CN109352200B

CN109352200B - Hood welding unit

Info

Publication number: CN109352200B
Application number: CN201811434062.8A
Authority: CN
Inventors: 严立兵; 葛中雨; 胡跃
Original assignee: Zotao Robot Yancheng Co ltd
Current assignee: Zotao Robot Yancheng Co ltd
Priority date: 2018-11-28
Filing date: 2018-11-28
Publication date: 2024-03-12
Anticipated expiration: 2038-11-28
Also published as: CN109352200A

Abstract

The invention relates to a hood welding unit which comprises a feeding module, a migration module, a welding support module, a welding module and a gripper temporary storage module, wherein the feeding module is connected with the welding support module; the feeding module takes the radius of a transfer robot work of the transfer module as the radius, and takes a fixed point of the transfer robot as a circle center, and the annular array comprises a first reinforcing rib storage mechanism, a second reinforcing rib storage mechanism, an upper cover storage mechanism, a third reinforcing rib storage mechanism, a first support frame storage mechanism, a left side plate storage mechanism and a right side plate storage mechanism; the gripper temporary storage module sequentially comprises 4 groups of temporary storage brackets in the clockwise direction, wherein a reinforcing rib pressing tool gripper is installed on a first temporary storage bracket, a left side plate gripper and a right side plate gripper are arranged on a second temporary storage bracket, a hinge gripper and an upper cover gripper are arranged on a third temporary storage bracket, and a rear side reinforcing rib pressing tool gripper is arranged on a fourth temporary storage bracket; the welding support module comprises a hood support bracket welding piece tool, an upper hood reinforcing rib assembling and welding tool and an upper hood assembling and welding tool respectively.

Description

Hood welding unit

Technical Field

The invention relates to a hood welding unit, and belongs to the field of welding production lines.

Background

The traditional welding assembly line that all is the straight line structure of aircraft bonnet welded line, generally all set up dedicated last unloading mechanism and carry out the transfer between the different stations between different stations, perhaps install the bar guide with general manipulator on, remove, realize going up the unloading, at first the scheme cost of last unloading mechanism that each station array set up is higher, secondly if install single robot and realize reciprocating motion on the follower guide, can make the stability of manipulator reduce, the longer removal distance of manipulator can seriously reduce the speed of going up the unloading simultaneously, influence manufacturing efficiency.

Disclosure of Invention

The invention aims to solve the technical problems that: the technical problem in the prior art is overcome, and a hood welding unit is provided.

The technical scheme adopted for solving the technical problems is as follows:

a hood welding unit comprises a feeding module, an migration module, a welding support module, a welding module and a gripper temporary storage module; the welding support modules are arranged at adjacent positions of the welding support modules, and the hand grip temporary storage modules are arranged between the migration modules and the feeding modules;

The feeding module takes the migration module as a center, the working radius of the migration module is a radius, and a first reinforcing rib storage mechanism, a second reinforcing rib storage mechanism, an upper cover storage mechanism, a third reinforcing rib storage mechanism, a first support frame storage mechanism, a left side plate storage mechanism and a right side plate storage mechanism are sequentially arranged in the clockwise direction; the first reinforcing rib storage mechanism, the second reinforcing rib storage mechanism, the third reinforcing rib storage mechanism, the first support frame storage mechanism, the left side plate storage mechanism, the right side plate storage mechanism and the upper cover storage mechanism are arranged in an annular ring shape;

the transfer module is a six-axis transfer robot, and a gripper adapter is connected to the end part of a working arm of the six-axis transfer robot;

the hand grip temporary storage module sequentially comprises 4 groups of temporary storage brackets in the clockwise direction, wherein a first temporary storage bracket is positioned between a second reinforcing rib storage mechanism and an upper cover storage mechanism, a reinforcing rib pressing tool hand grip is installed on the first temporary storage bracket, the second temporary storage bracket is positioned between a left side plate storage mechanism and a right side plate storage mechanism, a left side plate hand grip and a right side plate hand grip are arranged above the second temporary storage bracket, a third temporary storage bracket is positioned between the right side plate storage mechanism and the upper cover storage mechanism, a hinge hand grip and an upper cover hand grip are arranged on the third temporary storage bracket, a blanking mechanism is arranged between the welding support module and the upper cover storage mechanism, a fourth temporary storage bracket is arranged between the blanking mechanism and the welding support module, and a rear side reinforcing rib pressing tool hand grip is arranged on the fourth temporary storage bracket;

The welding support module comprises a hood support bracket welding piece tool, an upper hood reinforcing rib assembling and welding tool and an upper hood assembling and welding tool respectively;

the welding module comprises a six-axis welding robot which is arranged on a ground rail with an actuation axis parallel to the axis of the welding support module and moves along the welding support module through the ground rail.

As a further improvement of the invention, the first reinforcing rib storage mechanism comprises a supporting frame body A, a material tray A is rotationally connected to the supporting frame body A, the material tray A is rotationally driven by a rotary servo motor A fixed on the supporting frame body A, the material tray A comprises 4 groups of material trays A which are arranged in an annular array, adjacent material separation trays A are arranged in a staggered manner, a plurality of reinforcing rib positioning mechanisms A are arranged on each material separation tray A in an array manner, each reinforcing rib positioning mechanism A comprises a plurality of reinforcing rib positioning pins A which are inserted into reinforcing rib positioning holes, the reinforcing rib positioning pins A are arranged in a linear array manner, and the array axis is perpendicular to the radius of the material tray A;

the second reinforcing rib storage mechanism comprises a supporting frame body B, a material tray B is rotationally connected to the supporting frame body B, the material tray B is rotationally driven by a rotary servo motor B fixed on the supporting frame body B, the material tray B comprises 4 groups of material trays B which are arranged in an annular array, adjacent material distribution trays B are arranged in a staggered mode, a plurality of reinforcing rib positioning mechanisms B are arranged on each material distribution tray B in an array mode, each reinforcing rib positioning mechanism A comprises a plurality of reinforcing rib positioning pins B which are used for being inserted into reinforcing rib positioning holes, the reinforcing rib positioning pins B are arranged in a linear array mode, and the array axis is perpendicular to the radius of the material tray B;

The third reinforcing rib storage mechanism comprises a supporting frame body C, a material tray C is rotationally connected to the supporting frame body C, the material tray C is rotationally driven by a rotary servo motor C fixed on the supporting frame body C, the material tray C comprises 4 groups of material trays C which are arranged in an annular array, adjacent material distribution trays C are arranged in a staggered mode, a plurality of reinforcing rib positioning mechanisms C are arranged on the material distribution trays C in an array mode, and each reinforcing rib positioning mechanism C comprises a plurality of reinforcing rib positioning pins C which are used for being inserted into reinforcing rib positioning holes;

the first support frame storage mechanism comprises a support frame body D, a material tray D is rotationally connected to the support frame body D, the material tray D is rotationally driven by a rotary servo motor D fixed on the support frame body D, the material tray D comprises 4 groups of material trays D which are arranged in an annular array, adjacent material distribution trays D are arranged in a staggered mode, a plurality of reinforcing rib positioning mechanisms D are arranged on the material distribution trays D in an array mode, and each reinforcing rib positioning mechanism D comprises a plurality of reinforcing rib positioning pins D which are used for being inserted into reinforcing rib positioning holes;

the left side plate storage mechanism comprises a supporting frame body E, a material tray E is rotationally connected to the supporting frame body E, the material tray E is rotationally driven by a rotary servo motor E fixed on the supporting frame body E, the material tray E comprises two groups of material trays E which are arranged in an annular array, the material tray E comprises a plurality of left side plate supporting plates which are arranged in a linear array relative to the rotation axis of the material tray E, and a plurality of positioning blocks A which are used for being in contact with the contour edge of the left side plate are arranged on the left side plate supporting plates along the contour of the left side plate;

The right side plate storage mechanism comprises a supporting frame body F, a material tray F is rotationally connected to the supporting frame body F, the material tray F is rotationally driven by a rotary servo motor F fixed on the supporting frame body F, the material tray F comprises two groups of material trays F which are arranged in an annular array, the material tray F comprises a plurality of right side plate supporting plates which are arranged in a linear array relative to the rotation axis of the material tray F, and a plurality of positioning blocks B which are used for being in contact with the contour edge of the left side plate are arranged on the right side plate supporting plates along the contour of the left side plate;

the upper cover storage mechanism comprises a supporting frame body G, a material tray G is rotationally connected to the supporting frame body G, the material tray G is rotationally driven by a rotary servo motor G fixed on the supporting frame body G, the material tray G comprises two groups of material trays G which are arranged in an annular array, the material tray G comprises an upper cover supporting plate which is arranged in a linear array with a plurality of relative material tray G rotation axes, and a plurality of positioning blocks C which are used for being in contact with the inner side of the upper cover outline are arranged on the upper cover supporting plate along the outline of the top cover.

The invention adopts the rotary tray with the array structure to realize feeding and taking materials, and the rotary feeding structure ensures that the structure can complete the feeding of a plurality of procedures at one time, so that the manual feeding is possible, compared with the traditional manual feeding one by one, the structure has larger manual fault-tolerant time and manual detection time, reduces the cost of a production line and improves the quality on the premise of not influencing the working efficiency of equipment

As a further improvement of the invention, the hood support bracket welding piece tool comprises a hinge connection seat feeding guide rail and a hinge rotation shaft sleeve feeding guide rail which are positioned at one end of a hinge mechanism combined welding platform, wherein the hinge connection seat feeding guide rail and the hinge rotation shaft sleeve feeding guide rail are both in belt transmission, the hinge mechanism combined welding platform also comprises a hinge welding tool, the hinge welding tool comprises a group of hinge rotation shaft sleeve positioning blocks fixed on a hinge welding table top, arc-shaped hinge rotation shaft sleeve positioning grooves are arranged on the hinge rotation shaft sleeve positioning blocks, a hinge rotation shaft sleeve connecting plate positioner is arranged on the hinge welding table top in the sea, the hinge rotation shaft sleeve connecting plate positioner comprises a height positioning plate A, a positioning clamping plate is arranged on the height positioning plate A, a hinge rotation shaft sleeve connecting plate clamping groove which is perpendicular to the surface of the hinge rotation shaft sleeve positioning groove and is parallel to each other is arranged in the middle of the positioning clamping plate, a hinge rotation shaft sleeve positioning cone block A is also arranged at the adjacent position of the hinge welding table top corresponding to the hinge rotation shaft sleeve positioning block, the axis of the hinge rotation shaft sleeve positioning cone block A is coaxial with the arc-shaped axis of the hinge rotation shaft sleeve positioning groove, and the hinge rotation shaft sleeve positioning cone block is connected to the hinge table top through the height positioning plate B; the upper sea of the hinge welding table top is provided with a hinge assembling and compressing mechanism, the hinge assembling and compressing mechanism comprises a swinging pressing arm A, the middle part of the swinging pressing arm A is rotationally connected to a height positioning plate C, the height positioning plate C is fixed on the hinge welding table top, the hinge welding table top is also provided with a linear pushing cylinder A, one end of the swing pressing arm A is provided with a strip-shaped pushing hole A, the driving end of the swing pressing arm A of the linear pushing cylinder A is connected into the pushing hole A through a connecting shaft A, and the other end of the swing pressing arm A is provided with a pressing surface A for contacting with a hinge rotating shaft sleeve; the hinge welding table top is also provided with a reinforcing rib hinge welding tool, the reinforcing rib hinge welding tool comprises a reinforcing rib fixing tool, the reinforcing rib fixing tool comprises a reinforcing rib supporting plate A, a plurality of limiting pins A corresponding to positioning holes on the reinforcing rib are arranged on the reinforcing rib supporting plate A in a linear array manner, a plurality of pushing cylinders A are arranged on the reinforcing rib supporting plate A in an array manner, and pushing blocks A used for being in contact with the reinforcing rib are arranged on cylinder rods of the pushing cylinders A; the reinforcing rib hinge welding tool further comprises a hinge pressing mechanism and a hinge positioning mechanism, the hinge pressing mechanism comprises a swinging pressing arm B, the middle of the swinging pressing arm B is rotationally connected to a height positioning plate D, the height positioning plate D is arranged adjacent to the reinforcing rib supporting plate A, a linear pushing cylinder B is further arranged on the hinge welding table top, one end of the swinging pressing arm B is provided with a strip-shaped pushing hole B, the driving end of the linear pushing cylinder A is connected into the pushing hole B through a connecting shaft B, and the other end of the swinging pressing arm B is provided with a pressing surface B used for being in contact with a hinge rotating shaft sleeve connecting plate; the hinge positioning mechanism comprises a hinge stop block A and a hinge rotating shaft sleeve positioning cone block B, wherein the hinge stop block A is fixed on a hinge welding table surface through a height positioning plate E, so that a hinge rotating shaft sleeve connecting plate of a hinge is in surface contact with a reinforcing rib, the section of the hinge stop block A is L-shaped, the bottom of the hinge stop block A comprises a hinge rotating shaft sleeve supporting surface A, the side wall of the hinge stop block A comprises a hinge rotating shaft sleeve limiting surface A, the hinge rotating shaft sleeve positioning cone block B is of a conical structure and is driven by a linear pushing cylinder C, the linear pushing cylinder C is connected to the hinge welding table surface through a height positioning plate F, and the positioning cone block B is inserted into the hinge rotating shaft sleeve through the driving of the linear pushing cylinder C, so that the centering positioning of the hinge rotating shaft sleeve is realized.

According to the invention, compression and fixation of all parts of the hinge are realized through the lever and linear cylinder structure with higher repetition rate, compared with a special clamping jaw type tool structure, the manufacturing cost is lower, the centering of the hinge rotating shaft sleeve is realized by adopting one cone block, compared with the traditional sensor, the positioning cost is lower, the efficiency is higher, and frequent calibration is not needed.

As a further improvement of the invention, the upper cover reinforcing rib assembling and welding fixture comprises a longitudinal reinforcing rib connecting and supporting mechanism and a transverse reinforcing rib pressing mechanism, wherein the longitudinal reinforcing rib connecting and supporting mechanism is divided into two groups and symmetrically arranged on a reinforcing rib assembling platform, the longitudinal reinforcing rib connecting and supporting mechanism comprises a plurality of limit pins B which are arranged in a linear array, the limit pins B correspond to positioning holes of the longitudinal reinforcing rib, the limit pins B are connected to a linear pushing cylinder D, the linear pushing cylinder D is connected to the reinforcing rib assembling platform through a height positioning plate G, the longitudinal reinforcing rib connecting and supporting mechanism also comprises a plurality of clamping cylinder mechanisms A, the clamping cylinder mechanisms A comprise swinging pressure arms C, the middle parts of the swinging pressure arms C are rotationally connected to a height positioning plate H, the clamping cylinder mechanisms A also comprise a linear pushing cylinder E, the linear pushing cylinder E is positioned on one side of the arrangement axis of the linear pushing cylinder D, the height positioning plate H is fixed on a cylinder shell of the linear pushing cylinder E, one end of the swinging pressure arms C is connected with two groups of rotating hinges C, the driving ends of the linear pushing cylinders E are connected to the front pressure arms C through the hinges C, and the other ends of the swinging pressure arms C are connected to the longitudinal pressure surfaces of the swinging pressure arms C through the swinging pressure arms C; the transverse reinforcing rib pressing mechanism is three groups and is arranged along an axis array of the longitudinal reinforcing rib connecting supporting mechanism, the transverse reinforcing rib pressing mechanism comprises a plurality of limiting pins C which are arranged in an array and perpendicular to the limiting pins B, the limiting pins C correspond to positioning holes of the transverse reinforcing ribs, the limiting pins C are connected to a linear pushing cylinder F, the linear pushing cylinder F is connected to a reinforcing rib assembling platform through a height positioning plate I, the transverse reinforcing ribs are positioned and placed on the upper portion of the longitudinal reinforcing ribs through the height positioning plate I, the transverse reinforcing rib pressing mechanism further comprises a clamping cylinder mechanism B, the clamping cylinder mechanism B comprises a swinging pressure arm D, the middle of the swinging pressure arm D is rotationally connected to the height positioning plate J, the clamping cylinder mechanism B further comprises a linear pushing cylinder N, the height positioning plate J is fixed on a cylinder shell of the linear pushing cylinder N, two groups of mutually connected rotating hinges A are arranged on the linear pushing cylinder N, and the other end of the swinging pressure arm D is movably connected to the linear pushing end of the linear pushing cylinder N through the two groups of rotating hinges A.

According to the invention, the compression fixing of the reinforcing ribs is realized by adopting the cylinder lever structure with higher repetition rate, compared with a tool with a sucker type fixing structure or a frame body pre-fixing type fixing structure, the structure has more supporting sites and high precision, and the possibility of workpiece deformation caused by overlarge local clamping stress is reduced because the clamping sites are scattered.

As a further improvement of the invention, the upper cover combined welding fixture comprises an upper cover fixing mechanism, a left side plate fixing mechanism, a right side plate fixing mechanism and a combined table top, wherein the upper cover fixing mechanism comprises an upper cover fixing table top, the upper cover fixing table top is supported and driven by a plurality of linear pushing cylinders G fixed on the combined table top, the upper cover fixing mechanism further comprises an upper cover end part positioning mechanism and an upper cover surface compressing mechanism, the upper cover end part positioning mechanism comprises an upper cover front part positioning mechanism and an upper cover rear part positioning mechanism, the upper cover front part positioning mechanism comprises an upper cover positioning push plate, the bottom of the upper cover positioning push plate is in sliding connection with the fixed table top through an upper cover pushing guide rail coaxial with the longitudinal axis of the combined table top, the fixed table top is also provided with a linear pushing cylinder H, the upper cover positioning push plate moves back and forth relative to the upper cover pushing guide rail through the linear pushing cylinder H, the upper cover positioning push plate is fixedly provided with a linear pushing cylinder I with an actuating axis perpendicular to the fixed table top, the pushing end of the linear pushing cylinder I is connected with a switching seat, and the upper cover positioning push plate is provided with two symmetrical pressing arms and the inner sides of the compressing arms are in contact with the compressing blocks; the upper cover rear positioning mechanism comprises two groups of upper cover rear positioning blocks which are symmetrically arranged, and an upper cover contact inclined plane used for being in contact with the rear edge of the upper cover is arranged on the upper cover rear positioning blocks; the upper cover surface pressing mechanism comprises two groups of upper cover clamping assemblies which are symmetrically arranged at the front end and the rear end of an upper cover fixing table surface respectively, each group of upper cover clamping assemblies comprises two groups of symmetrically arranged clamping cylinder mechanisms C, each clamping cylinder mechanism C comprises a swinging pressure arm E, the middle part of each swinging pressure arm E is rotationally connected to a height positioning plate K, each height positioning plate K is vertically fixed on the end part of the upper cover fixing table surface, each clamping cylinder mechanism C further comprises a linear pushing cylinder J, one end of each swinging pressure arm E is provided with two groups of mutually hinged rotating hinges D, the pushing end of each linear pushing cylinder J is connected to each swinging pressure arm E through each rotating hinge D, and the other end of each swinging pressure arm E is provided with a pressing block B which is used for being in contact with the inner side surface of the upper cover; the left side plate fixing mechanism and the right side plate fixing mechanism are mirror symmetry structures and comprise a side plate clamping pushing plate, a sliding seat is fixed at the bottom of the side plate clamping pushing plate, a plurality of sliding guide rails perpendicular to the longitudinal axis of the upper cover fixing table top are arranged on the combined table top, the sliding seat is in sliding connection with the sliding guide rails, a linear pushing cylinder k for pushing the sliding seat to move is further arranged on the upper cover fixing table top, a side plate peripheral clamping mechanism arranged along the edge array of the left side plate and the right side plate and a side plate inner side clamping mechanism arranged along the edge array of the left side plate and the right side plate window are arranged on the side plate clamping pushing plate, a plurality of vertical seats which are vertically arranged on the side plate clamping pushing plate are arranged on the side plate clamping pushing plate, the side plate peripheral clamping mechanism comprises a plurality of clamping cylinder mechanisms D which are fixedly arranged on the vertical seats, the middle part of the swinging pressure arm F is rotationally connected to a height positioning plate L, the clamping cylinder mechanism D also comprises a linear pushing cylinder L, the height positioning plate L is fixedly arranged on a linear pushing cylinder L shell, the side plate L is rotationally connected with two ends of the linear pushing cylinder L through a swinging pressure arm B, and the two ends of the swinging cylinder are rotationally connected with one end of the side plate B and the other end of the side plate is rotationally connected with the side plate C; the side plate inner side clamping mechanism comprises a plurality of rotary clamping cylinder mechanisms A fixed on each vertical seat, the rotary clamping cylinder mechanisms A comprise a rotary clamping cylinder A, the rotary clamping cylinder A is fixed on the vertical seat, a clamping arm A perpendicular to the axis of the rotary output end is fixed on the rotary output end of the rotary clamping cylinder A, and a compression block D used for contacting the inner sides of the left side plate and the right side plate is arranged at the end part of the clamping arm A; the upper cover fixing table top is further provided with a plurality of upper cover supporting mechanisms in an array mode, each upper cover supporting mechanism comprises a linear pushing cylinder M perpendicular to the upper cover fixing table top, and supporting ball blocks are arranged at pushing ends of the linear pushing cylinders M.

Compared with a fixture of a sucker type fixing structure or a frame body pre-fixing type fixing structure, the structure has more supporting sites and high accuracy, the clamping sites are scattered, so that the possibility of workpiece deformation caused by overlarge local clamping stress is reduced, the structure can correct the workpiece or finely adjust the clamping position by changing the clamping force of the local supporting sites, and the welding seam width is ensured to be uniform during welding.

As a further improvement of the invention, the rear end of the upper cover fixing table top is provided with a positioning rod A which is used for contacting with the inner edge of the window at the tail end of the upper cover in an array manner; and a plurality of positioning rods B which are used for being contacted with the inner edges of the windows of the left side plate and the right side plate are arranged on the side plate clamping push plate in an array manner.

The locating rod structure can be used for realizing the pre-locating of the workpiece through the outline of the window opening when the workpiece is placed in the tool, and is high in efficiency, lower in cost compared with a fine-tuning locating structure of a sensor, and higher in stability.

As a further improvement of the invention, the longitudinal reinforcing rib pressing tool gripper comprises a longitudinal reinforcing rib connecting bridge, a horizontal part A is arranged in the middle of the longitudinal reinforcing rib connecting bridge, two ends of the horizontal part A are respectively provided with a bending part A which is arranged at an obtuse angle relative to the horizontal part A, and the horizontal part A and the bending part A are respectively provided with a vacuum chuck A in a linear array; the small sucker gripper comprises a supporting bridge, wherein the supporting bridge comprises a horizontal part B, and vacuum suckers B are respectively arranged at two ends of the horizontal part B; the left side plate gripper and the right side plate gripper are respectively a left side plate gripper and a right side plate gripper, wherein the left side plate gripper comprises a support frame A which is arranged corresponding to the outline of the left side plate, a plurality of vacuum chucks C are arranged on the support frame A in an array manner, the right side plate gripper comprises a support frame B which is arranged corresponding to the outline of the right side plate, and a plurality of vacuum chucks D are arranged on the support frame B in an array manner; the upper cover gripper comprises a rectangular supporting frame C, and a plurality of vacuum chucks E are arranged on the supporting frame C in an array manner; the hinge gripper comprises a right-angle structure conversion block, wherein column pneumatic grippers and plate pneumatic grippers are respectively arranged on right-angle surfaces on two sides of the conversion block, the column pneumatic grippers comprise pneumatic fingers A, and a V-shaped clamping groove is formed in a clamping jaw A of the pneumatic fingers A; the plate pneumatic gripper comprises a pneumatic finger B, and a clamping surface with a planar structure is arranged on a clamping jaw B of the pneumatic finger B; the transverse reinforcing rib pressing tool gripper comprises a transverse reinforcing rib connecting bridge, a horizontal portion B is arranged in the middle of the transverse reinforcing rib connecting bridge, two ends of the horizontal portion B are respectively provided with a bending portion B which is arranged at an obtuse angle relative to the horizontal portion B, a plurality of vacuum suckers F are arranged on the horizontal portion B and the bending portion B in an array mode, and the tops of the longitudinal reinforcing rib connecting bridge, the transverse reinforcing rib connecting bridge, the supporting frame A, the supporting frame B, the supporting frame C and the switching blocks are connected with the end portions of driving arms of the six-axis transfer robot through a robot quick-change disc mechanism.

According to the invention, the fixing of the plates is realized through the sucker type gripper, compared with the situation that the edge clamping structure has smaller influence on the deformation of the plate surface, the pneumatic fingers of the columns and the plates are arranged on one switching block, so that one-time movement and two-time feeding of the six-axis transfer robot in the welding process of the hinge assembly are realized, and the efficiency is improved.

As a further improvement of the invention, the periphery of the feeding module is provided with an annular protective net, and the protective net is provided with a safety door corresponding to the first reinforcing rib storage mechanism, the second reinforcing rib storage mechanism, the upper cover storage mechanism, the third reinforcing rib storage mechanism, the first support frame storage mechanism, the left side plate storage mechanism and the right side plate storage mechanism.

The protection network improves the safety of equipment, and the corresponding safety door is convenient for the feeding personnel to go in and out.

The beneficial effects of the invention are as follows:

1. according to the invention, the traditional housing production line is improved, and the linear arrangement structure is improved to be an annular arrangement structure, so that the equipment can realize the carrying combination of all materials only through one six-axis carrying robot, the unstable influence caused by the fact that the six-axis carrying robot is mounted on the linear guide rail is reduced, the movement distance of all materials is shortened, and the conveying efficiency of the materials is improved.

2. According to the invention, the loading and unloading and the transportation of the welding assembly and the parts are realized by adopting a group of six-axis transfer robots, no additional transportation line is needed, the structure is simplified, and compared with the guide rail type transportation structure, the six-axis transfer robots have higher loading and unloading precision, and the occupied area of equipment is reduced.

3. According to the invention, manual control of feeding and discharging is realized through the plurality of annular array-arranged material storage mechanisms, and because the manual feeding position is located outside the working range of the six-axis transfer robot, the manual feeding is safer, the quality of each workpiece can be detected in real time, an additional material feeding conveying line is not needed, and the cost is reduced on the premise of not affecting the productivity.

4. According to the invention, each gripper is placed between the storage and the connecting seat of the six-axis transfer robot, so that the six-axis transfer robot can realize the replacement of the gripper in the process of moving to-be-transferred workpieces, and the gripper warehouse repeatedly moved to a specific position is not needed, thereby greatly improving the working efficiency.

Drawings

The invention will be further described with reference to the drawings and examples.

Fig. 1 is a schematic perspective view a of a hood support bracket weld fixture;

fig. 2 is a schematic perspective view B of the hood support bracket weld fixture;

Fig. 3 is a schematic perspective view a of an upper cover reinforcing rib assembling and welding tool;

fig. 4 is a schematic perspective view B of the upper cover stiffener assembly welding tool;

fig. 5 is a schematic perspective view a of the upper cover assembly welding tool;

fig. 6 is a schematic perspective view B of the upper casing assembly welding tool;

FIG. 7 is a schematic view of the structure of the adapter block;

FIG. 8 is a schematic structural view of a first stiffener storage mechanism;

FIG. 9 is a schematic view of a second stiffener storage mechanism;

FIG. 10 is a schematic view of a lid stock mechanism;

FIG. 11 is a schematic view of a third stiffener storage mechanism;

FIG. 12 is a schematic view of a left side panel storage mechanism;

FIG. 13 is a schematic view of the structure of the upper cover grip;

FIG. 14 is a schematic view of the structure of the left side panel grip;

fig. 15 is a general view of the structure of the present invention.

In the figure: 1. the hood supports the welding piece tool of the support; 1-1, a hinge rotating shaft sleeve feeding guide rail; 1-2, a hinge connecting seat feeding guide rail; 1-3, a height positioning plate A;1-4, locating splints; 1-5, a hinge rotating shaft sleeve positioning block; 1-6, a height positioning plate C;1-7, a straight line pushing cylinder A;1-8, swinging a pressing arm A;1-9, a hinge rotating shaft sleeve positioning cone block; 1-10, a height positioning plate D;1-11, swinging a pressing arm B;1-12, a limiting pin A;1-13, a reinforcing rib supporting plate A;1-14, pushing the cylinder A;1-15, a height positioning plate F;1-16, a straight line pushing cylinder C;1-17, a hinge rotating shaft sleeve positioning cone block B;1-18, a hinge stop A;1-19, a height positioning plate D;

2. Assembling and welding tools for upper cover reinforcing ribs; 2-1, a limiting pin B;2-2, a straight line pushing cylinder D;2-3, a limiting pin C;2-4, a straight line pushing cylinder F;2-5, linearly pushing the cylinder N;2-6, a height positioning plate J;2-7, swinging the press arm D;2-8, a rotary hinge A;2-9, a straight line pushing cylinder E;2-10, a reinforcing rib assembling platform; 2-11, a rotary hinge C;2-12, a height positioning plate H;2-13, swinging the dynamic pressure arm C;

3. the upper cover is assembled with a welding tool; 3-1, fixing the table top by an upper cover; 3-2, assembling the table top; 3-3, pushing the guide rail by the upper cover; 3-4, positioning a push plate on the upper cover; 3-5, linearly pushing the air cylinder H;3-6, pushing the cylinder I in a straight line; 3-7, a adapter; 3-8, a pressing arm; 3-9, positioning rod A;3-10, clamping the push plate by the side plate; 3-11, a side plate pushing seat; 3-12, side plates push the guide rail; 3-13, a straight line pushing cylinder k;3-14, vertical seats; 3-15, a straight line pushing cylinder L;3-16, a rotary hinge B;3-17, a height positioning plate L;3-18, swinging the dynamic pressure arm F;3-19, a rotary clamping cylinder A;3-20, clamping arm A;3-21, positioning rod B;3-22, a straight line pushing cylinder J;3-23, a rotary hinge B;3-24, a height positioning plate K;3-25, swinging the press arm E;3-26 parts,

4. The first reinforcing rib storage mechanism; 4-1, supporting the frame body A;4-2, a material distributing disc A;4-3, rotating the servo motor A;

5. The second reinforcing rib storage mechanism; 5-1, supporting the frame body B;5-2, rotating a servo motor B;5-3, a material distributing disc B;

6. an upper cover storage mechanism; 6-1, a supporting frame G;6-2, rotating a servo motor G;6-3, a material distributing disc G;

7. a third reinforcing rib storage mechanism; 7-1, a supporting frame body C;7-2, rotating a servo motor C;7-3, a material distributing disc C;

8. a left side plate storage mechanism; 8-1, a supporting frame E;8-2, rotating a servo motor E;8-3, a left side plate supporting plate;

9. a right side plate storage mechanism; 10. the upper cover bracket storage mechanism; 11. longitudinal reinforcing rib compacting tool grip;

12. a left side plate gripper; 12-1, a support frame A;12-2, a vacuum chuck C;

14. a hinged gripper; 15. six-axis transfer robot; 16. a protective net; 17. a safety door; 18. a blanking mechanism; 19. a six-axis welding robot;

20. an upper cover gripper; 20-1, a support frame C;20-2, vacuum chuck E.

Detailed Description

The invention will now be described in further detail with reference to the accompanying drawings. The drawings are simplified schematic representations which merely illustrate the basic structure of the invention and therefore show only the structures which are relevant to the invention.

8-15, the feeding module takes the migration module as a center, and the working radius of the migration module is a radius, and a first reinforcing rib storage mechanism, a second reinforcing rib storage mechanism, an upper cover storage mechanism, a third reinforcing rib storage mechanism, a first support frame storage mechanism, a left side plate storage mechanism and a right side plate storage mechanism are sequentially arranged in a clockwise direction; the first reinforcing rib storage mechanism, the second reinforcing rib storage mechanism, the third reinforcing rib storage mechanism, the first support frame storage mechanism, the left side plate storage mechanism, the right side plate storage mechanism and the upper cover storage mechanism are arranged in an annular ring shape;

as shown in fig. 8, the first reinforcing rib storage mechanism comprises a supporting frame body a, a material tray a is rotationally connected to the supporting frame body a, the material tray a is rotationally driven by a rotary servo motor a fixed on the supporting frame body a, the material tray a comprises 4 groups of material trays a which are arranged in an annular array, adjacent material distribution trays a are arranged in a staggered manner, a plurality of reinforcing rib positioning mechanisms a are arranged on the material distribution tray a in an array manner, each reinforcing rib positioning mechanism a comprises a plurality of reinforcing rib positioning pins a for being inserted into reinforcing rib positioning holes, the reinforcing rib positioning pins a are arranged in a linear array manner, and the array axis is perpendicular to the radius of the material tray a;

As shown in fig. 9, the second reinforcing rib storage mechanism comprises a supporting frame body B, wherein a material tray B is rotationally connected to the supporting frame body B, the material tray B is rotationally driven by a rotary servo motor B fixed on the supporting frame body B, the material tray B comprises 4 groups of material trays B which are arranged in an annular array, adjacent material distribution trays B are arranged in a staggered manner, a plurality of reinforcing rib positioning mechanisms B are arranged on the material distribution trays B in an array manner, each reinforcing rib positioning mechanism a comprises a plurality of reinforcing rib positioning pins B which are inserted into reinforcing rib positioning holes, the reinforcing rib positioning pins B are arranged in a linear array manner, and the array axis is perpendicular to the radius of the material tray B;

as shown in fig. 11, the third reinforcing rib storage mechanism comprises a supporting frame body C, wherein a charging tray C is rotationally connected to the supporting frame body C, the charging tray C is rotationally driven by a rotary servo motor C fixed on the supporting frame body C, the charging tray C comprises 4 groups of charging trays C which are arranged in an annular array, adjacent distribution trays C are arranged in a staggered manner, a plurality of reinforcing rib positioning mechanisms C are arranged on the distribution trays C in an array manner, and each reinforcing rib positioning mechanism C comprises a plurality of reinforcing rib positioning pins C which are used for being inserted into reinforcing rib positioning holes;

As shown in fig. 12, the left-side plate storage mechanism comprises a supporting frame E, a tray E is rotatably connected to the supporting frame E, the tray E is rotatably driven by a rotary servo motor E fixed on the supporting frame E, the tray E comprises two groups of trays E arranged in an annular array, the sorting tray E comprises a plurality of left-side plate supporting plates arranged in a linear array relative to the rotation axis of the tray E, and a plurality of positioning blocks a for contacting with the contour edge of the left-side plate are arranged on the left-side plate supporting plates along the contour of the left-side plate;

referring to fig. 13, the upper cover storage mechanism includes a supporting frame G, a tray G is rotatably connected to the supporting frame G, the tray G is rotationally driven by a rotary servo motor G fixed on the supporting frame G, the tray G includes two groups of trays G arranged in a circular array, the tray G includes a plurality of upper cover trays arranged in a linear array relative to a rotation axis of the tray G, and a plurality of positioning blocks C for contacting with an inner side of an upper cover outline are disposed on the upper cover trays along an outline of the top cover.

The hand grip temporary storage module sequentially comprises 4 groups of temporary storage brackets in the clockwise direction, wherein a first temporary storage bracket is positioned between a second reinforcing rib storage mechanism and an upper cover storage mechanism, a reinforcing rib pressing tool hand grip is installed on the first temporary storage bracket, the second temporary storage bracket is positioned between a left side plate storage mechanism and a right side plate storage mechanism, a left side plate hand grip and a right side plate hand grip are arranged above the second temporary storage bracket, a third temporary storage bracket is positioned between the right side plate storage mechanism and the upper cover storage mechanism, a hinge hand grip and an upper cover hand grip are arranged on the third temporary storage bracket, a blanking mechanism is arranged between the welding support module and the upper cover storage mechanism, a fourth temporary storage bracket is arranged between the blanking mechanism and the welding support module, and a rear side reinforcing rib pressing tool hand grip is arranged on the fourth temporary storage bracket; the transfer module is a six-axis transfer robot, and a gripper adapter seat of a robot quick-change disc mechanism structure is connected to the end part of a working arm of the six-axis transfer robot;

as shown in fig. 15, the longitudinal reinforcement bar pressing tool gripper comprises a longitudinal reinforcement bar connecting bridge, a horizontal part a is arranged in the middle of the longitudinal reinforcement bar connecting bridge, two ends of the horizontal part a are respectively provided with a bending part a which is arranged at an obtuse angle relative to the horizontal part a, and vacuum chucks a are arranged on the horizontal part a and the bending part a in a linear array;

The small sucker gripper comprises a supporting bridge, wherein the supporting bridge comprises a horizontal part B, and vacuum suckers B are respectively arranged at two ends of the horizontal part B;

as shown in fig. 14, the left and right side plate grippers are a left side plate gripper and a right side plate gripper, wherein the left side plate gripper comprises a support frame a corresponding to the outline of the left side plate, a plurality of vacuum chucks C are arranged on the support frame a in an array manner, the right side plate comprises a support frame B corresponding to the outline of the right side plate, and a plurality of vacuum chucks D are arranged on the support frame B in an array manner; the upper cover gripper comprises a rectangular supporting frame C, and a plurality of vacuum chucks E are arranged on the supporting frame C in an array manner;

as shown in fig. 7, the hinge gripper comprises a right-angle-structured adapter block, and column-type pneumatic grippers and plate-type pneumatic grippers are respectively arranged on right-angle surfaces on two sides of the adapter block, wherein the column-type pneumatic grippers comprise a pneumatic finger a, and a V-shaped clamping groove is arranged on a clamping jaw a of the pneumatic finger a; the plate pneumatic gripper comprises a pneumatic finger B, and a clamping surface with a planar structure is arranged on a clamping jaw B of the pneumatic finger B;

the transverse reinforcing rib pressing tool gripper comprises a transverse reinforcing rib connecting bridge, a horizontal part B is arranged in the middle of the transverse reinforcing rib connecting bridge, two ends of the horizontal part B are respectively provided with a bending part B which is arranged at an obtuse angle relative to the horizontal part B, and a plurality of vacuum suckers F are arranged on the horizontal part B and the bending part B in an array manner;

The tops of the longitudinal reinforcing rib connecting bridge, the transverse reinforcing rib connecting bridge, the supporting frame A, the supporting frame B, the supporting frame C and the switching block are connected with the end parts of the driving arms of the six-axis transfer robot through the robot quick-change disc mechanism.

As shown in fig. 15, the welding support module includes a hood support bracket welding tool, an upper hood reinforcing rib assembling and welding tool, and an upper hood assembling and welding tool, respectively; the welding module comprises a six-axis welding robot which is arranged on a ground rail with an actuation axis parallel to the axis of the welding support module and moves along the welding support module through the ground rail;

as shown in fig. 1 and 2, the hood support bracket welding piece tool comprises a hinge connection seat feeding guide rail and a hinge rotation shaft sleeve feeding guide rail which are positioned at one end of a hinge mechanism combined welding platform, the hinge connection seat feeding guide rail and the hinge rotation shaft sleeve feeding guide rail are both in belt transmission, the hinge mechanism combined welding platform also comprises a hinge welding tool, the hinge welding tool comprises a group of hinge rotation shaft sleeve positioning blocks fixed on a hinge welding table top, an arc-shaped hinge rotation shaft sleeve positioning groove is formed in the hinge rotation shaft sleeve positioning blocks, a hinge rotation shaft sleeve connecting plate positioner is arranged on the hinge welding table top in the sea, the hinge rotation shaft sleeve connecting plate positioner comprises a height positioning plate A, a positioning clamping plate is arranged on the height positioning plate A, a hinge rotation shaft sleeve connecting plate clamping groove which is perpendicular to the surface of the hinge rotation shaft sleeve positioning groove and is parallel to each other is formed in the middle of the positioning clamping plate, a hinge rotation shaft sleeve positioning cone block A is also arranged at the adjacent position of the hinge welding table top corresponding to the hinge rotation shaft sleeve positioning block, the axis of the hinge rotation shaft sleeve positioning cone block A is coaxial with the arc-shaped axis of the hinge rotation shaft sleeve positioning groove, and the hinge rotation shaft sleeve positioning cone block is connected to the hinge table top through the height positioning plate B; the upper sea of the hinge welding table top is provided with a hinge assembling and compressing mechanism, the hinge assembling and compressing mechanism comprises a swinging pressing arm A, the middle part of the swinging pressing arm A is rotationally connected to a height positioning plate C, the height positioning plate C is fixed on the hinge welding table top, the hinge welding table top is also provided with a linear pushing cylinder A, one end of the swing pressing arm A is provided with a strip-shaped pushing hole A, the driving end of the swing pressing arm A of the linear pushing cylinder A is connected into the pushing hole A through a connecting shaft A, and the other end of the swing pressing arm A is provided with a pressing surface A for contacting with a hinge rotating shaft sleeve; the hinge welding table top is also provided with a reinforcing rib hinge welding tool, the reinforcing rib hinge welding tool comprises a reinforcing rib fixing tool, the reinforcing rib fixing tool comprises a reinforcing rib supporting plate A, a plurality of limiting pins A corresponding to positioning holes on the reinforcing rib are arranged on the reinforcing rib supporting plate A in a linear array manner, a plurality of pushing cylinders A are arranged on the reinforcing rib supporting plate A in an array manner, and pushing blocks A used for being in contact with the reinforcing rib are arranged on cylinder rods of the pushing cylinders A; the reinforcing rib hinge welding tool further comprises a hinge pressing mechanism and a hinge positioning mechanism, the hinge pressing mechanism comprises a swinging pressing arm B, the middle of the swinging pressing arm B is rotationally connected to a height positioning plate D, the height positioning plate D is arranged adjacent to the reinforcing rib supporting plate A, a linear pushing cylinder B is further arranged on the hinge welding table top, one end of the swinging pressing arm B is provided with a strip-shaped pushing hole B, the driving end of the linear pushing cylinder A is connected into the pushing hole B through a connecting shaft B, and the other end of the swinging pressing arm B is provided with a pressing surface B used for being in contact with a hinge rotating shaft sleeve connecting plate; the hinge positioning mechanism comprises a hinge stop block A and a hinge rotating shaft sleeve positioning cone block B, wherein the hinge stop block A is fixed on a hinge welding table surface through a height positioning plate E, so that a hinge rotating shaft sleeve connecting plate of a hinge is in surface contact with a reinforcing rib, the section of the hinge stop block A is L-shaped, the bottom of the hinge stop block A comprises a hinge rotating shaft sleeve supporting surface A, the side wall of the hinge stop block A comprises a hinge rotating shaft sleeve limiting surface A, the hinge rotating shaft sleeve positioning cone block B is of a conical structure and is driven by a linear pushing cylinder C, the linear pushing cylinder C is connected to the hinge welding table surface through a height positioning plate F, and the positioning cone block B is inserted into the hinge rotating shaft sleeve through the driving of the linear pushing cylinder C, so that the centering positioning of the hinge rotating shaft sleeve is realized.

As shown in fig. 3 and fig. 4, the upper cover reinforcing rib assembling and welding fixture comprises two groups of longitudinal reinforcing rib connecting and supporting mechanisms and transverse reinforcing rib compacting mechanisms, wherein the longitudinal reinforcing rib connecting and supporting mechanisms are symmetrically arranged on a reinforcing rib assembling platform, the longitudinal reinforcing rib connecting and supporting mechanisms comprise a plurality of limit pins B which are arranged in a linear array, the limit pins B correspond to positioning holes of the longitudinal reinforcing ribs, the limit pins B are connected to a linear pushing cylinder D, the linear pushing cylinder D is connected to the reinforcing rib assembling platform through a height positioning plate G, the longitudinal reinforcing rib connecting and supporting mechanism further comprises a plurality of clamping cylinder mechanisms A, the clamping cylinder mechanisms A comprise swinging pressure arms C, the middle parts of the swinging pressure arms C are rotationally connected to a height positioning plate H, the clamping cylinder mechanisms A further comprise a linear pushing cylinder E, the linear pushing cylinder E is positioned on one side of an arrangement axis of the linear pushing cylinder D, the height positioning plate H is fixed on a cylinder shell of the linear pushing cylinder E, one end of the swinging pressure arms C is connected with two groups of rotating hinges C, the driving ends of the linear pushing cylinders E are connected to the front swinging pressure arms C through the hinges C, and the swinging pressure arms C are arranged on the front pressure surfaces of the swinging pressure arms C and are in contact with the longitudinal pressure surfaces of the reinforcing ribs C; the transverse reinforcing rib pressing mechanism is three groups and is arranged along an axis array of the longitudinal reinforcing rib connecting supporting mechanism, the transverse reinforcing rib pressing mechanism comprises a plurality of limiting pins C which are arranged in an array and perpendicular to the limiting pins B, the limiting pins C correspond to positioning holes of the transverse reinforcing ribs, the limiting pins C are connected to a linear pushing cylinder F, the linear pushing cylinder F is connected to a reinforcing rib assembling platform through a height positioning plate I, the transverse reinforcing ribs are positioned and placed on the upper portion of the longitudinal reinforcing ribs through the height positioning plate I, the transverse reinforcing rib pressing mechanism further comprises a clamping cylinder mechanism B, the clamping cylinder mechanism B comprises a swinging pressure arm D, the middle of the swinging pressure arm D is rotationally connected to the height positioning plate J, the clamping cylinder mechanism B further comprises a linear pushing cylinder N, the height positioning plate J is fixed on a cylinder shell of the linear pushing cylinder N, two groups of mutually connected rotating hinges A are arranged on the linear pushing cylinder N, and the other end of the swinging pressure arm D is movably connected to the linear pushing end of the linear pushing cylinder N through the two groups of rotating hinges A.

As shown in fig. 5 and 6, the upper cover assembling welding fixture comprises an upper cover fixing mechanism, a left side plate fixing mechanism, a right side plate fixing mechanism and an assembling table top, wherein the upper cover fixing mechanism comprises an upper cover fixing table top, the upper cover fixing table top is supported and driven by a plurality of linear pushing cylinders G fixed on the assembling table top, the upper cover fixing mechanism further comprises an upper cover end part positioning mechanism and an upper cover surface compressing mechanism, the upper cover end part positioning mechanism comprises an upper cover front part positioning mechanism and an upper cover rear part positioning mechanism, the upper cover front part positioning mechanism comprises an upper cover positioning push plate, the bottom of the upper cover positioning push plate is in sliding connection with the fixing table top through an upper cover pushing guide rail coaxial with the longitudinal axis of the assembling table top, the fixing table top is also provided with a linear pushing cylinder H, the upper cover positioning push plate moves back and forth relative to the upper cover pushing guide rail through the linear pushing cylinder H, the upper cover positioning push plate is fixed with a linear pushing cylinder I with an actuating axis perpendicular to the fixing table top, the pushing end of the linear pushing cylinder I is connected with a conversion seat, the upper cover positioning push plate is provided with two symmetrical arms, and the compression arms are symmetrically arranged on the inner sides of the compression seat and are in contact with the compressing seat; the upper cover rear positioning mechanism comprises two groups of upper cover rear positioning blocks which are symmetrically arranged, and an upper cover contact inclined plane used for being in contact with the rear edge of the upper cover is arranged on the upper cover rear positioning blocks; the upper cover surface pressing mechanism comprises two groups of upper cover clamping assemblies which are symmetrically arranged at the front end and the rear end of an upper cover fixing table surface respectively, each group of upper cover clamping assemblies comprises two groups of symmetrically arranged clamping cylinder mechanisms C, each clamping cylinder mechanism C comprises a swinging pressure arm E, the middle part of each swinging pressure arm E is rotationally connected to a height positioning plate K, each height positioning plate K is vertically fixed on the end part of the upper cover fixing table surface, each clamping cylinder mechanism C further comprises a linear pushing cylinder J, one end of each swinging pressure arm E is provided with two groups of mutually hinged rotating hinges D, the pushing end of each linear pushing cylinder J is connected to each swinging pressure arm E through each rotating hinge D, and the other end of each swinging pressure arm E is provided with a pressing block B which is used for being in contact with the inner side surface of the upper cover; the left side plate fixing mechanism and the right side plate fixing mechanism are mirror symmetry structures and comprise a side plate clamping pushing plate, a sliding seat is fixed at the bottom of the side plate clamping pushing plate, a plurality of sliding guide rails perpendicular to the longitudinal axis of the upper cover fixing table top are arranged on the combined table top, the sliding seat is in sliding connection with the sliding guide rails, a linear pushing cylinder k for pushing the sliding seat to move is further arranged on the upper cover fixing table top, a side plate peripheral clamping mechanism arranged along the edge array of the left side plate and the right side plate and a side plate inner side clamping mechanism arranged along the edge array of the left side plate and the right side plate window are arranged on the side plate clamping pushing plate, a plurality of vertical seats which are vertically arranged on the side plate clamping pushing plate are arranged on the side plate clamping pushing plate, the side plate peripheral clamping mechanism comprises a plurality of clamping cylinder mechanisms D which are fixedly arranged on the vertical seats, the middle part of the swinging pressure arm F is rotationally connected to a height positioning plate L, the clamping cylinder mechanism D also comprises a linear pushing cylinder L, the height positioning plate L is fixedly arranged on a linear pushing cylinder L shell, the side plate L is rotationally connected with two ends of the linear pushing cylinder L through a swinging pressure arm B, and the two ends of the swinging cylinder are rotationally connected with one end of the side plate B and the other end of the side plate is rotationally connected with the side plate C; the side plate inner side clamping mechanism comprises a plurality of rotary clamping cylinder mechanisms A fixed on each vertical seat, the rotary clamping cylinder mechanisms A comprise a rotary clamping cylinder A, the rotary clamping cylinder A is fixed on the vertical seat, a clamping arm A perpendicular to the axis of the rotary output end is fixed on the rotary output end of the rotary clamping cylinder A, and a compression block D used for contacting the inner sides of the left side plate and the right side plate is arranged at the end part of the clamping arm A; a plurality of upper cover supporting mechanisms are arranged on the upper cover fixing table top in an array manner, each upper cover supporting mechanism comprises a linear pushing cylinder M which is perpendicular to the upper cover fixing table top, and a supporting ball block is arranged at the pushing end of each linear pushing cylinder M; the rear end of the upper cover fixing table top is provided with positioning rods A in an array manner, wherein the positioning rods A are used for being contacted with the inner edge of a window at the tail end of the upper cover; and a plurality of positioning rods B which are used for being contacted with the inner edges of the windows of the left side plate and the right side plate are arranged on the side plate clamping push plate in an array manner.

As shown in fig. 15, the periphery of the feeding module is provided with an annular protection net, and the protection net is provided with a safety door corresponding to the first reinforcing rib storage mechanism, the second reinforcing rib storage mechanism, the upper cover storage mechanism, the third reinforcing rib storage mechanism, the first support frame storage mechanism, the left side plate storage mechanism and the right side plate storage mechanism.

When in use, firstly, the six-axis transfer robot transfers the hinge rotating shaft sleeve feeding guide rail and the hinge rotating shaft sleeve and the plate-shaped hinge connecting seat on the hinge rotating shaft sleeve feeding guide rail to the two groups of hinge rotating shaft sleeve welding tools on the hood support bracket welding tool through the column pneumatic grab and the plate pneumatic grab on the switching block, the hinge rotating shaft sleeve is sleeved on the hinge rotating shaft sleeve positioning cone block, then the hinge rotating seat is inserted on the positioning clamping plate, the swing pressing arm A presses the hinge rotating seat by driving the linear pushing cylinder A, the combined pressing of the hinge rotating seat and the hinge rotating shaft sleeve is realized, the six-axis welding robot is used for welding, after the welding is finished, the transverse reinforcing rib is taken down from the first reinforcing rib discharging mechanism by the sucker of the reinforcing rib grab and is placed on the surface of the reinforcing rib supporting plate A, the longitudinal reinforcing ribs are pressed and installed on the reinforcing rib supporting plate A through the pushing cylinder A and the swinging pressing arm B, the hinge assembly is placed on an auxiliary placement grip of a welding platform assembled by the hinge mechanism through a column type pneumatic grip, the hinge assembly is pressed on the surface of the transverse reinforcing ribs through the auxiliary placement grip and welded through a six-axis robot, after the welding is finished, the welded transverse reinforcing ribs are placed on an upper cover reinforcing rib assembling and welding tool, firstly, the longitudinal reinforcing ribs are firstly placed on the reinforcing rib assembling platform, the longitudinal reinforcing ribs are pushed by a straight line pushing cylinder D below a limiting pin B to realize height positioning and position positioning, then the transverse reinforcing ribs are placed on the upper part of the longitudinal reinforcing ribs, the longitudinal reinforcing ribs are supported and fixed through a limiting pin C, and the longitudinal reinforcing ribs and the transverse reinforcing ribs are crossly pressed and fixed through the swinging pressing arm C and the swinging pressing arm D, welding, namely placing the reinforcing rib assembly on an upper cover combined welding tool through a six-axis transfer robot after welding, and placing an upper cover, a left side plate and a right side plate on an upper cover fixing table surface and a side plate clamping push plate through the six-axis transfer robot before placing the reinforcing rib assembly; when the upper cover is placed, the upper cover is pre-positioned through the positioning rod A, the linear pushing cylinder I is pushed forward through the upper cover pushing guide rail, the pressing arm is moved to the inner surface of the upper cover, then the linear pushing cylinder I is moved reversely, the pressing arm is pressed to the inner surface of the upper cover, meanwhile, the upper cover is continuously moved through the upper cover pushing guide rail until the other side of the upper cover is contacted with the positioning block at the rear part of the upper cover, the positioning of the upper cover is ensured, meanwhile, the pressing of the upper cover is realized through swinging the pressing arm E and the pressing arm, then the pressing arm returns, the reinforcing rib assembly is moved to the inner side of the upper cover through the six-axis transfer robot, and the hinge assembly is pressed through the pressing arm; then through six transfer robots, place on the curb plate clamp push pedal that corresponds with left side board, right side board, left side board, right side board passes through locating rod B and advances the location, then pass through left side board with gyration clamp cylinder A, right side board window penetrates inside left side board, right side board, rotatory and synchronous the withdrawal gyration clamp cylinder A afterwards, make clamp arm A compress tightly left side board, right side board inboard surface, simultaneously, synchronous compress tightly left side board, right side board edge inboard with swing pressure arm F, realize left side board, right side board's fixed, during the welding, make upper cover fixed mesa mutually to fit the mesa lifting, simultaneously make lateral wall promote the seat and promote the guide rail through sharp promotion cylinder K and remove for the upper cover rises, left side board, right side board relatively upper cover middle part removes, thereby guarantee certain welding gap, and weld through six welding robots, after the welding is accomplished, carry out the unloading through the conveyer belt of unloading mechanism.

With the above-described preferred embodiments according to the present invention as an illustration, the above-described descriptions can be used by persons skilled in the relevant art to make various changes and modifications without departing from the scope of the technical idea of the present invention. The technical scope of the present invention is not limited to the description, but must be determined according to the scope of claims.

Claims

1. A hood welding unit characterized by: the device comprises a feeding module, a migration module, a welding support module, a welding module and a gripper temporary storage module; the welding support modules are arranged at adjacent positions of the welding support modules, and the hand grip temporary storage modules are arranged between the migration modules and the feeding modules;

the welding module comprises a six-axis welding robot which is arranged on a ground rail with an actuation axis parallel to the axis of the welding support module and moves along the welding support module through the ground rail;

The upper cover reinforcing rib assembling and welding tool comprises two groups of longitudinal reinforcing rib connecting and supporting mechanisms and transverse reinforcing rib compacting mechanisms, wherein the longitudinal reinforcing rib connecting and supporting mechanisms are symmetrically arranged on a reinforcing rib assembling platform, each longitudinal reinforcing rib connecting and supporting mechanism comprises a plurality of limit pins B which are arranged in a linear array, each limit pin B corresponds to a locating hole of a corresponding longitudinal reinforcing rib, each limit pin B is connected to one linear pushing cylinder D, each linear pushing cylinder D is connected to the reinforcing rib assembling platform through a height locating plate G, each longitudinal reinforcing rib connecting and supporting mechanism further comprises a plurality of clamping cylinder mechanisms A, each clamping cylinder mechanism A comprises a swinging pressure arm C, the middle part of each swinging pressure arm C is rotationally connected to a height locating plate H, each clamping cylinder mechanism A further comprises one linear pushing cylinder E, each linear pushing cylinder E is positioned on one side of the arrangement axis of each linear pushing cylinder D, each height locating plate H is fixed on a cylinder shell of each linear pushing cylinder E, one end of each swinging pressure arm C is connected with two groups of rotating hinges C, and the driving end of each linear pushing cylinder E is connected to the corresponding swinging pressure arm C through each rotating hinge C, and each driving end of each linear pushing cylinder E is used for being in contact with a longitudinal reinforcing rib C; the transverse reinforcing rib pressing mechanism is arranged along an axis array of the longitudinal reinforcing rib connecting supporting mechanism and comprises a plurality of limiting pins C which are arranged in an array and perpendicular to the arrangement axis of the limiting pins B, the limiting pins C correspond to positioning holes of the transverse reinforcing ribs, the limiting pins C are connected to a linear pushing cylinder F, the linear pushing cylinder F is connected to a reinforcing rib assembling platform through a height positioning plate I, the transverse reinforcing ribs are positioned and placed on the upper portion of the longitudinal reinforcing ribs through the height positioning plate I, the transverse reinforcing rib pressing mechanism further comprises a clamping cylinder mechanism B, the clamping cylinder mechanism B comprises a swinging pressure arm D, the middle portion of the swinging pressure arm D is rotatably connected to the height positioning plate J, the clamping cylinder mechanism B further comprises a linear pushing cylinder N, the height positioning plate J is fixed on a cylinder shell of the linear pushing cylinder N, two groups of mutually connected rotating hinges A are arranged on the linear pushing cylinder N, and the other end of the swinging pressure arm D is movably connected to a linear pushing end of the linear pushing cylinder N through the two groups of rotating hinges A; the upper cover combined welding tool comprises an upper cover fixing mechanism, a left side plate fixing mechanism, a right side plate fixing mechanism and a combined table top, wherein the upper cover fixing mechanism comprises an upper cover fixing table top, the upper cover fixing table top is supported and driven by a plurality of linear pushing cylinders G fixed on the combined table top, the upper cover fixing mechanism further comprises an upper cover end part positioning mechanism and an upper cover surface compressing mechanism, the upper cover end part positioning mechanism comprises an upper cover front part positioning mechanism and an upper cover rear part positioning mechanism, the upper cover front part positioning mechanism comprises an upper cover positioning push plate, the bottom of the upper cover positioning push plate is in sliding connection with the fixed table top through an upper cover pushing guide rail coaxial with the longitudinal axis of the combined table top, the fixed table top is further provided with a linear pushing cylinder H, the upper cover positioning push plate moves back and forth relative to the upper cover pushing guide rail through the linear pushing cylinder H, the upper cover positioning push plate is fixedly provided with a linear pushing cylinder I with an actuating axis perpendicular to the fixed table top, the pushing end of the linear pushing cylinder I is connected with a adapter, the adapter is symmetrically provided with two groups of compressing arms, and the ends of the adapter are provided with compressing blocks for contacting the inner side surfaces of the upper cover A; the upper cover rear positioning mechanism comprises two groups of upper cover rear positioning blocks which are symmetrically arranged, and an upper cover contact inclined plane used for being in contact with the rear edge of the upper cover is arranged on the upper cover rear positioning blocks; the upper cover surface pressing mechanism comprises two groups of upper cover clamping assemblies which are symmetrically arranged at the front end and the rear end of an upper cover fixing table surface respectively, each group of upper cover clamping assemblies comprises two groups of symmetrically arranged clamping cylinder mechanisms C, each clamping cylinder mechanism C comprises a swinging pressure arm E, the middle part of each swinging pressure arm E is rotationally connected to a height positioning plate K, each height positioning plate K is vertically fixed on the end part of the upper cover fixing table surface, each clamping cylinder mechanism C further comprises a linear pushing cylinder J, one end of each swinging pressure arm E is provided with two groups of mutually hinged rotating hinges D, the pushing end of each linear pushing cylinder J is connected to each swinging pressure arm E through each rotating hinge D, and the other end of each swinging pressure arm E is provided with a pressing block B which is used for being in contact with the inner side surface of the upper cover; the left side plate fixing mechanism and the right side plate fixing mechanism are mirror symmetry structures and comprise a side plate clamping pushing plate, a sliding seat is fixed at the bottom of the side plate clamping pushing plate, a plurality of sliding guide rails perpendicular to the longitudinal axis of the upper cover fixing table top are arranged on the combined table top, the sliding seat is in sliding connection with the sliding guide rails, a linear pushing cylinder k for pushing the sliding seat to move is further arranged on the upper cover fixing table top, a side plate peripheral clamping mechanism arranged along the edge array of the left side plate and the right side plate and a side plate inner side clamping mechanism arranged along the edge array of the left side plate and the right side plate window are arranged on the side plate clamping pushing plate, a plurality of vertical seats which are vertically arranged on the side plate clamping pushing plate are arranged on the side plate clamping pushing plate, the side plate peripheral clamping mechanism comprises a plurality of clamping cylinder mechanisms D which are fixedly arranged on the vertical seats, the middle part of the swinging pressure arm F is rotationally connected to a height positioning plate L, the clamping cylinder mechanism D also comprises a linear pushing cylinder L, the height positioning plate L is fixedly arranged on a linear pushing cylinder L shell, the side plate L is rotationally connected with two ends of the linear pushing cylinder L through a swinging pressure arm B, and the two ends of the swinging cylinder are rotationally connected with one end of the side plate B and the other end of the side plate is rotationally connected with the side plate C; the side plate inner side clamping mechanism comprises a plurality of rotary clamping cylinder mechanisms A fixed on each vertical seat, the rotary clamping cylinder mechanisms A comprise a rotary clamping cylinder A, the rotary clamping cylinder A is fixed on the vertical seat, a clamping arm A perpendicular to the axis of the rotary output end is fixed on the rotary output end of the rotary clamping cylinder A, and a compression block D used for contacting the inner sides of the left side plate and the right side plate is arranged at the end part of the clamping arm A; the upper cover fixing table top is further provided with a plurality of upper cover supporting mechanisms in an array mode, each upper cover supporting mechanism comprises a linear pushing cylinder M perpendicular to the upper cover fixing table top, and supporting ball blocks are arranged at pushing ends of the linear pushing cylinders M.

2. A hood welding unit as set forth in claim 1, wherein: the first reinforcing rib storage mechanism comprises a supporting frame body A, a material tray A is rotationally connected to the supporting frame body A, the material tray A is rotationally driven by a rotary servo motor A fixed on the supporting frame body A, the material tray A comprises 4 groups of material trays A which are arranged in an annular array, adjacent material distribution trays A are arranged in a staggered mode, a plurality of reinforcing rib positioning mechanisms A are arranged on each material distribution tray A in an array mode, each reinforcing rib positioning mechanism A comprises a plurality of reinforcing rib positioning pins A which are inserted into reinforcing rib positioning holes, the reinforcing rib positioning pins A are arranged in a linear array mode, and the array axis is perpendicular to the radius of the material tray A;

3. A hood welding unit as set forth in claim 1, wherein: the welding piece tool for the hood support bracket comprises a hinge connecting seat feeding guide rail and a hinge rotating shaft sleeve feeding guide rail which are positioned at one end of a hinge mechanism combined welding platform, wherein the hinge connecting seat feeding guide rail and the hinge rotating shaft sleeve feeding guide rail are both in belt transmission, the hinge mechanism combined welding platform further comprises a hinge welding tool, the hinge welding tool comprises a group of hinge rotating shaft sleeve positioning blocks fixed on a hinge welding table top, arc-shaped hinge rotating shaft sleeve positioning grooves are formed in the hinge rotating shaft sleeve positioning blocks, hinge rotating shaft sleeve connecting plate positioners are further formed in the hinge welding table top, each hinge rotating shaft sleeve connecting plate positioner comprises a height positioning plate A, a positioning clamping plate is arranged on the height positioning plate A, a hinge rotating shaft sleeve connecting plate clamping groove which is perpendicular to the surface of each hinge rotating shaft sleeve positioning groove and is parallel to each other is formed in the middle of the positioning clamping plate, a hinge rotating shaft sleeve positioning cone block A is further arranged at the adjacent position of each hinge welding table top corresponding to the hinge rotating shaft sleeve positioning block, the axis of each hinge rotating shaft sleeve positioning cone block A is coaxial with the arc-shaped axis of each hinge rotating shaft sleeve positioning groove, and each hinge rotating shaft sleeve positioning cone block is connected to each hinge table top through a height positioning plate B; the hinge welding table top is also provided with a hinge assembling and compressing mechanism, the hinge assembling and compressing mechanism comprises a swinging compression arm A, the middle part of the swinging compression arm A is rotationally connected to a height positioning plate C, the height positioning plate C is fixed on the hinge welding table top, the hinge welding table top is also provided with a linear pushing cylinder A, one end of the swinging compression arm A is provided with a strip-shaped pushing hole A, the driving end of the swinging compression arm A of the linear pushing cylinder A is connected into the pushing hole A through a connecting shaft A, and the other end of the swinging compression arm A is provided with a compressing surface A used for being contacted with a hinge rotating shaft sleeve; the hinge welding table top is also provided with a reinforcing rib hinge welding tool, the reinforcing rib hinge welding tool comprises a reinforcing rib fixing tool, the reinforcing rib fixing tool comprises a reinforcing rib supporting plate A, a plurality of limiting pins A corresponding to positioning holes on the reinforcing rib are arranged on the reinforcing rib supporting plate A in a linear array manner, a plurality of pushing cylinders A are arranged on the reinforcing rib supporting plate A in an array manner, and pushing blocks A used for being in contact with the reinforcing rib are arranged on cylinder rods of the pushing cylinders A; the reinforcing rib hinge welding tool further comprises a hinge pressing mechanism and a hinge positioning mechanism, the hinge pressing mechanism comprises a swinging pressing arm B, the middle of the swinging pressing arm B is rotationally connected to a height positioning plate D, the height positioning plate D is arranged adjacent to the reinforcing rib supporting plate A, a linear pushing cylinder B is further arranged on the hinge welding table top, one end of the swinging pressing arm B is provided with a strip-shaped pushing hole B, the driving end of the linear pushing cylinder A is connected into the pushing hole B through a connecting shaft B, and the other end of the swinging pressing arm B is provided with a pressing surface B used for being in contact with a hinge rotating shaft sleeve connecting plate; the hinge positioning mechanism comprises a hinge stop block A and a hinge rotating shaft sleeve positioning cone block B, wherein the hinge stop block A is fixed on a hinge welding table surface through a height positioning plate E, so that a hinge rotating shaft sleeve connecting plate of a hinge is in surface contact with a reinforcing rib, the section of the hinge stop block A is L-shaped, the bottom of the hinge stop block A comprises a hinge rotating shaft sleeve supporting surface A, the side wall of the hinge stop block A comprises a hinge rotating shaft sleeve limiting surface A, the hinge rotating shaft sleeve positioning cone block B is of a conical structure and is driven by a linear pushing cylinder C, the linear pushing cylinder C is connected to the hinge welding table surface through a height positioning plate F, and the positioning cone block B is inserted into the hinge rotating shaft sleeve through the driving of the linear pushing cylinder C, so that the centering positioning of the hinge rotating shaft sleeve is realized.

4. A hood welding unit as set forth in claim 1, wherein: the rear end of the upper cover fixing table top is provided with positioning rods A in an array manner, wherein the positioning rods A are used for being contacted with the inner edge of a window at the tail end of the upper cover; and a plurality of positioning rods B which are used for being contacted with the inner edges of the windows of the left side plate and the right side plate are arranged on the side plate clamping push plate in an array manner.

5. A hood welding unit as set forth in claim 1, wherein: the periphery of the feeding module is provided with an annular protective net, and the protective net is provided with a safety door corresponding to the first reinforcing rib storage mechanism, the second reinforcing rib storage mechanism, the upper cover storage mechanism, the third reinforcing rib storage mechanism, the first support frame storage mechanism, the left side plate storage mechanism and the right side plate storage mechanism.