An automatic welding machine

Abstract

This invention discloses an automatic welding machine, comprising a first welding station, a second welding station, and a transfer mechanism. The first welding station includes a first support and positioning component and a resistance welding machine. The first support and positioning component is provided with a first electrode, and the first electrode is provided with a movable connection structure for movably connecting a pre-welding mounting plate. The resistance welding machine includes a second electrode, which cooperates with the first electrode to weld the mounting plate to the inner wall of the first end of the side plate. The second welding station includes a second support and positioning component and a laser welding machine, used to weld the top end of the second outward flange to the first end of the first outward flange. This automatic welding machine can realize the automatic welding of beam frames, which is beneficial to improving welding quality and welding efficiency, and reducing labor intensity.

Description

Technical Field

[0001] This utility model belongs to the field of welding equipment technology, specifically relating to an automatic welding machine capable of performing combined resistance welding and laser welding on sheet metal parts. Background Technology

[0002] like Figure 1 and Figure 2 The sheet metal part shown is specifically the crossbeam frame 2 of the electric height-adjustable desk. The main frame 2.1 of this sheet metal part has a U-shaped cross-section, including a base plate 2.11 and two side plates 2.12. The bottom edges of the side plates 2.12 are connected to the base plate 2.11, and the top edges of the side plates 2.12 form a first outward flange 2.13 for connecting to the tabletop of the electric height-adjustable desk. A mounting plate 2.2 is welded to the inner wall of the first end of each side plate 2.12 by resistance welding for mounting the lifting motor. Figure 1 As shown; simultaneously, a second outward flange 2.14 is formed at the first end of each of the two side plates 2.12, and the top end of the second outward flange 2.14 is welded to the first end of the first outward flange 2.13 to enhance the structural strength of the beam frame 2. The welding position a is as shown. Figure 2 As shown.

[0003] In related technologies, there is currently no corresponding automatic welding machine for this type of sheet metal part. Welding of the lifting motor mounting plate, the second outer flange and the first outer flange can only be carried out sequentially by hand-held welding machine. The welding quality is unstable and the production efficiency is low, and the labor intensity of the operator is also high.

[0004] The information disclosed in this background section is only intended to enhance the understanding of the background technology of this application, and therefore may include prior art that is not known to those skilled in the art. Summary of the Invention

[0005] In response to the problems mentioned in the background art, this utility model proposes an automatic welding machine that can automatically weld the crossbeam frame of an electric lifting table, thereby improving welding quality and efficiency and reducing labor intensity.

[0006] To achieve the above-mentioned objectives, the present invention employs the following technical solution: In some embodiments of this application, an automatic welding machine is provided for welding a beam frame. The beam frame includes a frame body and a mounting plate. The frame body includes a bottom plate and two opposing side plates. The mounting plate is welded to the inner wall of the first end of at least one of the side plates. A first outward flange is formed on the top edge of each side plate, and a second outward flange is formed at the first end of each side plate. The top end of at least one second outward flange is welded to the first end of the first outward flange on the same side. The automatic welding machine comprises: The first welding station includes: A first support and positioning component is used to support and position the frame body. The first support and positioning component is provided with a first electrode. The first electrode is provided with a movable connection structure for movably connecting the mounting plate before welding. A resistance welding machine includes a second electrode, which cooperates with the first electrode to weld the mounting plate onto the inner wall of the first end of the side plate. The second welding station includes: The second support and positioning component is used to support and position the main frame body; A laser welding machine is used to weld the top end of the second outward flange to the first end of the first outward flange on the same side. The transfer mechanism is used at least to transfer the beam frame from the first welding station to the second welding station.

[0007] The automatic welding machine in the above technical solution has the following advantages or beneficial effects: In the first welding station, the mounting plate for installing the lifting motor is automatically welded to the inner wall of the first end of the side plate of the frame body; in the second welding station, the top of the second outward flange of the side plate of the frame body is automatically welded to the first end of the first outward flange; and the beam frame is automatically transferred from the first welding station to the second welding station via a transfer mechanism. Therefore, the automatic welding machine in the above technical solution can achieve automatic welding of the beam frame, which is beneficial for improving welding quality and efficiency, and reducing labor intensity.

[0008] In some embodiments of this application, the first support positioning component includes a first end support portion and a second end support portion, which are respectively used to support the first end and the second end of the beam frame. The first end support portion includes a support body, which includes a horizontal portion and a vertical portion. The top surface of the horizontal portion is used to fit and abut against the first outward flange, and the top surface of the vertical portion is used to fit and abut against the base plate. The first electrode is disposed on the side of the vertical portion.

[0009] The automatic welding machine in the above technical solution has the following advantages or beneficial effects: the first support positioning component has a simple structure and can effectively and reliably frame the crossbeam, while also providing space for the installation of the first electrode and the placement of the mounting plate before welding.

[0010] In some embodiments of this application, the first support positioning assembly further includes a support base plate and an electrode motion drive mechanism, and the second end support portion is fixedly mounted on the support base plate; The number of the support bodies is two and they are symmetrically arranged, corresponding one-to-one with the two side plates; the support bodies are slidably mounted on the support base plate; the electrode motion driving mechanism is used to drive the two support bodies to slide back to back, so that the first electrode and the second electrode cooperate to press the mounting plate and the side plate.

[0011] The automatic welding machine in the above technical solution has the following advantages or beneficial effects: By setting an electrode movement drive mechanism, the support body can drive the first electrode and the mounting plate to slide towards the side where the second electrode is located, thereby enabling the first electrode and the second electrode to cooperate in pressing the mounting plate and the side plate, and achieving welding when energized; under the action of the electrode movement drive mechanism, the first electrode and the second electrode can effectively press the mounting plate and the side plate, improving welding reliability; at the same time, after welding is completed, the electrode movement drive mechanism can disengage from the support body, allowing the support body to return to a sliding state, which is also beneficial for removing the welded crossbeam frame.

[0012] In some embodiments of this application, the first electrode is a conductive metal plate, and the movable connection structure is a magnetic attraction element embedded inside the first electrode; the first electrode is provided with a positioning structure for positioning the mounting plate before welding.

[0013] The automatic welding machine in the above technical solution has the following advantages or beneficial effects: the first electrode is convenient to connect and separate from the mounting plate, and the first electrode can have a large contact area with the mounting plate, so that the force applied to the mounting plate is uniform during welding, which is conducive to improving the resistance welding effect.

[0014] In some embodiments of this application, the resistance welding machine includes a cylinder and a connecting assembly. The connecting assembly includes a conductive part and a non-conductive part connected as one piece. The non-conductive part is connected to the piston rod output end of the cylinder. The second electrode is disposed on the conductive part, and the conductive part is connected to a power source. The cylinder drives the second electrode to move horizontally and linearly toward the first electrode through the connecting assembly.

[0015] The automatic welding machine in the above technical solution has the following advantages or beneficial effects: the second electrode and conductive part are indirectly connected to the cylinder by a non-conductive part, which prevents the second electrode from conducting electricity to the cylinder part and improves the safety of the resistance welding machine.

[0016] In some embodiments of this application, the first welding station further includes a double-rail slide table disposed below the cylinder, wherein the cylinder is horizontally slidably disposed on the double-rail slide table, and its sliding direction is parallel to the extension and retraction direction of its piston rod.

[0017] The automatic welding machine in the above technical solution has the following advantages or beneficial effects: the initial position of the cylinder can be changed by external force pushing the cylinder to slide, so that cylinders with different strokes can be used in resistance welding machines, instead of being limited to a fixed stroke, thus improving the flexibility of equipment use.

[0018] In some embodiments of this application, the second welding station further includes a second linear module, and the laser welding gun is disposed on the slider of the second linear module.

[0019] The automatic welding machine in the above technical solution has the following advantages or beneficial effects: the second linear module can drive the laser welding gun to slide, thereby adjusting the position of the laser welding gun and further facilitating welding.

[0020] In some embodiments of this application, the second welding station further includes an XY-axis cross slide, which is disposed on the slider of the second linear module, and the laser welding gun is disposed on the XY-axis cross slide.

[0021] The automatic welding machine in the above technical solution has the following advantages or beneficial effects: the laser welding gun can also be finely adjusted in position by the XY axis cross slide, so that its relative position with the crossbeam frame is more accurate, which is conducive to improving the welding quality.

[0022] In some embodiments of this application, the transfer mechanism includes a first linear transfer mechanism corresponding to the first welding station and a second linear transfer mechanism corresponding to the second welding station; the first linear transfer mechanism includes a first horizontal linear motion mechanism, a first vertical linear motion mechanism and a first gripper assembly for clamping the crossbeam frame, the first vertical linear motion mechanism is connected to the motion output part of the first horizontal linear motion mechanism; the first gripper assembly is disposed on the motion output part of the first vertical linear motion mechanism.

[0023] The automatic welding machine in the above technical solution has the following advantages or beneficial effects: the transfer mechanism can drive the crossbeam frame to move horizontally and vertically. During transfer, the crossbeam frame is first moved upward by the vertical linear motion mechanism to separate from the first support positioning component and the second support positioning component. Then, the crossbeam frame is moved horizontally by the horizontal linear motion mechanism. The space above the first welding station and the second welding station can be fully utilized as the transfer space, which helps to reduce the footprint of the whole machine.

[0024] The first gripper assembly includes two grippers arranged opposite each other, a mounting bracket, and a gripper opening and closing drive component disposed on the mounting bracket. The gripper opening and closing drive component is connected to the two grippers to drive the two grippers to move relative to each other or away from each other to achieve the opening and closing action.

[0025] The automatic welding machine in the above technical solution has the following advantages or beneficial effects: the first gripper assembly has a simple structure, and the gripping and releasing actions are simple, which helps to reduce costs.

[0026] Other features and advantages of this utility model will become clearer after reading the detailed embodiments of this utility model in conjunction with the accompanying drawings. Attached Figure Description

[0027] To more clearly illustrate the technical solutions in the embodiments of this utility model or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of this utility model. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0028] Figure 1 An exemplary perspective view of the beam frame from the top is shown in some embodiments; Figure 2 An exemplary perspective view of the bottom of the beam frame is shown; Figure 3 An exemplary perspective view of an automatic welding machine according to some embodiments is shown; Figure 4 An exemplary perspective view of an automatic welding machine with its body frame omitted is shown in some embodiments; Figure 5 An exemplary schematic diagram of a first welding station with a beam frame provided according to some embodiments is shown; Figure 6 An exemplary schematic diagram of the structure of the first welding station after omitting the crossbeam frame is shown in some embodiments; Figure 7 An exemplary schematic diagram of a first support positioning assembly having a beam frame according to some embodiments is shown; Figure 8 An exemplary schematic diagram of the first support positioning assembly is shown, with the crossbeam frame omitted according to some embodiments. Figure 9 An exemplary schematic diagram of the structure of the first support positioning assembly is shown, omitting the electrode motion drive mechanism according to some embodiments; Figure 10 An exemplary schematic diagram of a second welding station with a beam frame provided according to some embodiments is shown; Figure 11 An exemplary schematic diagram of the second welding station is shown, with the crossbeam frame omitted according to some embodiments; Figure 12 An exemplary schematic diagram shows a structure in which a first linear motion mechanism and a steering mechanism are mounted together on the same guide rail assembly according to some embodiments; Figure 13 An exemplary schematic diagram of the structure of a second linear motion mechanism according to some embodiments is shown; Figure 14 An exemplary schematic diagram of the assembly structure of the gripper assembly and the gripper opening and closing drive component according to some embodiments is shown; Figure 15 An exemplary schematic diagram of a post-weld workpiece conveying device is shown according to some embodiments; Figure 16 An exemplary schematic diagram of the assembly structure of the flipping mechanism and the conveyor line of the post-weld workpiece conveying device according to some embodiments is shown.

[0029] Figure label: 1. Automatic welding machine; 1000, First support positioning assembly; 1100, First electrode; 1200, First end support portion; 1210, Support body; 1211, Horizontal portion; 1212, Vertical portion; 1220, Support connecting plate; 1230, Insulating plate; 1240, Limiting component; 1300, Second end support portion; 1400, Support base plate; 1500, Electrode movement drive mechanism; 1510, Telescopic drive component; 1520, Pressing component; 1521, Inclined side; 1600, Fixed base; 1700, First linear module; 1800, Conductive copper sheet; 1900, First double guide rail slide; 2000, Resistance welding machine; 2100, Second electrode; 2200, Cylinder; 2300, Connecting assembly; 2310, Conductive part; 2320, Non-conductive part; 2400, Second double guide rail slide; 3000, Second support positioning component; 3100, End support portion; 3200, Fixed base plate; 3300, Positioning plate; 4000, Laser welding machine; 4100, Laser welding torch; 4200, Second linear module; 4300, XY axis cross slide; 5000, First linear transfer mechanism; 5100, First horizontal linear motion mechanism; 5200, First vertical linear motion mechanism; 5300, First gripper assembly; 5310, Gripper; 5311, Positioning groove; 5312, Horizontal stop boss; 5320, Mounting bracket; 5330, Gripper opening and closing drive component; 6000, Second linear transfer mechanism; 7000, Steering device; 7100, Steering temporary storage platform; 7200, Steering mechanism; 7210, Second horizontal linear motion mechanism; 7220, Second vertical linear motion mechanism; 7230, Rotary cylinder; 7240, Second gripper assembly; 8000 Conveying device; 8100 Conveyor line; 8110 Conveyor line body; 8120 Power unit; 8200 Tilting mechanism; 8210 Tilting disc assembly; 8211 Rotating shaft; 8212 Tilting disc; 8213 First slot; 8214 Second slot; 8215 Bottom wall; 8216 Side wall; 8220 Tilting drive motor; 8300 Third linear transfer mechanism; 8310 Third horizontal linear motion mechanism; 8320 Third vertical linear motion mechanism; 8330 Third gripper assembly; 9000, fuselage frame; 2. Crossbeam frame; 2.1. Frame body; 2.11. Base plate; 2.12. Side plate; 2.13. First outward flange; 2.14. Second outward flange; 2.2. Mounting plate; 2.21. Positioning holes. Detailed Implementation

[0030] 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. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0031] In the description of this application, it should be understood that the terms "center", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. 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.

[0032] The terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Therefore, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of this application, unless otherwise stated, "a plurality of" means two or more.

[0033] In the description of this application, it should be noted that, unless otherwise expressly specified and limited, the terms "installation," "connection," and "linking" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection between two components. Those skilled in the art can understand the specific meaning of the above terms in this application based on the specific circumstances.

[0034] In this invention, unless otherwise explicitly specified and limited, "above" or "below" the second feature can include direct contact between the first and second features, or contact between the first and second features through another feature between them. Furthermore, "above," "over," and "on top" of the second feature includes the first feature directly above or diagonally above the second feature, or simply indicates that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature includes the first feature directly below or diagonally below the second feature, or simply indicates that the first feature is at a lower horizontal level than the second feature.

[0035] The following disclosure provides many different embodiments or examples for implementing various structures of this invention. To simplify the disclosure, specific examples of components and arrangements are described below. These are merely examples and are not intended to limit the scope of the invention. Furthermore, reference numerals and / or letters may be repeated in different examples; such repetition is for simplification and clarity and does not in itself indicate a relationship between the various embodiments and / or arrangements discussed. In addition, examples of various specific processes and materials are provided in this invention, but those skilled in the art will recognize the application of other processes and / or the use of other materials.

[0036] Reference Figures 3 to 16 At the same time, combined Figure 1 and Figure 2 An automatic welding machine 1, according to some embodiments of this application, is used for the automatic welding of the crossbeam frame 2 of an electric lifting table.

[0037] like Figure 1 and Figure 2As shown, the crossbeam frame 2 is generally U-shaped and has a first end and a second end. The crossbeam frame 2 includes a U-shaped frame body 2.1 and a mounting plate 2.2 for mounting the electric lifting table motor. The first end and the second end of the crossbeam frame 2 are also the first end and the second end of the frame body 2.1. The frame body 2.1 includes a base plate 2.11 and two oppositely arranged side plates 2.12. The base plate 2.11 has a first end and a second end, and the side plates 2.12 also have a first end and a second end; at least one side plate 2.1... The mounting plate 2.2 is welded to the inner wall of the first end of 2. Each side plate 2.12 has a first outward flange 2.13 formed on its top edge and a second outward flange 2.14 formed at the first end of each side plate 2.12. The first outward flange 2.13 and the second outward flange 2.14 are both perpendicular to the side plate 2.12 and are perpendicular to each other. The top end of the second outward flange 2.14 on at least one side plate 2.12 is welded to the first end of the first outward flange 2.13 on the same side.

[0038] like Figures 3 to 9 As shown, in some embodiments of this application, the automatic welding machine 1 includes a first welding station, a second welding station, and a transfer mechanism.

[0039] The first welding station includes a first support and positioning component 1000 and a resistance welding machine 2000. The first support and positioning component 1000 is used to support and position the frame body 2.1, so that the frame body 2.1 remains fixed during welding at this station. The first support and positioning component 1000 is provided with a first electrode 1100. The first electrode 1100 is provided with a movable connection structure for movably connecting the pre-welding mounting plate 2.2. That is, the pre-welding mounting plate 2.2 is movably connected to the first electrode 1100, so that it can be detached from the first electrode 1100 after being welded to the inner wall of the side plate 2.12 of the frame body 2.1.

[0040] The resistance welding machine 2000 includes a second electrode 2100, which cooperates with the first electrode 1100 to weld the mounting plate 2.2 to the inner wall of the first end of the side plate 2.12 by resistance welding.

[0041] The second welding station includes a second support and positioning component 3000 and a laser welding machine 4000. The second support and positioning component 3000 is used to support and position the frame body 2.1, so that the frame body 2.1 remains fixed during welding at this station. The laser welding machine 4000 is used to weld the top end of the second outer flange 2.14 and the first end of the first outer flange 2.13 on the same side. The laser welding machine 4000 includes a laser welding gun 4100.

[0042] The transfer mechanism is used at least to transfer the crossbeam frame 2 from the first welding station to the second welding station.

[0043] In some embodiments of this application, the automatic welding machine 1 also includes a machine frame 9000, a first welding station, a second welding station and a transfer mechanism, and corresponding control units, all of which are located within the machine frame 9000. The machine frame 9000 has corresponding doors, observation ports or operation ports, etc.

[0044] During welding, the beam frame 2 is subjected to resistance welding at the first welding station by the cooperation of the second electrode 2100 of the resistance welding machine 2000 and the first electrode 1100 of the first support and positioning component 1000, so that the mounting plate 2.2 is welded to the inner wall of the side plate 2.12 of the frame body 2.1. After welding, the beam frame 2 is transferred to the second support and positioning component 3000 at the second welding station by the transfer mechanism, and the second outer flange 2.14 and the first outer flange 2.13 are welded by the laser welding gun 4100. This realizes the automated welding of the beam frame 2 of the electric lifting table, improves the welding quality and welding efficiency, and reduces labor intensity.

[0045] In some embodiments of this application, the first electrode 1100 is a conductive metal plate with a magnetic element embedded inside, serving as a movable connection structure for the mounting plate 2.2 before welding. That is, the mounting plate 2.2 before welding is magnetically attached to the first electrode 1100, which facilitates the separation of the mounting plate 2.2 from the first electrode 1100 after welding.

[0046] The first electrode 1100 is provided with a positioning pin, and the mounting plate 2.2 is formed with a positioning hole 2.21, such as... Figure 8 As shown, the positioning pin engages with the positioning hole 2.21 to position the mounting plate 2.2 when it is magnetically attached to the first electrode 1100, allowing the mounting plate 2.2 to be quickly and accurately connected to the first electrode 1100. Of course, other positioning structures can also be used for the mounting plate 2.2 and the first electrode 1100, and no specific restrictions are imposed here.

[0047] In some embodiments of this application, such as Figure 8 and Figure 9As shown, the first support positioning assembly 1000 includes a first end support portion 1200 and a second end support portion 1300, which are used to support the first and second ends of the crossbeam frame 2, respectively. Specifically, they support the first and second ends of the frame body 2.1. The first end support portion 1200 includes a support body 1210, which includes a horizontal portion 1211 and a vertical portion 1212. The first electrode 1100 is disposed on the side of the vertical portion 1212 and can be fixed to the vertical portion 1212 by welding or screw fastening. The frame body 2.1 is inverted (i.e., the opening faces downward) and supported on the first support positioning assembly 1000. The top surface of the horizontal portion 1211 is in contact with the first outward flange 2.13, and the top surface of the vertical portion 1212 is in contact with the bottom plate 2.11. Before welding, the mounting plate 2.2, which is movably connected to the first electrode 1100, abuts against the side plate 2.12.

[0048] Similarly, the second end support portion 1300 also includes a horizontal portion and a vertical portion, and its overall shape is inverted T-shaped to accommodate the inverted beam frame 2.

[0049] To facilitate the placement of the frame body 2.1 of the crossbeam frame 2 on the first support positioning assembly 1000 before welding, in the horizontal direction, the mounting plate 2.2, which is pre-movably connected to the first electrode 1100, should preferably have a certain gap with the side plate 2.12 of the frame body 2.1 to avoid the frame body 2.1 being too tightly in contact with the mounting plate 2.2, making placement difficult; however, during welding, the mounting plate 2.2 needs to be in close contact with the side plate 2.12. To meet the above requirements, in some embodiments of this application, such as... Figures 5 to 8 As shown, the first support positioning component 1000 also includes a support base plate 1400 and an electrode motion drive mechanism 1500. The second end support portion 1300 is fixed on the support base plate 1400, while the support body 1210 of the first end support portion 1200 is slidably disposed on the support base plate 1400.

[0050] When placing the frame body 2.1, the support body 1210 can slide to move the mounting plate 2.2 away from the side plate of the frame body 2.1 by a certain gap, so as to facilitate the placement of the frame body 2.1. After the frame body 2.1 is placed in place, the electrode motion drive mechanism 1500 drives the support body 1210 to slide horizontally and linearly toward the side plate 2.12 and the second electrode 2100, so that the mounting plate 2.2 abuts against the side plate 2.1. The first electrode 1100 and the second electrode 2100 cooperate to press the mounting plate 2.2 and the side plate 2.12. When the first electrode 1100 and the second electrode 2100 are energized, the mounting plate 2.2 is welded to the side plate 2.12.

[0051] In some embodiments of this application, mounting plates 2.2 are welded to the inner walls of the first ends of the two side plates 2.12 of the frame body 2.1, and the top ends of the second outward flanges 2.14 on the two side plates 2.12 are welded to the first ends of the first outward flanges 2.13 on the same side. Therefore, there are two sets of resistance welding machines 2000, two sets of laser welding guns 4100, and two supporting bodies 1210 arranged symmetrically, corresponding one-to-one with the two side plates 2.12. Each supporting body 1210 is L-shaped, with the vertical portions 1212 of the two supporting bodies 1210 facing each other and each provided with a first electrode 1100. The horizontal portions 1211 of the two supporting bodies 1210 are opposite to each other. Figures 7 to 9 As shown.

[0052] Accordingly, the electrode motion drive mechanism 1500 includes a telescopic drive component 1510 and a pressing component 1520 connected to the output end of the telescopic drive component 1510. The telescopic drive component 1510 drives the pressing component 1520 to extend or retract between the two vertical portions 1212 of the two support bodies 1210 to squeeze the two support bodies 1210 to slide in opposite directions, thereby causing their respective first electrodes 1100 and mounting plates 2.2 to abut against the corresponding side plates 2.12.

[0053] In some embodiments of this application, as the telescopic drive component 1510 drives the pressing component 1520 to extend between the two vertical portions 1212 of the two support bodies 1210, the pressing component 1520 contacts the two support bodies 1210 to compress the two support bodies 1210 to slide in opposite directions; and when the telescopic drive component 1510 drives the pressing component 1520 to retract between the two vertical portions 1212 of the two support bodies 1210, it gradually releases the two support bodies 1210, so that the support bodies 1210 return to a freely sliding state.

[0054] An elastic reset component can be provided between the two support bodies 1210 to facilitate the automatic reset of the support body 1210 when the clamping component 1520 retracts after welding, so that the vertical part 1212 of the support body 1210 drives the first electrode 1100 to reset, so as to facilitate the removal of the part.

[0055] The clamping member 1520 is conical or wedge-shaped to facilitate insertion between the vertical portions 1212 of the two support bodies 1210, and its extension and retraction direction is perpendicular to the sliding direction of the support bodies 1210. For example, if the support bodies 1210 slide horizontally in the lateral direction, the clamping member 1520 extends and retracts horizontally in the longitudinal direction.

[0056] In some embodiments of this application, the pressing component 1520 is specifically an elongated wedge-shaped block with its tip close to the support body 1210 and having two symmetrically arranged inclined sides 1521. Correspondingly, the opposite sides of the two vertical portions 1212 of the two support bodies 1210 are also inclined surfaces, and are adapted and fitted to the two inclined sides 1521 of the pressing component 1520 to improve the smoothness of the driving action of the pressing component 1520 on the support body 1210.

[0057] In some embodiments of this application, the first support positioning assembly 1000 further includes a fixed base 1600 and a first linear module 1700. The fixed base 1600 is disposed below the support base plate 1400, and the first linear module 1700 is disposed between the fixed base 1600 and the support base plate 1400, for driving the support base plate 1400 to move horizontally in a linear direction. The direction of movement of the support base plate 1400 is perpendicular to the sliding direction of the support body 1210. By driving the support base plate 1400 to move horizontally in a linear direction perpendicular to the sliding direction of the support body 1210 through the first linear module 1700, the crossbeam frame 2 can move and adjust its position in multiple horizontal directions, improving the accuracy and reliability of workpiece positioning.

[0058] To facilitate the energization of the first electrode 1100, in some embodiments of this application, the support body 1210 is made of conductive metal, and its horizontal part 1211 is connected to the power supply. Since the first electrode 1100 is located on the vertical part 1212 of the support body 1210, the first electrode 1100 is connected to the power supply through the conductive support body 1210. Specifically, the power supply can be connected by connecting the conductive copper sheet 1800.

[0059] Accordingly, to ensure safe use, the first end support portion 1200 also includes a support connecting plate 1220. The support body 1210 can be welded and fixed on the support connecting plate 1220, and is separated from the support connecting plate 1220 by an insulating plate 1230. The support connecting plate 1220 is slidably connected to the support base plate 1400, thereby realizing the slidable connection between the support body 1210 and the support base plate 1400. The second end support portion 1300 is also separated from the support base plate 1400 by an insulating plate 1230.

[0060] In some embodiments of this application, a first double-rail slide 1900 is provided on the support base plate 1400, and the support connecting plate 1220 is connected to the slider of the first double-rail slide 1900, thereby realizing the sliding connection between the support connecting plate 1220 and the support base plate 1400.

[0061] The support base plate 1400 is also provided with two limiting components 1240 located outside the two support bodies 1210. When the support body 1210 slides horizontally and linearly toward the second electrode 2100 under the drive of the electrode movement drive mechanism 1500, the outer side of the horizontal part 1211 of the support body 1210 abuts against the limiting component 1240, which plays an auxiliary positioning role for the support body 1210. Combined with the squeezing and pressing action of the pressing component 1520, the support body 1210 is stably kept in the sliding position, which improves the support and positioning effect of the crossbeam frame 2, and thus helps to improve the reliability of resistance welding.

[0062] For resistance welding machine 2000, such as Figures 3 to 5 As shown, it includes a cylinder 2200 and a connecting assembly 2300. The connecting assembly 2300 includes a conductive part 2310 and a non-conductive part 2320 connected as one piece. The non-conductive part 2320 is connected to the piston rod output end of the cylinder 2200. The second electrode 2100 is disposed on the conductive part 2310. The conductive part 2310 is also connected to a power source through a conductive copper sheet 1800, thereby enabling the power source to supply power to the second electrode 2100. During welding, the cylinder 2200 drives the second electrode 2100 to move horizontally and linearly toward the first electrode 1100 through the connecting assembly 2300, so as to cooperate with the first electrode 1100 to clamp the side plate 2.12 and mounting plate 2.2 of the frame body 2.1 to achieve resistance welding of the workpiece. At the same time, after welding, the cylinder 2200 drives the second electrode 2100 away from the first electrode 1100 through the connecting assembly 2300 for part removal.

[0063] The second electrode 2100 and the conductive part 2310 are indirectly connected to the cylinder 2200 by the non-conductive part 2320, which prevents the second electrode 2100 from conducting electricity to the cylinder 2200 and improves the safety of the resistance welding machine 2000.

[0064] In some embodiments of this application, the first welding station further includes a second double-rail slide 2400 disposed below the cylinder 2200. The cylinder 2200 is horizontally slidably disposed on the second double-rail slide 2400, and its sliding direction is parallel to the extension and retraction direction of its piston rod. Thus, the cylinder 2200 can be pushed by external force to slide and change its initial position, so that cylinders 2200 with different strokes can be used in the resistance welding machine 2000, instead of being limited to a fixed stroke, thereby improving the flexibility of equipment use.

[0065] In some embodiments of this application, such as Figure 3 , Figure 10 and Figure 11As shown, the second support and positioning assembly 3000 for the second welding station also includes two end support portions 3100, which support the two ends of the workpiece respectively, thereby supporting the entire workpiece. Unlike the first support and positioning assembly 1000, the two end support portions 3100 of the second support and positioning assembly 3000 are fixedly arranged inverted T-shaped blocks to adapt to support the inverted crossbeam frame 2.

[0066] The second support positioning component 3000 also includes a fixed base plate 3200, and two end support parts 3100 are fixed on the fixed base plate 3200. The fixed base plate 3200 is also fixed with a positioning plate 3300. When the crossbeam frame 2 is positioned on the second support positioning component 3000, it is placed upside down on the two end support parts 3100, and the first end abuts against the positioning plate 3300 to achieve positioning.

[0067] In some embodiments of this application, the laser welding machine 4000 further includes a second linear module 4200, and the laser welding gun 4100 is disposed on the slider of the second linear module 4200, so that the position of the laser welding gun 4100 can be slidably adjusted to further facilitate welding.

[0068] In some embodiments of this application, the laser welding machine 4000 further includes an XY-axis cross slide 4300, which is disposed on the slider of the second linear module 4200. The laser welding gun 4100 is disposed on the XY-axis cross slide 4300, and thus indirectly disposed on the slider of the second linear module 4200. The laser welding gun 4100 can also be finely adjusted in position by means of the XY-axis cross slide 4300, so that its relative position with the crossbeam frame 2 is more accurate, which is beneficial to improving the welding quality.

[0069] When two sets of laser welding guns 4100 are set up to weld the top of the second outer flange 2.14 on the two side plates 2.12 of the crossbeam frame 2 to the first end of the corresponding first outer flange 2.13, the two sets of laser welding guns 4100 correspond to one set of XY axis cross slides 4300, and the two sets of XY axis cross slides 4300 are set on different sliders of the same second linear module 4200.

[0070] In some embodiments of this application, the transfer mechanism includes a first linear transfer mechanism 5000 corresponding to the first welding station and a second linear transfer mechanism 6000 corresponding to the second welding station. The first linear transfer mechanism 5000 is used at least for loading and unloading the beam frame 2 at the first welding station, and the second linear transfer mechanism 6000 is used at least for loading and unloading the beam frame 2 at the second welding station. The beam frame 2 can be transferred from the first welding station to the second welding station via the first linear transfer mechanism 5000, or vice versa. The first linear transfer mechanism 5000 and the second linear transfer mechanism 6000 can be existing robotic transfer mechanisms or other linear transfer mechanisms.

[0071] In some embodiments of this application, the first linear transfer mechanism 5000 includes a first horizontal linear motion mechanism 5100, a first vertical linear motion mechanism 5200, and a first gripper assembly 5300 for clamping the crossbeam frame 2. The first vertical linear motion mechanism 5200 is connected to the motion output part of the first horizontal linear motion mechanism 5100, and the first gripper assembly 5300 is disposed on the motion output part of the first vertical linear motion mechanism 5200. Thus, the first linear transfer mechanism 5000 can drive the crossbeam frame 2 to move in the horizontal and vertical directions. The second linear transfer mechanism 6000 has the same structure as the first linear transfer mechanism 5000.

[0072] Specifically, the first horizontal linear motion mechanism 5100 and the first vertical linear motion mechanism 5200 can each be a linear module, such as... Figures 12 to 14 As shown, it could be a linear motion mechanism driven by a cylinder or hydraulic cylinder, or an electric push rod mechanism; no specific restrictions are imposed here.

[0073] like Figure 14 As shown, the first gripper assembly 5300 includes two grippers 5310 arranged opposite to each other, a mounting bracket 5320, and a gripper opening and closing drive component 5330 provided on the mounting bracket 5320. The mounting bracket 5320 is connected to the motion output part of the first vertical linear motion mechanism 5200. The gripper opening and closing drive component 5330 is connected to the two grippers 5310 and drives the two grippers 5310 to move relative to each other or away from each other to realize the opening and closing action. When the two grippers 5310 move relative to each other, they clamp the workpiece together. When the two grippers 5310 move away from each other, they open and release the workpiece.

[0074] In some embodiments of this application, the two grippers 5310 have the same structure and are symmetrically arranged. A positioning part and a stop part located above the positioning part are formed on the inner side of the gripper 5310. When clamping the crossbeam frame 2, the stop part and the positioning part cooperate to limit the crossbeam frame 2 in the vertical direction.

[0075] Specifically, such as Figure 14 As shown, the positioning part is a positioning groove 5311, and the stop part is a horizontal stop boss 5312. When clamping the crossbeam frame 2, the crossbeam frame 2 is inverted, and its two first outward flanges 2.13 are respectively embedded in the positioning groove 5311. The bottom plate 2.11 abuts against the horizontal stop boss 5312. The positioning groove 5311 and the horizontal stop boss 5312 work together to not only limit the crossbeam frame 2 in the vertical direction, but also limit the crossbeam frame 2 in the width direction, so that the crossbeam frame 2 is clamped reliably.

[0076] The gripper opening and closing drive component 5330 is specifically a horizontally telescopic bidirectional cylinder. The cylinder body is fixedly connected to the mounting bracket 5320, and the two sets of opposing piston rods are respectively connected to the two grippers 5310.

[0077] The horizontal linear motion direction of the first linear transfer mechanism 5000 can be the same as the horizontal linear motion direction of the second linear transfer mechanism 6000, or the horizontal linear motion direction of the first linear transfer mechanism 5000 can be perpendicular to the horizontal linear motion direction of the second linear transfer mechanism 6000.

[0078] When the horizontal linear motion direction of the first linear transfer mechanism 5000 is perpendicular to the horizontal linear motion direction of the second linear transfer mechanism 6000, the transfer mechanism also includes a steering device 7000, which is located between the first linear transfer mechanism 5000 and the second linear motion mechanism, and is used to turn the crossbeam frame 2 welded at the first welding station by 90° horizontally.

[0079] like Figure 3 As shown in the example, the first linear transfer mechanism 5000 transfers the crossbeam frame 2 laterally, and the second linear transfer mechanism 6000 transfers the crossbeam frame 2 longitudinally. The crossbeam frame 2 is placed in an inverted longitudinal position at the first welding station and in an inverted lateral position at the second welding station. After being welded at the first welding station, the crossbeam frame 2 is first turned 90° horizontally by the steering device 7000, and then transferred by the second linear transfer mechanism 6000 to the second support positioning component 3000 for laser welding.

[0080] In some embodiments of this application, the steering device 7000 includes a steering temporary platform 7100 and a steering mechanism 7200. The steering mechanism 7200 includes a second horizontal linear motion mechanism 7210, a second vertical linear motion mechanism 7220, a rotary connecting component, and a second gripper assembly 7240 for gripping the crossbeam frame 2 to be turned.

[0081] The horizontal linear motion direction of the second horizontal linear motion mechanism 7210 is the same as the horizontal linear motion direction of the first linear transfer mechanism 5000; the second vertical linear motion mechanism 7220 is connected to the motion output part of the second horizontal linear motion mechanism 7210, the rotary connecting component is provided on the motion output part of the second vertical linear motion mechanism 7220, and the second gripper assembly 7240 is provided on the rotation output part of the rotary connecting component.

[0082] The beam frame 2, which has been welded at the first welding station, is transferred by the first linear transfer mechanism 5000 to the first position b of the turning temporary storage platform 7100 for temporary storage. Then, it is picked up by the turning mechanism 7200 and turned, and temporarily stored at the second position c of the turning temporary storage platform 7100. Finally, it is transferred by the second linear transfer mechanism 6000 to the second welding station.

[0083] Specifically, the second horizontal linear motion mechanism 7210 and the second vertical linear motion mechanism 7220 can be linear modules or electric push rod mechanisms, etc., without specific limitations. The second horizontal linear motion mechanism 7210 can share the same set of guide rail components with the first horizontal linear motion mechanism 5100 of the first linear transfer mechanism 5000, such as... Figure 12 As shown, this design simplifies the assembly structure and reduces costs. The rotary connecting component is a rotary cylinder 7230, and the structure of the second gripper assembly 7240 is the same as that of the first gripper assembly 5300, so it will not be described again here.

[0084] Of course, the steering device 7000 can also be an electric turntable, etc., and no specific restrictions are made here.

[0085] After the crossbeam frame 2 is welded at both the first and second welding stations, it is unloaded and conveyed by a conveying device. In some embodiments of this application, the conveying device 8000 is a conveying device that enables the crossbeam frame 2 to be stacked and conveyed.

[0086] like Figure 4 , Figure 15 and Figure 16 As shown, the conveying device 8000 includes a conveyor line 8100, a turning mechanism 8200, and a third linear transfer mechanism 8300.

[0087] The conveyor line 8100 includes a conveyor body 8110 and a power unit 8120. The conveyor line 8100 can be an existing horizontal straight belt conveyor line with a flat belt surface, which facilitates the smooth transport of the stacked beam frames 2.

[0088] The flipping mechanism 8200 is used to flip the multiple crossbeam frames 2 conveyed on the conveyor line 8100 by 180° every other one. For example, the crossbeam frame 2 welded by the second welding station is placed on the conveyor line 8110 in an inverted position with the opening facing down (specifically on the carrying section of the conveyor line 8110). The flipping mechanism 8200 is used to flip the multiple crossbeam frames 2 in the inverted position by 180° every other one to an upright position with the opening facing up.

[0089] The third linear transfer mechanism 8300 is located on the side of the conveyor line 8100. It is used to transfer the inverted crossbeam frame 2 on the conveyor line body 8110 from the upstream side of the flipping mechanism 8200 to the downstream side of the flipping mechanism 8200 (with the location of the flipping mechanism 8200 as the boundary, the side where the inverted crossbeam frame 2 is located in the material in the incoming direction is defined as the upstream side of the flipping mechanism 8200, and the side where the crossbeam frame 2 is located after flipping is defined as the downstream side of the flipping mechanism 8200). It is then placed on the crossbeam frame 2 that has been flipped into an upright position on the downstream side of the flipping mechanism 8200, so as to realize the crossbeam frame 2 being stacked and transported in pairs, thereby reducing the floor space occupied by the conveying device 8000 and thus reducing the overall floor space occupied by the automatic welding machine 1.

[0090] In some embodiments of this application, such as Figure 15 and Figure 16 As shown, the flipping mechanism 8200 includes a flipping disk assembly 8210 and a flipping drive motor 8220 for driving the flipping disk assembly 8210 to flip. The flipping drive motor 8220 may specifically be a servo motor or the like.

[0091] The flipper assembly 8210 includes a rotating shaft 8211 and two flippers 8212 respectively connected to both ends of the rotating shaft 8211. The rotating shaft 8211 is located above the conveyor body 8110 of the conveyor line 8100 and extends along the width direction of the conveyor body 8110. The two flippers 8212 are located on both sides of the conveyor body 8110, so that the flipping action of the flipper assembly 8210 does not interfere with the conveying action of the conveyor line 8100. The flip plate 8212 is provided with a first slot 8213 and a second slot 8214 opened along one radial direction. The first slot 8213 and the second slot 8214 are located on both sides of the rotating shaft 8211 and the slot openings are both radially outward, that is, the first slot 8213 and the second slot 8214 are arranged opposite each other and the slot openings are facing away from each other; the first slot 8213 of the two flip plates 8212 are directly opposite each other, and the second slot 8214 are directly opposite each other; the first slot 8213 and the second slot 8214 are configured such that when they are in a horizontal state, the slot openings face the material feeding direction of the crossbeam frame 2 (e.g., ...). Figure 15 , Figure 16 When the arrow I is pointing in the direction of the flipping mechanism 8200 (i.e., towards the upstream side), the two ends of the incoming material beam frame 2 can be inserted into the first slot 8213 or the second slot 8214 of the two flipping discs 8212 respectively.

[0092] Taking the first slot 8213 in a horizontal position with its opening facing the material feeding direction of the crossbeam frame 2 as an example, correspondingly, the second slot 8214's opening faces the material unloading direction of the crossbeam frame 2 (e.g., ...). Figure 15 , Figure 16 As shown by arrow II (towards the downstream side of the flipping mechanism 8200), when the two ends of the inverted beam frame 2 are inserted into the first slots 8213 of the two flipping disks 8212, the flipping drive motor 8220 drives the flipping disks 8212 to rotate 180°, simultaneously causing the beam frame 2 to flip 180° to the upright position, and fall onto the conveyor line 8110 downstream of the flipping mechanism 8200. Then, the third linear transfer mechanism 8300 transfers the next inverted beam frame 2 in the incoming material direction to the beam frame 2 that has been flipped to the upright position, realizing the stacking of the two beam frames 2; this process is repeated to realize the unloading and conveying of multiple sets of beam frames 2 stacked in pairs.

[0093] In some embodiments of this application, the outer contour of the flip disk 8212 is circular, the first slot 8213 is a U-shaped groove, including a bottom wall 8215 and two side walls 8216 perpendicular to the bottom wall 8215, and the second slot 8214 is symmetrically arranged with the first slot 8213 to facilitate processing.

[0094] When the first slot 8213 is in a horizontal position, its bottom wall 8215 is vertical, and its two side walls 8216 are horizontal and opposite each other. The height of the lower side wall 8216 is not higher than the height of the carrying section of the conveyor line 8110. Obviously, the height of the upper side wall 8216 is higher than the height of the carrying section of the conveyor line 8110. With this structural design, the crossbeam frame 2 in the material infeed direction can smoothly enter the two first slots 8213 and smoothly land on the downstream conveyor line 8110 after being rotated 180°.

[0095] In some embodiments of this application, a guide slope is formed at the opening of the first slot 8213, making the opening of the first slot 8213 flared out, and a guide slope is formed at the opening of the second slot 8214, making the opening of the second slot 8214 flared out, so as to guide the entry and exit of the crossbeam frame 2, making it easier for the crossbeam frame 2 to enter and exit the slot.

[0096] The third linear transfer mechanism 8300 includes a third horizontal linear motion mechanism 8310, a third vertical linear motion mechanism 8320, and a third gripper assembly 8330 for clamping the crossbeam frame 2. The third vertical linear motion mechanism 8320 is connected to the motion output part of the third horizontal linear motion mechanism 8310. The third gripper assembly 8330 is provided on the motion output part of the third vertical linear motion mechanism 8320. Thus, the third linear transfer mechanism 8300 can drive the crossbeam frame 2 to move in the horizontal and vertical directions to realize transfer.

[0097] In some embodiments of this application, the third linear transfer mechanism 8300 has the same structure as the first linear transfer mechanism 5000 and the second linear transfer mechanism 6000, and will not be described in detail here. The horizontal transfer direction of the third linear transfer mechanism 8300 is the same as that of the second linear transfer mechanism 6000. If a linear module is used, the third horizontal linear motion mechanism 8310 and the horizontal linear motion mechanism of the second linear transfer mechanism 6000 can share the same set of horizontal linear guide rail components, such as... Figure 4 , Figure 13 and Figure 15 As shown, this is to reduce costs.

[0098] In the description of the above embodiments, specific features, structures, materials, or characteristics may be combined in any suitable manner in one or more embodiments or examples.

[0099] The above are merely specific embodiments of this utility model, but the protection scope of this utility model is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the technical scope disclosed in this utility model should be included within the protection scope of this utility model. Therefore, the protection scope of this utility model should be determined by the scope of the claims.

Claims

1. An automatic welding machine for welding a beam frame, the beam frame comprising a frame body and a mounting plate, the frame body comprising a bottom plate and two opposing side plates, the mounting plate being welded to the inner wall of the first end of at least one of the side plates, each of the side plates having a first outward flange formed at its top edge, and each of the side plates having a second outward flange formed at its first end, the top end of at least one of the second outward flanges being welded to the first end of the first outward flange on the same side; characterized in that, The automatic welding machine includes: The first welding station includes: A first support and positioning component is used to support and position the frame body. The first support and positioning component is provided with a first electrode. The first electrode is provided with a movable connection structure for movably connecting the mounting plate before welding. A resistance welding machine includes a second electrode, which cooperates with the first electrode to weld the mounting plate onto the inner wall of the first end of the side plate. The second welding station includes: The second support and positioning component is used to support and position the main frame body; A laser welding machine is used to weld the top end of the second outward flange to the first end of the first outward flange on the same side. The transfer mechanism is used at least to transfer the beam frame from the first welding station to the second welding station.

2. The automatic welding machine according to claim 1, characterized in that, The first support positioning component includes a first end support portion and a second end support portion, which are respectively used to support the first end and the second end of the beam frame. The first end support portion includes a support body, which includes a horizontal portion and a vertical portion. The top surface of the horizontal portion is used to fit against the first outward flange, and the top surface of the vertical portion is used to fit against the base plate. The first electrode is disposed on the side of the vertical portion.

3. The automatic welding machine according to claim 2, characterized in that, The first support and positioning assembly further includes a support base plate and an electrode motion drive mechanism, and the second end support portion is fixedly mounted on the support base plate; The number of the support bodies is two and they are symmetrically arranged, corresponding one-to-one with the two side plates; the support bodies are slidably mounted on the support base plate; The electrode motion drive mechanism is used to drive the two support bodies to slide back to back, so that the first electrode and the second electrode cooperate to press the mounting plate and the side plate.

4. The automatic welding machine according to claim 1, characterized in that, The first electrode is a conductive metal plate, and the movable connection structure is a magnetic attraction element embedded inside the first electrode; the first electrode is provided with a positioning structure for positioning the mounting plate before welding.

5. The automatic welding machine according to claim 1, characterized in that, The resistance welding machine includes a cylinder and a connecting assembly. The connecting assembly includes a conductive part and a non-conductive part connected as one piece. The non-conductive part is connected to the piston rod output end of the cylinder. The second electrode is disposed on the conductive part, and the conductive part is connected to a power source. The cylinder drives the second electrode to move horizontally and linearly toward the first electrode through the connecting assembly.

6. The automatic welding machine according to claim 5, characterized in that, The first welding station also includes a double-rail slide table located below the cylinder. The cylinder is horizontally slidable on the double-rail slide table, and its sliding direction is parallel to the extension and retraction direction of its piston rod.

7. The automatic welding machine according to claim 1, characterized in that, The second welding station also includes a second linear module, and the laser welding machine includes a laser welding gun, which is mounted on the slider of the second linear module.

8. The automatic welding machine according to claim 7, characterized in that, The second welding station also includes an XY-axis cross slide, which is mounted on the slider of the second linear module, and the laser welding gun is mounted on the XY-axis cross slide.

9. The automatic welding machine according to claim 1, characterized in that, The transfer mechanism includes a first linear transfer mechanism corresponding to the first welding station and a second linear transfer mechanism corresponding to the second welding station; the first linear transfer mechanism includes a first horizontal linear motion mechanism, a first vertical linear motion mechanism and a first gripper assembly for clamping the crossbeam frame, the first vertical linear motion mechanism is connected to the motion output part of the first horizontal linear motion mechanism; the first gripper assembly is disposed on the motion output part of the first vertical linear motion mechanism.

10. The automatic welding machine according to claim 9, characterized in that, The first gripper assembly includes two grippers arranged opposite each other, a mounting bracket, and a gripper opening and closing drive component disposed on the mounting bracket. The gripper opening and closing drive component is connected to the two grippers to drive the two grippers to move relative to each other or away from each other to achieve the opening and closing action.

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