design between the inner contour of the clamping part and the outer contour of the base reduces frictional resistance through the air film effect, significantly reducing drive energy consumption. The equidistant distribution characteristic allows the transfer plate to adapt to production line layouts with different workstation spacings, improving the flexibility of the equipment.

[0009] Preferably, the open end of the C-shaped clamping part is provided with a guide slope, and the guide slope forms an acute angle with the base transfer direction.

[0010] The structural design, where the guide ramp forms an acute angle with the base transfer direction, generates a force-guiding effect during carrier transfer, effectively eliminating positional deviations when the carrier docks with the clamping part. The progressive contact mode formed by the acute angle transforms traditional rigid collision into flexible guidance, reducing impact noise and extending the service life of the mechanism. This ramp design also allows the transplant plate to automatically detach from the carrier during the return stroke, avoiding the complex unlocking actions required by traditional hook mechanisms and simplifying the control logic.

[0011] Preferably, the wedge-shaped guide assembly includes a tapered guide groove on the base and a tapered mating surface on the inner side of the clamping arm, wherein the tapered guide groove and the tapered mating surface form a self-locking inclined surface.

[0012] The self-locking inclined plane mechanism, formed by the tapered guide groove and the tapered mating surface, utilizes the wedge effect to convert the vertical force of workpiece insertion into the horizontal clamping force of the clamping arm, achieving geometrically amplified clamping. The angle design of the self-locking inclined plane allows the clamping force to automatically increase with the depth of workpiece insertion, forming a mechanical self-lock after reaching a critical value, eliminating the need for an additional locking device. This structure is insensitive to the surface condition of the workpiece and can stably clamp metal parts with oil stains or oxide layers, significantly improving the stability of welding quality.

[0013] Preferably, the elastic clamping member is embedded in the limiting groove of the positioning station, and the shape of the limiting groove matches the contour of the base.

[0014] The matching design between the limiting groove and the base contour creates a three-dimensional spatial constraint, replacing the traditional point contact positioning method with surface contact, thus improving the positioning accuracy of the carrier to the sub-millimeter level. The structure of the elastic clamping component embedded in the limiting groove ensures that the clamping force is always perpendicular to the carrier's movement trajectory, effectively overcoming the risk of displacement caused by inertial forces. This design also provides buffer protection during emergency stops of the equipment, preventing the carrier from detaching from the workstation due to inertial impact.

[0015] Preferably, the elastic clamping member includes a helical spring and a pressure head assembly, wherein the working surface of the pressure head assembly is provided with an anti-slip texture, and the anti-slip texture engages with the contact surface of the base.

[0016] The combined design of the helical spring and pressure head assembly achieves constant clamping force output through the linear elastic characteristics of the spring, overcoming the shortcomings of traditional rubber gaskets that are prone to aging and failure. The anti-slip texture of the pressure head working surface and its meshing with the base contact surface create a mechanical interlocking effect at the microscale, increasing static friction by more than 40%. This texture design also scrapes away foreign matter deposits on the contact surface, maintaining the cleanliness of the positioning interface and ensuring positioning stability during long-term use.

[0017] Preferably, the working track and the return track are arranged in parallel and spaced intervals to form a closed loop structure, and the modular vehicle units in the return track are arranged continuously in a head-to-tail manner.

[0018] The parallel, space-alternating track layout optimizes equipment space utilization, and the separate operation mode of the working track and the return track eliminates interference from the return of the carriers to the welding process. The continuous arrangement of the end-to-end tracks forms a "carrier chain" structure, which reduces the probability of individual deviation through the mutual constraints of adjacent carriers. This arrangement can also maintain the queue shape by utilizing the weight of the carriers in the event of a power unit failure, preventing the carriers from piling up and getting stuck.

[0019] Preferably, the return track is located below and parallel to the working track, and the closed-loop track connects the working track and the return track at both ends through lifting components to form a loop path. The lifting components include a lifting platform that can carry the vertical movement of modular vehicle units.

[0020] The upper and lower track layout, combined with the design of a vertical lifting platform, constructs a three-dimensional conveying system, saving more than 60% of the floor space compared to traditional planar layouts. The vertical movement mode of the lifting platform avoids horizontal acceleration interference during vehicle transfer, ensuring vehicle stability during precision welding. The closed-loop path design allows for vehicle circulation without external intervention, and the seamless connection between the lifting components and the track system enables fully automated vehicle return, significantly reducing the frequency of manual intervention.

[0021] Preferably, the lifting platform is equipped with a pneumatic locking mechanism, which includes a retractable positioning pin and a positioning hole at the bottom of the base. When the positioning pin is inserted into the positioning hole, the position of the lifting platform is locked.

[0022] The pneumatic locking mechanism uses a mechanical interlock between a locating pin and a locating hole to create a rigid constraint when the lifting platform is stationary, eliminating the risk of slight displacement inherent in hydraulic or electromagnetic locking. The retractable locating pin design ensures a collision-free locking process, and the air film damping effect generated when the locating pin inserts into the locating hole achieves millimeter-level precision soft landing locking. This mechanism can also maintain its mechanical locking state even in the event of a power outage, meeting equipment safety regulations.

[0023] Preferably, the end effector of the loading robotic arm is equipped with a vacuum suction cup and a pressure feedback unit; the visual recognition and encoding device includes an industrial camera, a ring light source and a QR code scanning module, wherein the optical axis of the industrial camera is orthogonal to the workpiece clamping posture; the dual welding actuator consists of symmetrically arranged welding torch assemblies, a laser tracking sensor and a welding torch posture adjustment mechanism, wherein the welding torch posture adjustment mechanism is connected to the welding torch assemblies via a ball joint; the end effector of the unloading robotic arm is equipped with a vacuum suction cup and a pressure feedback unit; the posture transformation device includes a rotary gripper and a flipping drive unit, wherein the flipping drive unit is drive-connected to the rotary gripper.

[0024] The robotic arm employs a vacuum suction cup combined with a pressure feedback unit at its end, adapting to the flexible gripping needs of workpieces of different specifications. Multi-point adsorption ensures uniform force on thin-walled workpieces, preventing surface indentations or deformation. The pressure feedback unit monitors the adsorption status in real time, triggering an automatic compensation mechanism when abnormal adsorption is detected, effectively preventing workpiece detachment. The visual recognition and coding device, through the synergy of an industrial camera and a ring light source, immediately performs 3D pose detection after the workpiece is clamped in place. Its orthogonal optical axis design eliminates perspective distortion errors, ensuring accurate feature extraction. The QR code scanning module communicates with the production management system in real time, enabling dynamic binding of welding parameters and workpiece information, providing a complete data chain for quality traceability. The dual welding actuators use symmetrically arranged welding torch assemblies, forming a closed-loop control system with a laser tracking sensor. This allows for real-time correction of welding path deviations, ensuring the symmetry and consistent penetration of the double-needle weld. The welding torch posture adjustment mechanism achieves five degrees of freedom fine-tuning via a ball joint, maintaining the optimal welding angle even in confined spaces, significantly reducing defects such as incomplete welds and burn-through. The unloading robotic arm, through an optimized layout design of vacuum suction cups, ensures gripping stability while shortening posture adjustment time, and achieves non-destructive unloading in conjunction with a pressure feedback unit. The posture transformation device innovatively adopts a combination structure of a rotary gripper and a flipping drive unit, achieving precise angle control via a servo motor. It can perform both planar rotational positioning and spatial flipping movements, meeting the special requirements of complex welding processes for workpiece spatial posture and significantly expanding the equipment's processing adaptability. All subsystems achieve millisecond-level response and coordination through a central controller, significantly improving production cycle time while ensuring process connection accuracy, forming an efficient, reliable, and intelligent welding operation system.

[0025] The advantages of this utility model compared to the prior art are:

[0026] This utility model of directional double-needle welding equipment solves the problems existing in the existing welding equipment in terms of fixture circulation and conveying, workpiece clamping and positioning, equipment layout and welding quality stability, and realizes efficient, precise and stable welding operations.

[0027] To address the aforementioned challenges, this equipment ingeniously employs an innovative design concept that tightly integrates a closed-loop track with modular carrier units. This sophisticated design successfully achieves efficient cyclical transport of the fixture, significantly improving the smoothness and continuity of the production process. Specifically, the working track and return track are scientifically and rationally separated. This optimized layout not only makes full use of the equipment space but, more importantly, fundamentally avoids unnecessary interference to the welding operation during the carrier return process, creating a stable and orderly environment for welding work.

[0028] It is worth mentioning that the elastic self-clamping mechanism in the equipment is a major highlight. This mechanism cleverly utilizes the wedge action principle, automatically adjusting to achieve stable and reliable clamping of various workpieces based on their different sizes. Simultaneously, it perfectly complements the synchronous transfer function of the transfer mechanism; the two work together to significantly improve the consistency of the welding cycle, making the entire welding process more compact and efficient, and greatly shortening the production cycle.

[0029] The design of the positioning station plays a crucial role in ensuring welding accuracy. The elastic clamping components of the positioning station and the guide rail reference positioning surface are meticulously designed and adjusted to form a precise and stable fit. This fit design acts like a robust "anchor point" for the vehicle during the welding process, effectively ensuring that the vehicle remains in a precise positioning state and minimizing displacement errors caused by external factors such as mechanical vibration, thus providing a solid guarantee for high-quality welding operations.

[0030] In summary, this directional double-needle welding equipment achieves the dual advantages of continuous production and rapid changeover through dynamic adaptation and collaborative operation between the modular carrier and the track structure. This not only meets the demands of large-scale, high-efficiency production but also allows for rapid adjustments and flexible switching of production modes when facing different product models or process requirements, demonstrating excellent adaptability and flexibility. It brings a brand-new solution and development approach to the modern welding industry. Attached Figure Description

[0031] To more clearly illustrate the technical solutions of the embodiments of this application, the accompanying drawings used in the embodiments will be briefly introduced below. It should be understood that the following drawings only show some embodiments of this application and should not be regarded as a limitation of the scope. For those skilled in the art, other related drawings can be obtained based on these drawings without creative effort.

[0032] Figure 1 This is a structural diagram of a directional double-needle welding device according to an embodiment of the present invention.

[0033] Figure 2 This is a partial structural diagram of a directional double-needle welding device according to an embodiment of the present invention.

[0034] Figure 3 This is a structural diagram of a jig circulation conveying system and a modular carrier unit according to an embodiment of the present invention.

[0035] Figure 4 This is a structural diagram of a modular vehicle unit according to an embodiment of the present invention.

[0036] Labeling Explanation: Fixture Circulating Conveying System (1), Closed-Loop Track (11), Drive Component (12), Working Track (111), Return Track (112), Collaborative Operation System (2), Loading Robotic Arm (21), Identification and Coding Device (22), Dual Welding Actuator (23), Unloading Robotic Arm (24), Posture Transformation Device (25), Modular Carrier Unit (3), Power Unit (121), Transplanting Mechanism (122), Transplanting Linear Execution Unit (1221), Transplanting Plate (1222), etc. The components include a clamping part (1223), a base (31), an elastic self-clamping mechanism (32), a clamping arm (321), a return spring (322), a wedge-shaped guide assembly (323), a positioning station (1111), an elastic clamping part (1112), a guide slope (12231), a tapered guide groove (3231), a tapered mating surface (3232), a limiting groove (11111), a helical spring (11121), a pressure head assembly (11122), a lifting assembly (113), and a lifting platform (1131). Detailed Implementation

[0037] To make the objectives, technical solutions, and advantages of the embodiments of this application clearer, the technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments. The components of the embodiments of this application described and shown in the accompanying drawings can generally be arranged and designed in various different configurations.

[0038] Therefore, the following detailed description of the embodiments of this application provided in the accompanying drawings is not intended to limit the scope of the claimed application, but merely to illustrate selected embodiments of the application. All other embodiments obtained by those skilled in the art based on the embodiments of this application without inventive effort are within the scope of protection of this application.

[0039] It should be noted that similar reference numerals and letters in the following figures indicate similar items. Therefore, once an item is defined in one figure, it does not need to be further defined and explained in subsequent figures. In the description of the embodiments of this application, it should be understood that the terms "upper," "lower," "left," "right," "vertical," "horizontal," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the figures, or the orientation or positional relationship commonly used when the product of this application is in use, or the orientation or positional relationship commonly understood by those skilled in the art. They are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this application.

[0040] It should be noted that, unless otherwise specified, the embodiments and features described in this application can be combined with each other.

[0041] The technical solutions in this application will now be described with reference to the accompanying drawings.

[0042] This embodiment provides a directional double-needle welding device, including a fixture circulation conveying system 1, a collaborative operation system 2, and several modular carrier units 3. The fixture circulation conveying system 1 includes a closed-loop track 11 and a drive assembly 12. The closed-loop track 11 includes a working track 111 and a return track 112. The material transfer robotic arms arranged sequentially along the closed-loop track 11 in the collaborative operation system 2 are not specifically named here, but based on the previous description, they may be a loading robotic arm 21, an unloading robotic arm 24, an identification coding device 22, a dual welding actuator 23, and a posture changing unloading device. The specific names of the components are not specifically named here, but it is speculated that they may be a posture changing device 25. Several modular carrier units 3 are pulled by the drive assembly 12 to move along the closed-loop track 11. The drive assembly 12 includes a power unit 121 that pushes the modular carrier units 3 arranged continuously in the return track 112, and a modular carrier unit that moves multiple workstations corresponding to the working track 111. The transplanting mechanism 122, which synchronously transfers the carrier unit 3, includes a transplanting linear actuator 1221, a transplanting plate 1222, and multiple C-shaped clamping parts 1223 disposed on the transplanting plate 1222. Each modular carrier unit 3 includes a base 31 and an elastic self-clamping mechanism 32. The base 31 is slidably engaged with the working track 111 and the return track 112. The elastic self-clamping mechanism 32 includes symmetrically arranged clamping arms 321, a return spring 322, and... The wedge-shaped guide assembly 323 forms a workpiece clamping cavity with a variable cross section, and generates self-locking clamping through the wedge action when the workpiece is placed; the working track 111 is provided with spaced positioning stations 1111, and each positioning station 1111 is provided with an elastic clamping member 1112, which presses the base 31 against the guide rail reference positioning surface; the C-shaped clamping part 1223 is driven by the transfer plate 1222 to realize the station transfer of the base 31.

[0043] The efficient cyclic transport of the fixture is achieved through the coordinated design of the closed-loop track 11 and the modular carrier unit 3. The separate arrangement of the working track 111 and the return track 112 optimizes the equipment layout and avoids interference from the return of the carrier to the welding operation. The wedge-shaped action of the elastic self-clamping mechanism 32 can adaptively and stably clamp workpieces of different sizes. Combined with the synchronous transfer function of the transfer mechanism 122, it significantly improves the consistency of the welding cycle. The design of the elastic clamping part 1112 of the positioning station 1111 and the guide rail reference positioning surface ensures the positioning accuracy of the carrier during the welding process and eliminates displacement errors caused by mechanical vibration. The overall system achieves the dual advantages of continuous production and rapid changeover through the dynamic adaptation of the modular carrier and track structure. Figure 3The diagram illustrates the interaction between the closed-loop track 11 of the fixture circulation conveying system 1 and the modular carrier unit 3, wherein the drive component 12 synchronously transfers the carrier via the transfer mechanism 122.

[0044] In this embodiment, the C-shaped clamping portions 1223 of the transplanting plate 1222 are arranged at equal intervals along its length direction, and the inner contour of the clamping portion is in clearance fit with the outer contour of the base 31.

[0045] The equidistant arrangement of the C-shaped clamping parts 1223 enables the transfer plate 1222 to have a regular carrier gripping capability. Combined with the gap fit structure, it achieves stress-free contact transfer, ensuring precise positioning of the carrier transfer while avoiding wear caused by mechanical interference. The non-contact guiding design between the inner contour of the clamping part and the outer contour of the base 31 reduces frictional resistance through the air film effect, significantly reducing drive energy consumption. The equidistant distribution characteristic allows the transfer plate 1222 to adapt to production line layouts with different workstation spacings, improving the flexibility of the equipment.

[0046] In this embodiment, the open end of the U-shaped clamping part 1223 is provided with a guide slope 12231, and the guide slope 12231 forms an acute angle with the transfer direction of the base 31.

[0047] The structural design of the guide ramp 12231 forming an acute angle with the base 31 in the direction of transfer generates a force-guiding effect during the transfer of the carrier, effectively eliminating positional deviation when the carrier docks with the clamping part. The progressive contact mode formed by the acute angle transforms the traditional rigid collision into flexible guidance, reducing impact noise and extending the service life of the mechanism. This ramp design also allows the transplant plate 1222 to automatically detach from the carrier during its return stroke, avoiding the complex unlocking action required by traditional hook mechanisms and simplifying the control logic.

[0048] In this embodiment, the wedge-shaped guide assembly 323 includes a tapered guide groove 3231 on the base 31 and a tapered mating surface 3232 on the inner side of the clamping arm 321. The tapered guide groove 3231 and the tapered mating surface 3232 form a self-locking inclined surface.

[0049] The self-locking inclined surface mechanism, formed by the tapered guide groove 3231 and the expanding mating surface 3232, utilizes the wedge effect to convert the vertical force of workpiece insertion into the horizontal clamping force of the clamping arm 321, achieving geometrically amplified clamping. The angle design of the self-locking inclined surface allows the clamping force to automatically increase with the depth of workpiece insertion, forming a mechanical self-lock after reaching a critical value, eliminating the need for an additional locking device. This structure is insensitive to the surface condition of the workpiece and can stably clamp metal parts with oil stains or oxide layers, significantly improving the stability of welding quality.

[0050] In this embodiment, the elastic clamping member 1112 is embedded in the limiting groove 11111 of the positioning station 1111, and the shape of the limiting groove 11111 matches the contour of the base 31.

[0051] The matching design of the limiting groove 11111 and the contour of the base 31 forms a three-dimensional spatial constraint. By replacing the traditional point contact positioning method with surface contact, the positioning accuracy of the carrier is improved to the sub-millimeter level. The structure of the elastic clamping element 1112 embedded in the limiting groove 11111 ensures that the direction of the clamping force is always perpendicular to the trajectory of the carrier's movement, effectively overcoming the risk of displacement caused by inertial forces. This design also provides buffer protection during emergency stops of the equipment, preventing the carrier from detaching from the workstation due to inertial impact.

[0052] In this embodiment, the elastic clamping member 1112 includes a helical spring 11121 and a pressure head assembly 11122. The working surface of the pressure head assembly 11122 is provided with anti-slip texture, which engages with the contact surface of the base 31.

[0053] The combined design of the helical spring 11121 and the pressure head assembly 11122 achieves a constant clamping force output through the linear elastic characteristics of the spring, overcoming the defect of traditional rubber gaskets that are prone to aging and failure. The anti-slip texture of the pressure head working surface and its meshing with the contact surface of the base 31 form a mechanical interlocking effect at the microscale, increasing static friction by more than 40%. This texture design can also scrape away foreign matter deposits on the contact surface, keeping the positioning interface clean and ensuring positioning stability during long-term use.

[0054] In this embodiment, the working track 111 and the return track 112 are arranged in parallel at intervals to form a closed loop structure, and the modular carrier units 3 in the return track 112 are arranged continuously in a head-to-tail manner.

[0055] The parallel, space-alternating track layout optimizes equipment space utilization, and the separate operation mode of the working track 111 and the return track 112 eliminates interference from the return of the carriers on the welding process. The continuous arrangement of the end-to-end tracks forms a "carrier chain" structure for the return track 112, reducing the probability of individual deviation through the mutual constraints of adjacent carriers. This arrangement can also maintain the queue shape by utilizing the self-weight of the carriers in the event of a failure of the power unit 121, preventing the carriers from piling up and getting stuck.

[0056] In this embodiment, the return track 112 is located below and parallel to the working track 111. The closed-loop track 11 is connected to the working track 111 and the return track 112 at both ends by the lifting assembly 113 to form a loop path. The lifting assembly 113 includes a lifting platform 1131 that can carry the modular carrier unit 3 to move vertically.

[0057] The upper and lower track layout, combined with the design of the vertical lifting platform 1131, constructs a three-dimensional conveying system, saving more than 60% of the floor space compared to the traditional planar layout. The vertical movement mode of the lifting platform 1131 avoids horizontal acceleration interference during vehicle transfer, ensuring the stability of the vehicle's posture during precision welding. The closed-loop path design allows for vehicle circulation without external intervention, and the seamless connection between the lifting component 113 and the track system enables fully automated vehicle return, significantly reducing the frequency of manual intervention.

[0058] In this embodiment, the lifting platform 1131 is provided with a pneumatic locking mechanism. The specific component name was not mentioned here and cannot be accurately labeled. The pneumatic locking mechanism includes a retractable positioning pin and a positioning hole at the bottom of the base 31. When the positioning pin is inserted into the positioning hole, the position of the lifting platform 1131 is locked.

[0059] The pneumatic locking mechanism, through the mechanical interlocking of the locating pin and the locating hole, forms a rigid constraint when the lifting platform 1131 is stationary, eliminating the risk of slight displacement inherent in hydraulic or electromagnetic locking. The retractable locating pin design ensures a shock-free locking process, and the air film damping effect generated when the locating pin inserts into the locating hole achieves millimeter-level precision soft landing locking. This mechanism can also maintain the mechanical locking state even in the event of a power outage, meeting equipment safety specifications.

[0060] In this embodiment, the end effector of the loading robotic arm 21 is equipped with a vacuum suction cup and a pressure feedback unit; the visual recognition encoding device 22 includes an industrial camera, a ring light source and a QR code scanning module, and the optical axis of the industrial camera is orthogonal to the workpiece clamping posture; the dual welding actuator 23 consists of a symmetrically arranged welding torch assembly, a laser tracking sensor and a welding torch posture adjustment mechanism, and the welding torch posture adjustment mechanism is connected to the welding torch assembly through a ball joint; the end effector of the unloading robotic arm 24 is equipped with a vacuum suction cup and a pressure feedback unit; the posture transformation device 25 includes a rotary gripper and a flip drive unit, and the flip drive unit is connected to the rotary gripper in a transmission manner.

[0061] The loading robotic arm 21 employs a vacuum suction cup combined with a pressure feedback unit at its end, adapting to the flexible gripping needs of workpieces of different specifications. Multi-point adsorption ensures uniform force on thin-walled workpieces, preventing surface indentations or deformation. The pressure feedback unit monitors the adsorption status in real time, triggering an automatic compensation mechanism when abnormal adsorption is detected, effectively preventing workpiece detachment. The visual recognition coding device 22, through the synergy of an industrial camera and a ring light source, immediately performs three-dimensional pose detection after the workpiece is clamped in place. Its orthogonal optical axis design eliminates perspective distortion errors, ensuring accurate feature extraction. The QR code scanning module communicates with the production management system in real time, enabling dynamic binding of welding parameters and workpiece information, providing a complete data chain for quality traceability. The dual welding actuator 23 uses symmetrically arranged welding torch assemblies, combined with a laser tracking sensor to form a closed-loop control, which can correct welding path deviations in real time, ensuring the symmetry and consistent penetration of the double-needle weld. The welding torch posture adjustment mechanism achieves five-degree-of-freedom fine adjustment through a ball joint, maintaining the optimal welding angle even in confined spaces, significantly reducing defects such as incomplete welds and burn-through. The unloading robotic arm 24, through an optimized layout design of the vacuum suction cups, ensures gripping stability while shortening posture adjustment time, and achieves non-destructive unloading in conjunction with the pressure feedback unit. The posture transformation device 25 innovatively adopts a combination structure of a rotary gripper and a flipping drive unit, achieving precise angle control through servo motor drive. It can perform both planar rotational positioning and spatial flipping movements, meeting the special requirements of complex welding processes for workpiece spatial posture and significantly expanding the equipment's processing adaptability. All subsystems achieve millisecond-level response and coordination through a central controller, significantly improving production cycle time while ensuring process connection accuracy, forming an efficient, reliable, and intelligent welding operation system.

[0062] Although 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 alterations can be made to these embodiments without departing from the principles and spirit of the present invention, the scope of which is defined by the appended claims and their equivalents.

Claims

1. A directional double-needle welding device, characterized in that, include The fixture circulation conveying system (1) includes a closed-loop track (11) and a drive assembly (12), wherein the closed-loop track (11) includes a working track (111) and a return track (112). The collaborative operation system (2) consists of a loading robotic arm (21), an identification and coding device (22), a dual welding actuator (23), an unloading robotic arm (24), and a posture transformation device (25) arranged sequentially along the closed-loop track (11). Several modular vehicle units (3) are moved along the closed-loop track (11) by the drive assembly (12); The drive assembly (12) includes a power unit (121) that drives the modular carrier units (3) arranged in a continuous manner in the return track (112) and a transfer mechanism (122) that synchronously transfers the modular carrier units (3) corresponding to multiple workstations in the work track (111). The transfer mechanism (122) includes a transfer linear execution unit (1221), a transfer plate (1222) and multiple C-shaped clamping parts (1223) provided on the transfer plate (1222). Each modular vehicle unit (3) includes: a) The base (31) is in sliding fit with the working track (111) and the return track (112); b) The elastic self-clamping mechanism (32) includes symmetrically arranged clamping arms (321), a return spring (322) and a wedge-shaped guide assembly (323), wherein the wedge-shaped guide assembly (323) forms a workpiece clamping cavity with a variable cross section, and generates self-locking clamping through the wedge action when the workpiece is placed; The working track (111) is provided with spaced positioning stations (1111), each positioning station (1111) is provided with an elastic clamping member (1112), the elastic clamping member (1112) presses the base (31) against the guide rail reference positioning surface, and the C-shaped clamping part (1223) is driven by the transfer plate (1222) to realize the station transfer of the base (31).

2. The directional double-needle welding equipment according to claim 1, characterized in that, The C-shaped clamping parts (1223) of the transplanting plate (1222) are arranged at equal intervals along its length direction, and the inner contour of the clamping part is fitted with the outer contour of the base (31) with a clearance.

3. The directional double-needle welding equipment according to claim 1, characterized in that, The opening end of the C-shaped clamping part (1223) is provided with a guide slope (12231), and the guide slope (12231) forms an acute angle with the transfer direction of the base (31).

4. The directional double-needle welding equipment according to claim 1, characterized in that, The wedge-shaped guide assembly (323) includes a tapered guide groove (3231) on the base (31) and a tapered mating surface (3232) on the inner side of the clamping arm (321). The tapered guide groove (3231) and the tapered mating surface (3232) form a self-locking inclined surface.

5. The directional double-needle welding equipment according to claim 1, characterized in that, The elastic clamping member (1112) is embedded in the limiting groove (11111) of the positioning station (1111), and the shape of the limiting groove (11111) matches the contour of the base (31).

6. The directional double-needle welding equipment according to claim 1, characterized in that, The elastic clamping member (1112) includes a helical spring (11121) and a pressure head assembly (11122). The working surface of the pressure head assembly (11122) is provided with anti-slip texture, which engages with the contact surface of the base (31).

7. The directional double-needle welding equipment according to claim 1, characterized in that, The working track (111) and the return track (112) are arranged in parallel and spaced apart to form a closed loop structure. The modular vehicle units (3) in the return track (112) are arranged continuously in a head-to-tail manner.

8. The directional double-needle welding equipment according to claim 7, characterized in that, The return track (112) is located below and parallel to the working track (111). The closed-loop track (11) is connected to the working track (111) and the return track (112) at both ends by lifting components (113) to form a loop path. The lifting components (113) include a lifting platform (1131) that can carry the modular vehicle unit (3) to move vertically.

9. The directional double-needle welding equipment according to claim 1, characterized in that, The lifting platform (1131) is equipped with a pneumatic locking mechanism, which includes a retractable positioning pin and a positioning hole at the bottom of the base (31). When the positioning pin is inserted into the positioning hole, the position of the lifting platform (1131) is locked.

10. The directional double-needle welding equipment according to claim 1, characterized in that, The collaborative work system (2) includes: The loading robotic arm (21) has a vacuum suction cup and a pressure feedback unit at its end effector; The visual recognition coding device (22) includes an industrial camera, a ring light source and a QR code scanning module, wherein the optical axis of the industrial camera is orthogonal to the workpiece clamping posture; The dual welding actuator (23) consists of a symmetrically arranged welding torch assembly, a laser tracking sensor and a welding torch attitude adjustment mechanism, wherein the welding torch attitude adjustment mechanism is connected to the welding torch assembly via a ball joint. The unloading robotic arm (24) has a vacuum suction cup and a pressure feedback unit at its end effector; The attitude change device (25) includes a rotating gripper and a flip drive unit, wherein the flip drive unit is connected to the rotating gripper in a transmission manner.

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