CN117139963A - Automatic assembly welding mechanism for outer arm of scissor type high-altitude platform for workpieces with symmetrical structures - Google Patents
Automatic assembly welding mechanism for outer arm of scissor type high-altitude platform for workpieces with symmetrical structures Download PDFInfo
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- CN117139963A CN117139963A CN202311313641.8A CN202311313641A CN117139963A CN 117139963 A CN117139963 A CN 117139963A CN 202311313641 A CN202311313641 A CN 202311313641A CN 117139963 A CN117139963 A CN 117139963A
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- 230000007246 mechanism Effects 0.000 title claims abstract description 31
- 238000003466 welding Methods 0.000 title claims abstract description 22
- 230000002146 bilateral effect Effects 0.000 claims description 10
- 231100000206 health hazard Toxicity 0.000 abstract description 2
- 238000000034 method Methods 0.000 abstract description 2
- 230000008569 process Effects 0.000 abstract description 2
- 230000006872 improvement Effects 0.000 description 8
- 230000006978 adaptation Effects 0.000 description 1
- 230000000712 assembly Effects 0.000 description 1
- 238000000429 assembly Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000006835 compression Effects 0.000 description 1
- 238000007906 compression Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K37/00—Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups
- B23K37/04—Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups for holding or positioning work
- B23K37/0426—Fixtures for other work
- B23K37/0435—Clamps
- B23K37/0443—Jigs
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Abstract
The invention provides a scissor type high-altitude platform outer arm automatic assembly welding mechanism for structurally symmetrical workpieces, which is used for fixing rectangular pipes, long sleeves, short sleeves and small plates of outer arms. The invention adopts a plurality of air cylinders, the slide rail ensures that the sleeve on the outer wall can accurately enter the positioning hole of the rectangular pipe, the relative position relation of the sleeves can be ensured, the welding accuracy and stability are ensured, the adjustment is convenient, the manpower and material resources are greatly saved, and the health hazard to operators in the welding process is reduced.
Description
Technical Field
The invention relates to the technical field of weld joint positioning, in particular to a scissor type high-altitude platform outer arm automatic assembly welding mechanism for workpieces with symmetrical structures.
Background
At present, the existing automatic assembling clamps for outer wall assemblies of scissor type arm frames are simple in structure, large in occupied space, high in cost, difficult to debug, difficult to guarantee in precision, and basically are manual tools, so that the efficiency is low; when the workpiece is fed, the dimension is unstable, so that the situation that the long and short sleeves cannot enter the rectangular tube and the normal function of the long and short sleeves cannot be realized can occur in normal design; meanwhile, the problems of unstable operation, large long-period use deviation and the like can also occur.
Disclosure of Invention
In order to solve the problems, the invention discloses a scissor type high-altitude platform outer arm automatic assembly welding mechanism for structurally symmetrical workpieces, which solves the problems that in automatic assembly welding, a long sleeve cannot smoothly enter a positioning hole of a rectangular pipe and the relative position of the long sleeve is unstable in size, can accurately position the workpieces, and improves the positioning precision of a fixture clamp, the automatic loading and unloading of a robot and the welding rate of the robot.
The specific scheme is as follows:
a cut automatic group welding mechanism of fork high altitude platform outer arm for structural symmetry work piece for fix rectangular pipe, long sleeve, short sleeve and the little flitch of outer arm, its characterized in that: including the workstation, be equipped with BASE subassembly, left rectangular pipe location and remove subassembly, left high-order long sleeve locating component, low position short sleeve locating component, rectangular pipe X to locating component, little plate locating component, right rectangular pipe location and remove subassembly, middle position short sleeve locating component and right high-order long sleeve locating component on the workstation, left side rectangular pipe location and remove subassembly and right rectangular pipe location and remove subassembly bilateral symmetry setting, left side high-order long sleeve locating component and right high-order long sleeve locating component bilateral symmetry setting are in left rectangular pipe location and remove subassembly one end both sides, and are equipped with little plate locating component in the middle of the end, low position short sleeve locating component and middle position short sleeve locating component are arranged in between left rectangular pipe location and the right rectangular pipe location and remove subassembly, and middle position short sleeve locating component is arranged in between low position short sleeve locating component and the little plate locating component, left side rectangular pipe location and remove subassembly and right rectangular pipe location and all be equipped with pipe X to locating component.
As a further improvement of the invention, the left rectangular pipe positioning moving assembly comprises a first support, the first support can be arranged on a workbench in a left-right sliding manner through a line rail, the top surface of the first support is provided with two symmetrical ultrathin cylinders J1 and L1 and two symmetrical ultrathin cylinders B1 and B2, the bottom of the first support is provided with an ultrathin cylinder G1 for driving the first support to move left and right, the ultrathin cylinders J1, L1, B1 and B2 face the middle of the workbench, the ultrathin cylinders J1 and L1 respectively correspond to short sleeve jacks at the end parts and short sleeve jacks in the middle of the rectangular pipe, and the ultrathin cylinders J1 and L1 and B1 are arranged in a staggered manner.
As a further improvement of the invention, the right rectangular pipe positioning moving assembly comprises a second support, the second support can be arranged on the workbench in a left-right sliding manner through a wire rail, the top surface of the second support is provided with two symmetrical ultrathin cylinders J2 and L2 and two symmetrical ultrathin cylinders B3 and B4, the bottom of the second support is provided with an ultrathin cylinder G2 for driving the second support to move left and right, the ultrathin cylinders J2, L2, B3 and B4 face the middle of the workbench, the ultrathin cylinders J2 and L2 respectively correspond to short sleeve jacks at the end parts and short sleeve jacks in the middle of the rectangular pipe, and the ultrathin cylinders J2 and L2 are staggered with the ultrathin cylinders B3 and B4.
As a further improvement of the invention, the left high-level long sleeve positioning assembly comprises a third support, the third support can be arranged on the workbench in a left-right sliding manner through a linear rail, an ultrathin cylinder C1 and an ultrathin cylinder D1 are arranged on the top surface of the third support, the ultrathin cylinder D1 corresponds to a long sleeve jack at the end part of a rectangular pipe, the ultrathin cylinder C1 is used for driving the third support to move left and right, and an ultrathin cylinder E1 and a triaxial cylinder F1 are arranged on the bottom surface of the third support.
As a further improvement of the invention, the right high-level long sleeve positioning assembly comprises a fourth support, the fourth support can be arranged on the workbench in a left-right sliding manner through a linear rail, an ultrathin cylinder C2 and an ultrathin cylinder D2 are arranged on the top surface of the fourth support, the ultrathin cylinder D2 corresponds to a long sleeve jack at the end part of a rectangular pipe, the ultrathin cylinder C2 is used for driving the third support to move left and right, and an ultrathin cylinder E2 and a triaxial cylinder F2 are arranged on the bottom surface of the third support.
As a further improvement of the invention, the low-position short sleeve positioning assembly comprises two fifth supports which are symmetrically arranged left and right, and the fifth supports can be arranged on the workbench in a left-right sliding manner through a line rail, wherein an ultrathin cylinder M1 is arranged on the top surface of the fifth support positioned at the left side, an ultrathin cylinder I2 used for driving the fifth support to move left and right is connected to the side surface, a triaxial cylinder H2 is arranged at the bottom, an ultrathin cylinder M2 is arranged on the top surface of the fifth support positioned at the right side, an ultrathin cylinder I1 used for driving the fifth support to move left and right is connected to the side surface, and a triaxial cylinder H1 is arranged at the bottom.
As a further improvement of the invention, the middle short sleeve positioning assembly comprises two sixth supports which are symmetrically arranged left and right, and the sixth supports can be arranged on the workbench in a left-right sliding way through a line rail, wherein an ultrathin cylinder M3 is arranged on the top surface of the sixth support positioned at the left side, the side surface is connected with an ultrathin cylinder I4 used for driving the ultrathin cylinder I4 to move left and right, the bottom is provided with a triaxial cylinder H4, the top surface of the sixth support positioned at the right side is provided with an ultrathin cylinder M4, the side surface is connected with an ultrathin cylinder I3 used for driving the ultrathin cylinder I3 to move left and right, and the bottom is provided with a triaxial cylinder H3.
As a further improvement of the invention, the rectangular tube X-direction positioning component positioned on the left side comprises a triaxial cylinder A1, the rectangular tube X-direction positioning component positioned on the right side comprises a triaxial cylinder A2, and sliding plates are mounted on the triaxial cylinder A1 and the triaxial cylinder A2 in a matched mode.
As a further improvement of the present invention, the small plate positioning assembly includes a triaxial cylinder O1, a strong hold-down cylinder P1 and a strong hold-down cylinder R1.
As a further development of the invention, the mechanism operates as follows:
initial state: ultrathin cylinder C1, ultrathin cylinder C2, ultrathin cylinder I1, ultrathin cylinder I2, ultrathin cylinder I3, ultrathin cylinder I4 extend out, the other cylinders are in retraction;
the first step: the carrying robot grabs the long sleeve and the left rectangular pipe and the right rectangular pipe are respectively placed on the clamp (a proximity switch senses whether a workpiece exists or not), and then the triaxial cylinder A1 and the triaxial cylinder A2 extend out to push the rectangular pipe in the X direction;
and a second step of: the four ultrathin cylinders B1, B2, B3 and B4 respectively extend to push the rectangular tube in the Y direction, the triaxial cylinder A1 and the triaxial cylinder A2 retract;
and a third step of: a strong compressing cylinder R1 compresses the long sleeve; the ultrathin cylinder C1 and the ultrathin cylinder C2 extend out and penetrate through the rectangular pipe to guide the rectangular pipe and clamp the long sleeve;
fourth step: the ultrathin cylinder D1 and the ultrathin cylinder D2 extend out of the inner hole of the positioning long sleeve;
fifth step: if the model is xg0708dc_02_1, the model is the outer arm; in the third step, an ultrathin cylinder C1 and an ultrathin cylinder C2 extend out of a front ultrathin cylinder E1, the ultrathin cylinder E2 extends out of a limiting ultrathin cylinder C1 in advance, and the ultrathin cylinder C2 extends out of a position;
sixth step: the triaxial cylinder F1 and the triaxial cylinder F2 extend out to position X, Z directions of an outer shaft of xg 0708dc_02_1;
seventh step: the ultrathin cylinder G1 and the ultrathin cylinder G2 extend out to drive the sliding plate mechanism to drive the left rectangular pipe and the right rectangular pipe to slide inwards to a theoretical position;
eighth step: the three-axis cylinder H1, the three-axis cylinder H2 and the three-axis cylinder H3, the three-axis cylinder H4 simultaneously stretches out to the theoretical position, and the gripper is provided with 4 short sleeves;
ninth step: the ultrathin cylinder I1, the ultrathin cylinder I2, the ultrathin cylinder I3 and the ultrathin cylinder I4 are retracted;
tenth step: ultrathin cylinder J1, ultrathin cylinder J2 stretches out, ultrathin cylinder L1, ultrathin cylinder L2 stretches out; pushing the corresponding 2 short sleeves, and retracting the triaxial cylinders H1, H2, H3 and H4;
eleventh step: the ultrathin cylinder M1, the ultrathin cylinder M2 and the ultrathin cylinder M3, and the ultrathin cylinder M4 simultaneously extend out to respectively position the inner diameters of the four sections of sleeves;
twelfth step: grasping small square plate parts on the upper part;
thirteenth step: pushing by a triaxial cylinder O1;
fourteenth step: the powerful compacting cylinder P1 compacts;
fifteenth step: the ultrathin cylinder G1, the ultrathin cylinder G2 are motionless, the ultrathin cylinder I1, the ultrathin cylinder I2 are retracted, the ultrathin cylinder I3 and the ultrathin cylinder I4 are motionless, the ultrathin cylinder C1 and the ultrathin cylinder C2 extend, the rest of the ultrathin cylinders are opened or retracted, the workpiece is released, and the workpiece is taken away by a gripper;
sixteenth step: the ultrathin cylinder G1 and the ultrathin cylinder G2 retract, and the sliding mechanisms respectively move outwards to the feeding positions of the left rectangular pipe and the right rectangular pipe;
seventeenth step: a next cycle is started.
The invention has the beneficial effects that: adopt multiple a plurality of cylinders, the slide rail guarantees that outer wall sleeve can be accurate get into the locating hole of rectangular pipe, also can guarantee a plurality of telescopic relative position relation, guarantees welded accuracy, stability, and the adjustment of being convenient for uses manpower and materials greatly reduces the health hazard to the operator in the welding process.
Drawings
FIG. 1 is a schematic diagram of the present invention.
Fig. 2 is a top view of the present invention.
Fig. 3 is a bottom view of the present invention.
FIG. 4 is a schematic view of a left rectangular tube positioning and moving assembly according to the present invention.
FIG. 5 is a schematic view of a left long sleeve positioning assembly according to the present invention.
FIG. 6 is a schematic view of a low profile short sleeve positioning assembly of the present invention.
Fig. 7 is a schematic view of a small and medium plate positioning assembly according to the present invention.
List of reference numerals:
1-BASE component, 2-left rectangular tube positioning moving component, 3-left high-order long sleeve positioning component, 4-low-order short sleeve positioning component, 5-rectangular tube X-direction positioning component, 6-small plate positioning component, 7-right rectangular tube positioning moving component, 8-middle short sleeve positioning component, 9-right high-order long sleeve positioning component, 10-triaxial cylinder A1, 11-triaxial cylinder A2, 12-ultrathin cylinder B1, 13-ultrathin cylinder B2, 14-ultrathin cylinder B3, 15-ultrathin cylinder B4, 16-ultrathin cylinder C1, 17-ultrathin cylinder C2, 18-ultrathin cylinder D1, 19-ultrathin cylinder D2, 20-ultrathin cylinder E1, the device comprises a 21-ultrathin cylinder E2, a 22-triaxial cylinder F1, a 23-triaxial cylinder F2, a 24-ultrathin cylinder G1, a 25-ultrathin cylinder G2, a 26-triaxial cylinder H1, a 27-triaxial cylinder H2, a 28-triaxial cylinder H3, a 29-triaxial cylinder H4, a 30-ultrathin cylinder I1, a 31-ultrathin cylinder I2, a 32-ultrathin cylinder I3, a 33-ultrathin cylinder I4, a 34-ultrathin cylinder J1, a 35-ultrathin cylinder J2, a 36-ultrathin cylinder L1, a 37-ultrathin cylinder L2, a 38-ultrathin cylinder M1, a 39-ultrathin cylinder M2, a 40-ultrathin cylinder M3, a 41-ultrathin cylinder M4, a 42-triaxial cylinder O1, a 43-strong compression cylinder R1.
Description of the embodiments
The present invention is further illustrated in the following drawings and detailed description, which are to be understood as being merely illustrative of the invention and not limiting the scope of the invention.
As shown in the figure, the invention provides a scissor type high-altitude platform outer arm automatic assembly welding mechanism for structurally symmetrical workpieces, which is used for fixing rectangular pipes, long sleeves, short sleeves and small plates of the outer arms, and comprises a workbench, wherein a BASE component (1), a left rectangular pipe positioning moving component (2), a left high-position long sleeve positioning component (3), a low-position short sleeve positioning component (4), a rectangular pipe X-direction positioning component (5), a small plate positioning component (6), a right rectangular pipe positioning moving component (7), a middle position short sleeve positioning component (8) and a right high-position long sleeve positioning component (9) are arranged on the workbench, the left high-position long sleeve positioning component (3) and the right high-position long sleeve positioning component (9) are symmetrically arranged on two sides of one end of the left rectangular pipe positioning moving component (2) and one end of the right rectangular pipe positioning moving component (7), the small plate positioning component (6) is arranged in the middle of the end, the low-position short sleeve positioning component (4) and the middle position short sleeve positioning component (8) and the middle position short sleeve positioning component (7) are arranged between the left rectangular pipe positioning component (7) and the middle position short sleeve positioning component (8) and the middle position short sleeve positioning component (6) and the middle position short sleeve positioning component (8) and is arranged between the two positions, the other ends of the left rectangular tube positioning moving assembly (2) and the right rectangular tube positioning moving assembly (7) are respectively provided with a rectangular tube X-direction positioning assembly (5).
In this embodiment, left rectangular pipe location remove subassembly (2) includes first support, but first support is through line rail side-to-side gliding place on the workstation, and be equipped with ultra-thin cylinder J1 (34) and ultra-thin cylinder L1 (36) and ultra-thin cylinder B1 (12) and ultra-thin cylinder B2 (13) that two symmetries set up on the top surface of first support, the bottom is equipped with ultra-thin cylinder G1 (24) that are used for driving first support side-to-side motion, ultra-thin cylinder J1 (34), ultra-thin cylinder L1 (36), ultra-thin cylinder B1 (12) and ultra-thin cylinder B2 (13) all face the middle part of workstation, and ultra-thin cylinder J1 (34) and ultra-thin cylinder L1 (36) correspond the tip short sleeve jack and the middle part short sleeve jack of rectangular pipe respectively, ultra-thin cylinder J1 (34) and ultra-thin cylinder L1 (36) and ultra-thin cylinder B1 (12) and ultra-thin cylinder B2 (13) crisscross the setting.
In this embodiment, right rectangular pipe location remove subassembly (7) include the second support, but the second support is through the line rail left and right sliding place on the workstation in, and be equipped with ultra-thin cylinder J2 (35) and ultra-thin cylinder L2 (37) that two symmetries set up and ultra-thin cylinder B3 (14) and ultra-thin cylinder B4 (15) that two symmetries set up on the top surface of second support, the bottom is equipped with ultra-thin cylinder G2 (25) that are used for driving the second support left and right movement, ultra-thin cylinder J2 (35), ultra-thin cylinder L2 (37), ultra-thin cylinder B3 (14) and ultra-thin cylinder B4 (15) all face the middle part of workstation, and ultra-thin cylinder J2 (35) and ultra-thin cylinder L2 (37) correspond the tip short sleeve jack and the middle part short sleeve jack of rectangular pipe respectively, ultra-thin cylinder J2 (35) and ultra-thin cylinder L2 (37) and ultra-thin cylinder B3 (14) and ultra-thin cylinder B4 (15) crisscross the setting.
In this embodiment, the long sleeve locating component (3) of left side high level includes the third support, but the third support is placed on the workstation through line rail side-to-side sliding, and is equipped with ultra-thin cylinder C1 (16) and ultra-thin cylinder D1 (18) on the top surface of third support, and wherein ultra-thin cylinder D1 (18) corresponds the long sleeve jack of tip of rectangular tube, and ultra-thin cylinder C1 (16) are used for driving the third support and move side-to-side, the bottom surface of third support is equipped with ultra-thin cylinder E1 (20) and triaxial cylinder F1 (22).
In this embodiment, the long sleeve locating component of right high-order (9) includes the fourth support, but the fourth support is placed on the workstation through line rail side-to-side slip, and is equipped with ultra-thin cylinder C2 (17) and ultra-thin cylinder D2 (19) on the top surface of fourth support, and wherein ultra-thin cylinder D2 (19) correspond the long sleeve jack of tip of rectangular tube, and ultra-thin cylinder C2 (17) are used for driving the third support and move side-to-side, the bottom surface of third support is equipped with ultra-thin cylinder E2 (21) and triaxial cylinder F2 (23).
In this embodiment, the short sleeve locating component (4) in low position includes the fifth support that two bilateral symmetry set up, but fifth support is equipped with ultra-thin cylinder M1 (38) on the fifth support top surface that is located left side through the line rail horizontal slip, and the side is connected with ultra-thin cylinder I2 (31) that are used for driving its bilateral motion, and the bottom is equipped with triaxial cylinder H2 (27), is equipped with ultra-thin cylinder M2 (39) on the fifth support top surface that is located right side, and the side is connected with ultra-thin cylinder I1 (30) that are used for driving its bilateral motion, and the bottom is equipped with triaxial cylinder H1 (26), the support that is used for supporting short sleeve is all installed in the upper end cooperation of triaxial cylinder H2 (27) and triaxial cylinder H1 (26), the support comprises the V type piece that two symmetry set up, and the V type tank bottom of V type is equipped with the permanent magnet.
In this embodiment, the short sleeve locating component in meso position (8) includes the sixth support that two bilateral symmetry set up, but sixth support is equipped with ultra-thin cylinder M3 (40) on the sixth support top surface that is located the left side through the line rail horizontal slip on placing in the workstation, and the side is connected with ultra-thin cylinder I4 (33) that are used for driving its bilateral motion, and the bottom is equipped with triaxial cylinder H4 (29), is equipped with ultra-thin cylinder M4 (41) on the sixth support top surface that is located the right side, and the side is connected with ultra-thin cylinder I3 (32) that are used for driving its bilateral motion, and the bottom is equipped with triaxial cylinder H3 (28), the support that is used for supporting short sleeve is all installed in the upper end cooperation of triaxial cylinder H4 (29) and triaxial cylinder H3 (28), the support comprises the V type piece that two symmetry set up, and the V type tank bottom of V type is equipped with the permanent magnet. .
In this embodiment, rectangular pipe X that is located the left side is to locating component (5) including triaxial cylinder A1 (10), and rectangular pipe X that is located the right side is to locating component (5) including triaxial cylinder A2 (11), all cooperate and install the slide on triaxial cylinder A1 (10) and triaxial cylinder A2 (11).
In the present embodiment, the small plate positioning assembly (6) includes a triaxial cylinder O1 (42), a strong hold-down cylinder P1 (43), and a strong hold-down cylinder R1 (44).
In this embodiment, the mechanism operates as follows:
initial state: ultrathin cylinder C1, ultrathin cylinder C2, ultrathin cylinder I1, ultrathin cylinder I2, ultrathin cylinder I3, ultrathin cylinder I4 extend out, the other cylinders are in retraction;
the first step: the carrying robot grabs the long sleeve and the left rectangular pipe and the right rectangular pipe are respectively placed on the clamp (a proximity switch senses whether a workpiece exists or not), and then the triaxial cylinder A1 and the triaxial cylinder A2 extend out to push the rectangular pipe in the X direction;
and a second step of: the four ultrathin cylinders B1, B2, B3 and B4 respectively extend to push the rectangular tube in the Y direction, the triaxial cylinder A1 and the triaxial cylinder A2 retract;
and a third step of: a strong compressing cylinder R1 compresses the long sleeve; the ultrathin cylinder C1 and the ultrathin cylinder C2 extend out and penetrate through the rectangular pipe to guide the rectangular pipe and clamp the long sleeve;
fourth step: the ultrathin cylinder D1 and the ultrathin cylinder D2 extend out of the inner hole of the positioning long sleeve;
fifth step: if the model is xg0708dc_02_1, the model is the outer arm; in the third step, an ultrathin cylinder C1 and an ultrathin cylinder C2 extend out of a front ultrathin cylinder E1, the ultrathin cylinder E2 extends out of a limiting ultrathin cylinder C1 in advance, and the ultrathin cylinder C2 extends out of a position;
sixth step: the triaxial cylinder F1 and the triaxial cylinder F2 extend out to position X, Z directions of an outer shaft of xg 0708dc_02_1;
seventh step: the ultrathin cylinder G1 and the ultrathin cylinder G2 extend out to drive the sliding plate mechanism to drive the left rectangular pipe and the right rectangular pipe to slide inwards to a theoretical position;
eighth step: the three-axis cylinder H1, the three-axis cylinder H2 and the three-axis cylinder H3, the three-axis cylinder H4 simultaneously stretches out to the theoretical position, and the gripper is provided with 4 short sleeves;
ninth step: the ultrathin cylinder I1, the ultrathin cylinder I2, the ultrathin cylinder I3 and the ultrathin cylinder I4 are retracted;
tenth step: ultrathin cylinder J1, ultrathin cylinder J2 stretches out, ultrathin cylinder L1, ultrathin cylinder L2 stretches out; pushing the corresponding 2 short sleeves, and retracting the triaxial cylinders H1, H2, H3 and H4;
eleventh step: the ultrathin cylinder M1, the ultrathin cylinder M2 and the ultrathin cylinder M3, and the ultrathin cylinder M4 simultaneously extend out to respectively position the inner diameters of the four sections of sleeves;
twelfth step: grasping small square plate parts on the upper part;
thirteenth step: pushing by a triaxial cylinder O1;
fourteenth step: the powerful compacting cylinder P1 compacts;
fifteenth step: the ultrathin cylinder G1, the ultrathin cylinder G2 are motionless, the ultrathin cylinder I1, the ultrathin cylinder I2 are retracted, the ultrathin cylinder I3 and the ultrathin cylinder I4 are motionless, the ultrathin cylinder C1 and the ultrathin cylinder C2 extend, the rest of the ultrathin cylinders are opened or retracted, the workpiece is released, and the workpiece is taken away by a gripper;
sixteenth step: the ultrathin cylinder G1 and the ultrathin cylinder G2 retract, and the sliding mechanisms respectively move outwards to the feeding positions of the left rectangular pipe and the right rectangular pipe;
seventeenth step: a next cycle is started.
In this embodiment, the order of loading is: two rectangular pipes, a long sleeve, a short sleeve and a small flitch.
Firstly, positioning two rectangular pipes, wherein the rectangular pipes are positioned 170mm away from the theoretical position; the robot handles are used for placing left and right rectangular pipes; the X direction 2 triaxial cylinders are pushed tightly, and the Y direction two ACQ50 cylinders are pushed tightly. The X-direction cylinder is retracted.
Then the left sliding mechanism and the right sliding mechanism slide inwards for 170mm, the sleeve penetrates through the rectangular pipe positioning long sleeve, and the sliding mechanisms for positioning the rectangular pipe inwards move; moving to a theoretical position; thus, the rectangular tube and the long sleeve are positioned. Because the left rectangular pipe and the right rectangular pipe have long guide, the rectangular pipe can be ensured to smoothly enter the long sleeve when moving inwards.
Then the robot gripper puts the short sleeve into the V-shaped block, and the sliding mechanism retracts; guiding the sleeve into a rectangular pipe, and positioning the short sleeve in the Y direction; the opposite cylinder extends out of the thick positioning short sleeve and is pushed tightly in the Y direction. The sliding mechanism extends to the theoretical position of the short sleeve. After the guide enters the rectangular tube, the concentricity of the short sleeve and the guide is consistent, so that the guide entering is ensured, the short sleeve can also enter the rectangular tube, and the theoretical positions of the four short sleeves can be ensured.
And finally, positioning the small plate, wherein the X direction is close to the side by using a rectangular pipe, the cylinder is pushed to be positioned tightly, and the Y direction is positioned by using a positioning block.
The technical means disclosed by the scheme of the invention is not limited to the technical means disclosed by the embodiment, and also comprises the technical scheme formed by any combination of the technical features. It should be noted that modifications and adaptations to the invention may occur to one skilled in the art without departing from the principles of the present invention and are intended to be within the scope of the present invention.
Claims (10)
1. A cut automatic group welding mechanism of fork high altitude platform outer arm for structural symmetry work piece for fix rectangular pipe, long sleeve, short sleeve and the little flitch of outer arm, its characterized in that: including the workstation, be equipped with BASE subassembly, left rectangular pipe location and remove subassembly, left high-order long sleeve locating component, low position short sleeve locating component, rectangular pipe X to locating component, little plate locating component, right rectangular pipe location and remove subassembly, middle position short sleeve locating component and right high-order long sleeve locating component on the workstation, left side rectangular pipe location and remove subassembly and right rectangular pipe location and remove subassembly bilateral symmetry setting, left side high-order long sleeve locating component and right high-order long sleeve locating component bilateral symmetry setting are in left rectangular pipe location and remove subassembly one end both sides, and are equipped with little plate locating component in the middle of the end, low position short sleeve locating component and middle position short sleeve locating component are arranged in between left rectangular pipe location and the right rectangular pipe location and remove subassembly, and middle position short sleeve locating component is arranged in between low position short sleeve locating component and the little plate locating component, left side rectangular pipe location and remove subassembly and right rectangular pipe location and all be equipped with pipe X to locating component.
2. The scissor type high altitude platform outer arm automatic assembly welding mechanism for structurally symmetrical workpieces according to claim 1, wherein: the left rectangular pipe positioning moving assembly comprises a first support, the first support can be arranged on a workbench in a sliding mode through a line rail in a left-right mode, an ultrathin cylinder J1 and an ultrathin cylinder L1 which are symmetrically arranged and an ultrathin cylinder B1 and an ultrathin cylinder B2 which are symmetrically arranged are arranged on the top surface of the first support, an ultrathin cylinder G1 used for driving the first support to move left and right is arranged at the bottom of the first support, the ultrathin cylinder J1, the ultrathin cylinder L1, the ultrathin cylinder B1 and the ultrathin cylinder B2 face towards the middle of the workbench, the ultrathin cylinder J1 and the ultrathin cylinder L1 respectively correspond to a short sleeve jack at the end portion and a short sleeve jack in the middle of the rectangular pipe, and the ultrathin cylinder J1 and the ultrathin cylinder B1 are arranged in a staggered mode.
3. The scissor type high altitude platform outer arm automatic assembly welding mechanism for structurally symmetrical workpieces according to claim 1, wherein: the right rectangular pipe positioning moving assembly comprises a second support, the second support can be arranged on the workbench in a sliding mode through a line rail in a left-right mode, an ultrathin cylinder J2 and an ultrathin cylinder L2 which are symmetrically arranged and an ultrathin cylinder B3 and an ultrathin cylinder B4 which are symmetrically arranged are arranged on the top surface of the second support, an ultrathin cylinder G2 used for driving the second support to move left and right is arranged at the bottom of the second support, the ultrathin cylinder J2, the ultrathin cylinder L2, the ultrathin cylinder B3 and the ultrathin cylinder B4 face towards the middle of the workbench, the ultrathin cylinder J2 and the ultrathin cylinder L2 respectively correspond to a short sleeve jack at the end portion and a short sleeve jack in the middle of the rectangular pipe, and the ultrathin cylinder J2 and the ultrathin cylinder B3 and the ultrathin cylinder B4 are arranged in a staggered mode.
4. The scissor type high altitude platform outer arm automatic assembly welding mechanism for structurally symmetrical workpieces according to claim 1, wherein: the left high-order long sleeve locating component comprises a third support, the third support can be placed on the workbench in a sliding mode through a line rail in a left-right mode, an ultrathin cylinder C1 and an ultrathin cylinder D1 are arranged on the top surface of the third support, the ultrathin cylinder D1 corresponds to a long sleeve jack at the end portion of a rectangular pipe, the ultrathin cylinder C1 is used for driving the third support to move left and right, and an ultrathin cylinder E1 and a triaxial cylinder F1 are arranged on the bottom surface of the third support.
5. The scissor type high altitude platform outer arm automatic assembly welding mechanism for structurally symmetrical workpieces according to claim 1, wherein: the right high-order long sleeve positioning assembly comprises a fourth support, the fourth support can be placed on the workbench in a sliding mode through a line rail in a left-right mode, an ultrathin cylinder C2 and an ultrathin cylinder D2 are arranged on the top surface of the fourth support, the ultrathin cylinder D2 corresponds to a long sleeve jack at the end portion of a rectangular pipe, the ultrathin cylinder C2 is used for driving a third support to move left and right, and an ultrathin cylinder E2 and a triaxial cylinder F2 are arranged on the bottom surface of the third support.
6. The scissor type high altitude platform outer arm automatic assembly welding mechanism for structurally symmetrical workpieces according to claim 1, wherein: the low-position short sleeve positioning assembly comprises two fifth supports which are symmetrically arranged left and right, the fifth supports are arranged on the workbench in a sliding mode through line tracks, ultrathin cylinders M1 are arranged on the top surfaces of the fifth supports which are positioned on the left side, ultrathin cylinders I2 used for driving the fifth supports to move left and right are connected to the side surfaces of the fifth supports, triaxial cylinders H2 are arranged at the bottom of the fifth supports, ultrathin cylinders M2 are arranged on the top surfaces of the fifth supports which are positioned on the right side of the fifth supports, ultrathin cylinders I1 used for driving the fifth supports to move left and right are connected to the side surfaces of the fifth supports, triaxial cylinders H1 are arranged at the bottom of the fifth supports, supports used for supporting the short sleeves are arranged at the upper ends of the triaxial cylinders H2 and the triaxial cylinders H1 in a matched mode, the supports are composed of V-shaped blocks which are symmetrically arranged, and permanent magnets are arranged at the bottoms of V-shaped grooves of the V-shaped blocks.
7. The scissor type high altitude platform outer arm automatic assembly welding mechanism for structurally symmetrical workpieces according to claim 1, wherein: the middle position short sleeve positioning assembly comprises six supports which are symmetrically arranged in two left and right directions, the six supports are arranged on the workbench in a sliding mode through line tracks, ultrathin cylinders M3 are arranged on the top surface of the six supports on the left side, ultrathin cylinders I4 used for driving the six supports to move left and right are connected to the side surfaces, triaxial cylinders H4 are arranged at the bottom of the six supports, ultrathin cylinders M4 are arranged on the top surface of the six supports on the right side, ultrathin cylinders I3 used for driving the six supports to move left and right are connected to the side surfaces of the six supports, triaxial cylinders H3 are arranged at the bottom of the six supports, supports used for supporting the short sleeves are arranged at the upper ends of the triaxial cylinders H4 and the triaxial cylinders H3 in a matched mode, V-shaped blocks which are symmetrically arranged are formed, and permanent magnets are arranged at the bottoms of V-shaped grooves. .
8. The scissor type high altitude platform outer arm automatic assembly welding mechanism for structurally symmetrical workpieces according to claim 1, wherein: the rectangular pipe X on the left side is to locating component including triaxial cylinder A1, and the rectangular pipe X on the right side is to locating component including triaxial cylinder A2, all cooperate and install the slide on triaxial cylinder A1 and the triaxial cylinder A2.
9. The scissor type high altitude platform outer arm automatic assembly welding mechanism for structurally symmetrical workpieces according to claim 1, wherein: the small plate positioning assembly comprises a triaxial cylinder O1, a strong compressing cylinder P1 and a strong compressing cylinder R1.
10. The scissor type high altitude platform outer arm automatic assembly welding mechanism for structurally symmetrical workpieces according to claim 1, wherein: the operation steps of the mechanism are as follows:
initial state: ultrathin cylinder C1, ultrathin cylinder C2, ultrathin cylinder I1, ultrathin cylinder I2, ultrathin cylinder I3, ultrathin cylinder I4 extend out, the other cylinders are in retraction;
the first step: the carrying robot grabs the long sleeve and the left rectangular pipe and the right rectangular pipe are respectively placed on the clamp (a proximity switch senses whether a workpiece exists or not), and then the triaxial cylinder A1 and the triaxial cylinder A2 extend out to push the rectangular pipe in the X direction;
and a second step of: the four ultrathin cylinders B1, B2, B3 and B4 respectively extend to push the rectangular tube in the Y direction, the triaxial cylinder A1 and the triaxial cylinder A2 retract;
and a third step of: a strong compressing cylinder R1 compresses the long sleeve; the ultrathin cylinder C1 and the ultrathin cylinder C2 extend out and penetrate through the rectangular pipe to guide the rectangular pipe and clamp the long sleeve;
fourth step: the ultrathin cylinder D1 and the ultrathin cylinder D2 extend out of the inner hole of the positioning long sleeve;
fifth step: if the model is xg0708dc_02_1, the model is the outer arm; in the third step, an ultrathin cylinder C1 and an ultrathin cylinder C2 extend out of a front ultrathin cylinder E1, the ultrathin cylinder E2 extends out of a limiting ultrathin cylinder C1 in advance, and the ultrathin cylinder C2 extends out of a position;
sixth step: the triaxial cylinder F1 and the triaxial cylinder F2 extend out to position X, Z directions of an outer shaft of xg 0708dc_02_1;
seventh step: the ultrathin cylinder G1 and the ultrathin cylinder G2 extend out to drive the sliding plate mechanism to drive the left rectangular pipe and the right rectangular pipe to slide inwards to a theoretical position;
eighth step: the three-axis cylinder H1, the three-axis cylinder H2 and the three-axis cylinder H3, the three-axis cylinder H4 simultaneously stretches out to the theoretical position, and the gripper is provided with 4 short sleeves;
ninth step: the ultrathin cylinder I1, the ultrathin cylinder I2, the ultrathin cylinder I3 and the ultrathin cylinder I4 are retracted;
tenth step: ultrathin cylinder J1, ultrathin cylinder J2 stretches out, ultrathin cylinder L1, ultrathin cylinder L2 stretches out; pushing the corresponding 2 short sleeves, and retracting the triaxial cylinders H1, H2, H3 and H4;
eleventh step: the ultrathin cylinder M1, the ultrathin cylinder M2 and the ultrathin cylinder M3, and the ultrathin cylinder M4 simultaneously extend out to respectively position the inner diameters of the four sections of sleeves;
twelfth step: grasping small square plate parts on the upper part;
thirteenth step: pushing by a triaxial cylinder O1;
fourteenth step: the powerful compacting cylinder P1 compacts;
fifteenth step: the ultrathin cylinder G1, the ultrathin cylinder G2 are motionless, the ultrathin cylinder I1, the ultrathin cylinder I2 are retracted, the ultrathin cylinder I3 and the ultrathin cylinder I4 are motionless, the ultrathin cylinder C1 and the ultrathin cylinder C2 extend, the rest of the ultrathin cylinders are opened or retracted, the workpiece is released, and the workpiece is taken away by a gripper;
sixteenth step: the ultrathin cylinder G1 and the ultrathin cylinder G2 retract, and the sliding mechanisms respectively move outwards to the feeding positions of the left rectangular pipe and the right rectangular pipe;
seventeenth step: a next cycle is started.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202311313641.8A CN117139963A (en) | 2023-10-11 | 2023-10-11 | Automatic assembly welding mechanism for outer arm of scissor type high-altitude platform for workpieces with symmetrical structures |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202311313641.8A CN117139963A (en) | 2023-10-11 | 2023-10-11 | Automatic assembly welding mechanism for outer arm of scissor type high-altitude platform for workpieces with symmetrical structures |
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| CN117139963A true CN117139963A (en) | 2023-12-01 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202311313641.8A Pending CN117139963A (en) | 2023-10-11 | 2023-10-11 | Automatic assembly welding mechanism for outer arm of scissor type high-altitude platform for workpieces with symmetrical structures |
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| CN215091660U (en) * | 2021-05-13 | 2021-12-10 | 三一帕尔菲格特种车辆装备有限公司 | Crotch welding frock |
| CN215747379U (en) * | 2021-06-01 | 2022-02-08 | 太原巨众自动化设备有限公司 | Fork welding assembly anchor clamps are cut to high altitude construction car |
| CN116638226A (en) * | 2023-05-15 | 2023-08-25 | 湖南中联重科智能高空作业机械有限公司 | Shaft sleeve rivet welding positioning mechanism and scissor arm shaft sleeve rivet welding tool |
| CN116810248A (en) * | 2023-05-23 | 2023-09-29 | 太原重工股份有限公司 | Welding precision guaranteeing device for shearing fork arms of aerial working platform series |
-
2023
- 2023-10-11 CN CN202311313641.8A patent/CN117139963A/en active Pending
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2013102391A1 (en) * | 2012-01-06 | 2013-07-11 | 中联重科股份有限公司 | Pump truck chassis construction clamp for positioning and assembling bushing |
| WO2016156181A1 (en) * | 2015-04-01 | 2016-10-06 | Siemens Aktiengesellschaft | Alignment station for long goods having multiple movable carrier elements |
| CN211305371U (en) * | 2019-12-27 | 2020-08-21 | 苏州威尔特铝合金升降机械有限公司 | Miniature scissors fork inner support shaping welding frock |
| CN215091660U (en) * | 2021-05-13 | 2021-12-10 | 三一帕尔菲格特种车辆装备有限公司 | Crotch welding frock |
| CN215747379U (en) * | 2021-06-01 | 2022-02-08 | 太原巨众自动化设备有限公司 | Fork welding assembly anchor clamps are cut to high altitude construction car |
| CN116638226A (en) * | 2023-05-15 | 2023-08-25 | 湖南中联重科智能高空作业机械有限公司 | Shaft sleeve rivet welding positioning mechanism and scissor arm shaft sleeve rivet welding tool |
| CN116810248A (en) * | 2023-05-23 | 2023-09-29 | 太原重工股份有限公司 | Welding precision guaranteeing device for shearing fork arms of aerial working platform series |
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