CN103521958A

CN103521958A - Flexible joint clamp, multi-layer mechanical arm with same and full-automatic welding system

Info

Publication number: CN103521958A
Application number: CN201310475455.4A
Authority: CN
Inventors: 顾章平; 高玉保; 黄和平
Original assignee: Zhejiang Chint Electrics Co Ltd
Current assignee: Zhejiang Chint Electrics Co Ltd
Priority date: 2013-10-12
Filing date: 2013-10-12
Publication date: 2014-01-22
Anticipated expiration: 2033-10-12
Also published as: CN103521958B; CN105149836B; CN105149836A

Abstract

The invention discloses a flexible joint clamp, a multi-layer mechanical arm with the flexible joint clamp and a full-automatic welding system provided with the multi-layer mechanical arm. The flexible joint clamp comprises a first flexible joint clamping board and a second flexible joint claming board, wherein the first flexible joint clamping board and the second flexible joint clamping board are arranged oppositely. The middle portion of the second flexible joint clamping board is installed on the first flexible joint clamping board in a pivoting mode. The upper portion of the first flexible joint clamping board and the upper portion of the second flexible joint clamping board are respectively provided with a flexible joint clamping portion. The lower portion of the second flexible joint clamping board is an inclined pressing board. The second flexible joint clamping board presses and abuts against the first flexible joint clamping board through a flexible joint spring. The flexible joint clamp can be matched with other hard elements so that the multi-level mechanical arm can be installed and formed, the multi-level mechanical arm with the flexible joint clamp can be applied to the welding system, and therefore full automatic welding between flexible joint and the hard elements is achieved. An accurate welding point and the good welding uniformity can be kept and the performance index of the welded product is good.

Description

Flexible connection fixture, with multilayer manipulator and the full-automatic welding system of flexible connection fixture

Technical field

The present invention relates to technical field of welding equipment, particularly two golden mounting system Full-automatic multi-station welding systems of a kind of low-voltage circuit breaker, the present invention or a kind of fixture of holding flexible connection that adds in addition, and with the multilayer manipulator of this flexible connection fixture.

Background technology

When processing low-voltage electrical apparatus, often a plurality of elements to be welded together, the welding production line in past has two classes: (one) welds each part manually; (2) utilize machine by rigid element automatic welding on rigid element, artificial manually welding flexible connection, whole welding system is automanual, cannot realize the Full-automatic welding of whole welding system.

Above-mentioned two class production lines all need artificial manually welding step, have therefore reduced the process velocity of streamline, and in the middle of semi-finished product, turn around time is long, and it is many manually to weld wastage of material.More seriously artificial manually welding properties of product, Q factor is out widely different, and homogeneity of product is low.For example, miniature circuit breaker at Low Voltage Electrical Apparatus, its bi-metal stent system mainly forms support by terminal plate, joint cover, bimetal leaf, arc striking piece (or claiming arc angle), one end welding flexible connection of the upper end of bimetal leaf, centre or bottom, the other end welding moving contact of flexible connection forms two golden conducting systems.If adopt artificial manually welding flexible connection, the size dislocation of flexible connection on moving contact and bimetal leaf cannot overcome, make crucial weld size be difficult to guarantee, welding quality fluctuation is large, soft connection and moving contact and two golden welding position are easily overproof, and the easy thin fracture of weld seam, if whole system is artificial manually welding, bimetal leaf weldering is anti-, terminal plate and two gold and arc angle dislocation, sealing-off, is difficult to the quality problems such as assembling and occurs repeatedly.

In addition; the bi-metal stent system testing discovery that people is completed for manual welding; the following parameter differences of finished product is very large: the othernesses such as size of the scope of the highest and minimum temperature, operating temperature, the displacement that element is heated and form and size, power or moment are very large; the uniformity of product cannot guarantee to dispatch from the factory; make the different quality of breaker close required quality, overload protection dropout curve shows that early the defective work incidence such as thread off, thread off late or do not thread off is very high.Manual streamline welds that not only floor space is large, technological parameter is unstable, quality fluctuation is large, homogeneity of product and reliability is low, rework rate is high, and employee's labour intensity is large, during well-known scolding tin, can produce people's poisonous gas is caused to production line poor working environment, cost of labor is very high.

Along with leading the continuous expansion in the continuous soaring and home sale market of large amount of product throughput, the production capacity of existing equipment can not meet completely, produce the demand of newly-increased product, enhancing production capacities, what adopt at present is that place, personnel, device synchronization expand the continuous expansion expansion scale pattern that meets production capacity and solve, and in cost, economy, technical equipment, is restricted.Due to can not existing machinery welding cannot realize effectively adding of flexible connection and hold and locate, up to the present, it is flexible connection manual operation welding jig technology that the industry adopts always, technology there are no the flexible connection application automation equipment of succeeding in developing, in the time will producing the product with flexible connection element, cannot full-automatic weld.

Summary of the invention

The present invention is that the product for producing with flexible connection element provides a kind of full-automatic welding system, is specially adapted to the full-automatic multistation welding of bi-metal stent system.For full-automatic welding system is provided, the invention provides a kind of flexible connection fixture that can be applicable to automatic welding, this fixture can mate with robot welding system and can effectively add to be held and discharges flexible connection, makes described soft connection have welding position accurately.Meanwhile, the present invention also provides a kind of multilayer manipulator with flexible connection fixture, this manipulator can accurately add and hold, locates flexible connection and rigid element in Automatic Production Line, to guarantee the accuracy of solder joint in welding procedure, uniformity and the stability of bulk article welding.

Of the present inventionly can be applied to that automated system accurately adding is held and to locate the structure of flexible connection fixture of flexible connection as follows, it comprises flexible connection the first clamping plate 53 and flexible connection the second clamping plate 54 that are oppositely arranged, and the middle part of flexible connection the second clamping plate 54 is pivoted on flexible connection the first clamping plate 53; The top of the top of described the first clamping plate 53 and described flexible connection the second clamping plate 54 is respectively equipped with flexible connection and adds the portion of holding; The bottom of flexible connection the second clamping plate 54 is oblique pressing plate 542, and flexible connection the second clamping plate 54 are pressed against on flexible connection the first clamping plate 53 by flexible connection spring 545.

The flexible connection clamping part of flexible connection the first clamping plate 53 comprises at least two the first clamping plate square columns 531 in left and right; between two the first clamping plate square columns 531, be provided with through hole; the flexible connection clamping part of described flexible connection the second clamping plate 54 comprises two the second clamping plate square columns 541 in left and right, between two the second clamping plate square columns 541, is provided with through hole; Between the first clamping plate square column 531 and the second clamping plate square column 541, adopt straight trough engaging structure 533.The clamping part of design is very good to the locating effect of flexible connection like this.

Flexible connection the first clamping plate 53 and the preferably pivotable installation in the following way of flexible connection the second clamping plate: at flexible connection the second clamping plate 54 middle parts, be provided with ear type part 544 with holes, flexible connection the first clamping plate 53 are provided with bearing pin 543, and the bearing pin 543 on flexible connection the first clamping plate 53 stretches into the hole of ear type part 544.

Described flexible connection spring 545 preferably adopts tensioner spring 545, and described tensioner spring is between the oblique pressing plate 542 of flexible connection the second clamping plate 54 and the bottom of flexible connection the first clamping plate 53.

Except above-mentioned flexible connection fixture, the present invention has also designed the multilayer manipulator that can carry above-mentioned flexible connection fixture, this multilayer manipulator can position the position relationship between flexible connection and other rigid element, and conveniently add and hold and discharge each element, make whole operation adapt to the requirement that mechanical streamline is produced.The described multilayer manipulator with flexible connection fixture, the installing rack 103 that comprises installation manipulator, at least two-layer manipulator is set on described installing rack 103, wherein having one deck manipulator at least is flexible connection fixture, having one deck manipulator at least is rigid element fixture, described rigid element fixture comprises two relative rigid element clamping plate, on the installing rack 103 of rigid element fixture place layer, be provided with strip chute, two rigid element clamping plate of each rigid element fixture insert strip chute and can in strip chute, move, the framework of described flexible connection fixture refers to the description before the present invention.

In addition, the present invention also provides a kind of full-automatic welding system, and this full-automatic welding system not only can weld rigid element and rigid element, also flexible connection and rigid element accurately can be welded.Described full-automatic welding system comprises at least two rotating disks, at each rotating disk, at least lay a welding equipment around, a plurality of the first multilayer manipulators 101 are set on the first rotating disk 1, a plurality of the second multilayer manipulators 102 are set on the second rotating disk 2, the first multilayer manipulator 101 and the second multilayer manipulator 102 include installing rack 103, at least two-layer manipulator is set on described installing rack 103, described the first multilayer manipulator, in the second multilayer manipulator, have at least one to be multilayer manipulator with flexible connection fixture, that is to say: on described the first multilayer manipulator 101, having one deck manipulator at least is flexible connection fixture, having one deck manipulator at least is rigid element fixture, and/or to have one deck manipulator at least on described the second multilayer manipulator 102 be flexible connection fixture, having one deck manipulator at least is rigid element fixture.Described rigid element fixture comprises two relative rigid element clamping plate, on the installing rack 103 of rigid element fixture place layer, be provided with strip chute, two rigid element clamping plate of each rigid element fixture insert strip chute and can in strip chute, move, and the framework of described flexible connection fixture refers to the description before the present invention.

Conventionally multilayer manipulator is and directly stretches formula, but the described multilayer manipulator with flexible connection fixture preferably adopts following structure: on described installing rack 103, be at least provided with three layers of manipulator, in these three layers of manipulators, having two-layer manipulator at least is rigid element fixture, and one deck manipulator is flexible connection fixture in addition; Wherein one deck rigid element fixture add the close region that the portion of holding is positioned at flexible connection the first clamping plate 53 and flexible connection second clamping plate 54 clamping part one end, another layer of rigid element fixture add the close region that the portion of holding is positioned at flexible connection the first clamping plate 53 and the flexible connection second clamping plate 54 clamping part other ends.

With the multilayer manipulator of flexible connection fixture, its flexible connection clamping plate are preferably placed in the following way: described flexible connection the first clamping plate 53 are connected with the substrate 56 of its bottom and are vertical, and described substrate 56 is connected with installing rack 103 and extends out from installing rack 103.Further, described flexible connection the second clamping plate 54 are pivoted on flexible connection the first clamping plate 53 and are positioned at the side away from installing rack 103.

About the described multilayer manipulator with flexible connection fixture, the type of drive of its flexible connection fixture preferably adopts automatic control mode, now described multilayer manipulator is also furnished with flexible connection fixture control cylinder 60b, on flexible connection fixture control cylinder 60b, be provided with tilting bar 60a, flexible connection fixture control cylinder 60b controls the oblique pressing plate 542 that tilting bar 60a moves to press flexible connection the second clamping plate 54.

With routine directly stretch formula fixture lay mode think ratio, adopt flexible connection the first clamping plate 53 vertically lay and will make flexible connection fixture have better locus to coordinate with rigid element fixture away from flexible connection second clamping plate 54 of installing rack, make to add hold, releasing member is more accurate, make to overhaul machine convenient, the driving that is meanwhile more conducive to Full-automatic welding streamline is controlled.

For above-mentioned at least three layers with for the multilayer manipulator of flexible connection fixture, in order to make to be added the hard fixture of holding, flexible connection is in more accurate position, described two-layer rigid element fixture, flexible connection fixture preferably adopts and lays accurately mode, the 3-D walls and floor of this arrangement is: the clamping part place direction of flexible connection the first clamping plate 53 of take is X-axis positive direction, take flexible connection the first clamping plate 53 one end relative with clamping part is X-axis negative direction, the direction of take perpendicular to 53, flexible connection the first clamping plate is Y direction, the direction of wherein take away from installing rack 103 is Y-axis positive direction, take flexible connection the first clamping plate 53 two ends, clamping part left and right is Z-direction, described two-layer rigid element fixture, flexible connection fixture adopts following arrangement: flexible connection the first clamping plate 53 stretch out from installing rack 103 by substrate 56, each rigid element folder respectively base plate by separately stretches out from installing rack 103, at the base plate of described two-layer rigid element fixture and the substrate of soft connecting clamp, the projector distance in Y-axis is all greater than 0, in the base plate of described two-layer rigid element fixture, have at least the projector distance of a base plate in X-axis to be greater than 0, in the base plate of described two-layer rigid element fixture, have at least the projector distance of a base plate on Z axis to be greater than 0.And the projected position of the end that these two rigid element fixtures add the portion of holding in XY plane is basic identical, the projector distance of the end that these two rigid element fixtures add the portion of holding on Z axle equals the width W of flexible connection the first clamping plate 53 substantially.That is to say that the present invention need to meet above-mentioned projection relation by following means: base plate is carried out to tilting and/or bending, or base plate and substrate are all carried out to tilting and/or bending.Tripleplane's distance of certain aforesaid substrate of the present invention, base plate does not comprise substrate, the changeless width of base plate itself, thickness and height, and refer to that substrate, base plate extend the projector distance that extends and produce or the projection of chamfered portion along certain direction.

In addition, the installing rack of multilayer manipulator preferably adopts following structure: described installing rack 103 comprises transverse slat 43, and what have also comprises stringer board.Every layer of manipulator is all provided with at least one deck transverse slat 43, is equipped with the driving mechanism of a set of driving rigid element fixture at each rigid element fixture place layer;

Driving mechanism the first preferred embodiment of described rigid element fixture is: each rigid element fixture comprises two rigid element clamping plate, each rigid element clamping plate all stretches in the bar shaped chute of installing rack 103 by an independent base plate, described bar shaped chute preferably adopts dovetail groove, on each base plate in installing rack, be provided with monolateral tooth bar, the driving mechanism of rigid element fixture comprises: the screwed slide block in one end, back-moving spring and two gears that pivotable is installed, each gear meshes with the monolateral tooth bar of a base plate respectively, described two gears are placed side by side, described slide block inserts between two gears, screw-threaded engagement on described gear and slide block, described action of reset spring on slide block so that slide block reset.Wherein, monolateral tooth bar can be independent component, can be also a part for base plate.

Driving mechanism the second preferred embodiment of described rigid element fixture is: at each rigid element fixture place layer, be equipped with two stringer boards 44, described two stringer boards are listed in driving mechanism left and right for 44 minutes.Every cover driving mechanism includes two driving mechanism pressing plates 451, pressing plate fixed pivot axi 471, the initial spring 461 of pressing plate and slide block 50, have at least a driving mechanism pressing plate 451 to be pivoted on pressing plate fixed pivot axi 471, described pressing plate fixed pivot axi 471 is fixedly mounted on the transverse slat 43 of installing rack 103 and pressing plate fixed pivot axi 471 is positioned at the middle part of driving mechanism pressing plate 451, one end of these two driving mechanism pressing plates 451 is connected with one of two clamping plate of rigid element fixture respectively, for example described driving mechanism pressing plate 451 is connected with the base plate that stretches into bar shaped chute, driving mechanism pressing plate 451 other ends are accepted the touching of slide block, between this driving mechanism pressing plate 451 and the stringer board 44 of installing rack, be provided with the initial spring 461 of pressing plate.Wherein said bar shaped chute preferably adopts the dovetail groove of bar shaped.As preferred mode, at described slide block 50, away from a side of driving mechanism pressing plate 451, be arranged with driving spring 49; At driving mechanism pressing plate 451, near one end of slide block, being provided with step cylinder accepts slide block and presses.For example, two driving mechanism pressing plates are provided with symmetrical V-type feeler, and described V-type feeler is positioned at slide block 49 1 sides that have endoporus, thereby it is existing to the opening of each rigid element clamping plate to accept top compacting from the right-hand member cylinder rod of slide block, realizes and unclamps rigid element; After right-hand member cylinder rod resets, two driving mechanism pressing plates and slide block rely on respectively spring to implement the reset that retreats of the clamping of rigid element and slide block; Slide block (49) slides before and after slide block.

As optimal way, rigid element fixture adopts automatically and controls, by rigid element fixture control cylinder, drive the slide block of each layer of driving mechanism, preferred, the rigid element fixture of described multilayer manipulator is at least two-layer, described rigid element fixture control cylinder is multilayer push rod cylinder, drives the slide block of each layer of driving mechanism by a rigid element fixture control cylinder simultaneously.

In actual production, product often need by several elements successively order weld respectively, in view of the easy active deformation of flexible connection line, if weld too early flexible connection, with the intermediate of flexible connection, in later stage welding, be difficult for location percent defective is increased, the later stage that therefore preferably flexible connection welding is placed on to robot welding system completes.Therefore for the multilayer manipulator with flexible connection fixture, just require to be equipped with a kind of like this rigid element fixture, this rigid element fixture can add holds the intermediate being made up of multiple elements, complicated intermediate as described in this case: support 42, described support is by terminal plate 28, joint cover 27, bimetal leaf 26 and arc angle 25 are welded, and also should be able to coordinate with above-mentioned flexible connection fixture the welding of flexible connection adding when holding complicated composition element, the invention provides a kind of composition element fixture for this reason, this fixture belongs to rigid element fixture, it can be good at and add the rigid element part of holding complicated composition element.Described composition element fixture at least comprises two composition element clamping plate 51 that left and right distributes, and the relative madial wall of described two composition element clamping plate, 51 front end clamping part is provided with the front end straight trough 511 of bar shaped.Preferred embodiment is that composition element clamping plate 51 ends are provided with projection 521 in opposite directions, when two composition element clamping plate clamp, between two protruding in opposite directions 521 rear portions, two composition element clamping plate, form fixture hole 517, each protruding 521 is provided with front end straight trough 511 in opposite directions, and described front end straight trough 511 connects to fixture hole 517 from the first rigid element clamping plate 51.

Full-automatic welding system of the present invention preferably adopts following arrangement mode, a plurality of the first multilayer manipulators 101 at the edge of the first rotating disk 1, have been evenly arranged, each first multilayer manipulator 101 comprises an installing rack and three layers of manipulator consisting of rigid element fixture at least as described below, wherein the first multilayer manipulator ground floor rigid element fixture adds and holds arc angle 25, the first multilayer manipulator second layer rigid element fixture adds to be held the 3rd layer of rigid element fixture of bimetal leaf 26, the first multilayer manipulator and adds and hold terminal plate 28 and joint cover 27.At the first rotating disk 1 side, along the first turntable rotation direction, arrange successively the first welding equipment 7 and the second welding equipment 10, the first welding equipment 7 welds together terminal plate 28 and joint cover 27, and the second welding equipment 10 carries out three-in-one welding by joint cover 27, bimetal leaf 26, arc angle 25 and forms support 42; At the edge of the second rotating disk 2, be evenly arranged a plurality of the second multilayer manipulators 102, each second multilayer manipulator 102 comprises an installing rack and three layers of manipulator at least as described below, wherein the second multilayer manipulator 102 ground floors are to add the rigid element fixture of holding support 42, preferably adopt aforementioned composition element fixture as the rigid element fixture of the second multilayer manipulator 102 ground floors; Second multilayer manipulator 102 second layers are to add the rigid element fixture of holding moving contact 40, and the second the 3rd layer, multilayer manipulator 102 is flexible connection fixture; The direction of rotation of the second rotating disk 2 is contrary with the first rotating disk 1, at the second rotating disk 2 sides, along the second turntable rotation direction, arrange that successively the

3rd welding equipment

13,13 pairs of supports 42 of 11: the three welding equipments of the 4th welding equipment, flexible connection 41 weld, the 4th welding equipment 11 welds flexible connection 41 and moving contact 40.After the 3rd welding equipment, the 4th welding equipment welding, finally form by terminal plate 28, joint cover 27, bimetal leaf 26 and arc angle 25, flexible connection, moving contact in interior two golden mounting system.

Adopt flexible connection fixture of the present invention to add and hold applicable to the flexible connection in the production of mechanization streamline, multilayer manipulator with flexible connection fixture of the present invention, having realized aforementioned flexible connection fixture effectively coordinates with rigid element fixture, when automatic welding, also can accurately locate the mutual alignment of flexible connection and rigid element, stability and the reliability of the mechanization automatic welding of flexible connection and rigid element have been guaranteed, facilitate material loading blanking, detachable maintaining conveniently, volume is small and exquisite rationally distributed.Adopted robot welding system of the present invention, can realize the Full-automatic welding to the product with flexible connection, system floor space is little, speed of production is fast, has avoided the continuous firing of personnel at poisonous welding job environment, and product defect rate reduces greatly, properties of product are stable unified.

Accompanying drawing explanation

Fig. 1 is the schematic diagram of a specific embodiment of full-automatic welding system of the present invention.

Fig. 2 is the schematic diagram that two rotating disk transmission of full-automatic welding system of the present invention add gripping member.

Fig. 3 is the apparatus arrangement location drawing of the two specific embodiments of golden support robot welding system of the present invention.

Fig. 4 is the structure chart of a specific embodiment of two golden support robot welding system the first multilayer manipulators of the present invention.

Fig. 5 is that the present invention is with the structural representation of a specific embodiment of the multilayer manipulator of flexible connection fixture.

Fig. 6 is the structural representation of a specific embodiment of flexible connection fixture of the present invention.

Fig. 7 is that the present invention is with the structural representation of a rigid element fixture of the multilayer manipulator of flexible connection fixture.

Fig. 8 is that the present invention is with the structural representation of a specific embodiment of composition element fixture of the multilayer manipulator of flexible connection fixture.

Fig. 9 is the bimetallic metallic support finished product that the two golden support full-automatic welding systems of the present invention have welded.

Figure 10 is that the present invention is with the structural representation of a specific embodiment of the multilayer manipulator of flexible connection fixture.

Figure 11 is the structural representation of not being with the multilayer manipulator of flexible connection fixture, and it is applicable to the rotating disk welding without flexible connection in full-automatic welding system of the present invention.

Figure 12 is that the present invention is with the structural representation of another specific embodiment of the multilayer manipulator of flexible connection fixture.

Figure 13 is a variant embodiment structure chart of composition element fixture shown in Figure 12 of the present invention.

Figure 14 is the structural representation of an embodiment of the multilayer manipulator of band flexible connection fixture of the present invention, composition element fixture.

The specific embodiment

Fig. 1, Fig. 2 have shown a kind of full-automatic welding system, comprise at least two rotating disks, at each rotating disk, at least lay a welding equipment around, a plurality of the first multilayer manipulators 101 are set on the first rotating disk 1, a plurality of the second multilayer manipulators 102 are set on the second rotating disk 2, on described the first multilayer manipulator 101, having one deck manipulator at least is flexible connection fixture, or having one deck manipulator on described the second multilayer manipulator 102 at least is flexible connection fixture, or be all provided with flexible connection fixture on the first multilayer manipulator 101 and the second multilayer manipulator 102.Preferred version is for to be provided with flexible connection fixture at the second multilayer manipulator 102.

Welding bi-metal stent system is example, the invention provides a kind of welding preferred flow of concrete bi-metal stent system, the full-automatic welding system of a set of bi-metal stent system as shown in Figure 3, 12 three layers of manipulators on the first rotating disk 1, have been arranged, i.e. the first multilayer manipulator 101, each first multilayer manipulator 101 comprises an installing rack 103, and these three layers of manipulators are rigid element fixture, its structure is as Fig. 4, shown in Figure 11, wherein the first multilayer manipulator ground floor rigid element fixture adds and holds arc angle 25, the first multilayer manipulator second layer rigid element fixture adds holds bimetal leaf 26, the first the 3rd layer, multilayer manipulator rigid element fixture adds holds terminal plate 28 and joint cover 27.At the first rotating disk 1 side, arrange 2 welding equipments: for first rotating disk 1 that turns clockwise, at the first rotating disk 1 around along clockwise direction, lay successively the first welding equipment 7 and the second welding equipment 10, the first welding equipment 7 welds together terminal plate 28 and joint cover 27, the second welding equipment 10 carries out three-in-one welding by joint cover 27, bimetal leaf 26, arc angle 25, forms the intermediate element being formed by terminal plate 28, joint cover 27, bimetal leaf 26 and arc angle 25: support 42 after first welding equipment the second welding equipment welding.

12 three layer manipulators different from the first multilayer robot manipulator structure on the second rotating disk 2, have been arranged, i.e. the second multilayer manipulator 102, this manipulator is the multilayer manipulator with flexible connection fixture, its preferred structure is as 5, as shown in Figure 10, Figure 12 or Figure 14, each second multilayer manipulator 102 comprises an installing rack 103, wherein:

The second multilayer manipulator ground floor is rigid element fixture, adding what hold is the intermediate semi-finished product that welded: support 42, this layer of rigid element fixture can add the rigid element fixture of holding complex components, the structure as shown in Fig. 5, Fig. 8, Figure 10, Figure 12-Figure 14 shown in preferably; Described support 42 is by the first rotating disk 41, to transfer the second rotating disk 2 to like this: when the first multilayer manipulator 101 rotation that carries support 42 is during to position near the second rotating disk 2, a rigid element fixture of the second multilayer manipulator 102 adds holds support 42, the first multilayer manipulator 101 discharges to add to be held, and the second rotating disk 2 turning handle supports 42 are sent into next welding post.

The second multilayer manipulator second layer is rigid element fixture, and adding what hold is moving contact 40, preferably adopts the rigid element fixture with toe board panel 552 and vertical panel 554 shown in Fig. 7;

The second the 3rd layer, multilayer manipulator 102 is flexible connection fixture, and adding what hold is flexible connection 41, and its concrete structure as shown in Figure 6.At the second rotating disk 2 sides, arrange at least 2 welding equipments, for first rotating disk 1 that turns clockwise, the second rotating disk 2 preferably adopts and is rotated counterclockwise, at the second rotating disk 2 around in the counterclockwise direction, lay successively the

3rd welding equipment

13,13 pairs of supports 42 of 11: the three welding equipments of the 4th welding equipment, flexible connection 41 and weld, the 4th welding equipment 11 welds flexible connection 41 and moving contact 40.After the 3rd welding equipment 13, the 4th welding equipment 11 welding, finally form by terminal plate 28, joint cover 27, bimetal leaf 26 and arc angle 25, flexible connection, moving contact in interior two golden mounting system.But the invention is not restricted to put manipulator with this order, above-mentioned fixture distributing order is only most preferred disposing way.

The direction of rotation of the first rotating disk 1 is contrary with the second rotating disk 2 direction of rotation, and for example the first rotating disk 1 is rotated counterclockwise, and the second rotating disk 2 turns clockwise.The direction of rotation of the first rotating disk 1 and the second rotating disk 2 rotating Vortexes are for becoming bad scheme.In addition, around the first rotating disk 1, the second rotating disk 2, go back cloth and be placed with a plurality of feeders, as shown in Figure 3 in embodiment, terminal plate 28, joint cover 27, bimetal leaf 26 and arc angle 25 are put into respectively to vibrating disk 5,6,8,9, by flat shaking, be transported on the first multilayer manipulator 101, moving contact is put into vibrating disk 12, by flexible connection feeder, flexible connection is added and held on the second multilayer manipulator.

No matter be the first rotating disk or the multilayer manipulator of the second rotating disk, each rigid element fixture on it comprises two relative rigid element clamping plate, as shown in Figure 10, Figure 11, Figure 14, on the installing rack 103 of rigid element fixture place layer, be provided with strip chute 29, two rigid element clamping plate of each rigid element fixture are inserted strip chute and can in strip chute, be moved by base plate separately, described bar shaped chute is preferably rectangular dovetail groove, as shown in Figure 10 and Figure 11.

The structure of the first multilayer manipulator 101 of described the first rotating disk, can be as shown in Fig. 4 and Figure 11, ground floor rigid element fixture is two arc angle clamping plate 34, each arc angle clamping plate 34 comprises following structure: two arc angle clamping plate 34 are provided with relative first and drive front end slot 341 and relative first in vertical and open 343, two arc angle clamping plate 34 ends of interrupt grooves in vertical and be installed in the strip chute 29 of installing rack 103 by arc angle clamping plate boss base plate 344.Second layer rigid element fixture is two bimetal leaf clamping plate 36.The 3rd layer of rigid element fixture is two terminal plates and joint cover clamping plate 38, each terminal plate and joint cover clamping plate 38 comprise following structure: on terminal plate and joint cover clamping plate 38, be provided with open on relative before end slot 381 and on open stage casing groove 384, drive front end slot 381 on described and there is front end inclined-plane 381.

The first multilayer manipulator 101 of described the first rotating disk adopts following rigid element type of drive: described installing rack 103 comprises 4 transverse slats 43, and therefore every layer of manipulator is all adjacent with a transverse slat 43 up and down; On the base plate of arc angle clamping plate 34, bimetal leaf clamping plate 36, terminal plate and joint cover clamping plate 38, be provided with monolateral tooth bar 32, described monolateral tooth bar and base plate can be splits or integrated; At each rigid element fixture place layer, be equipped with the driving mechanism of a set of driving rigid element fixture: the screwed slide block 50 in its one end, back-moving spring 49 and two gears 46 that pivotable is installed, each gear 46 meshes with the monolateral tooth bar 32 of a base plate respectively, described two gears 46 are placed side by side, described slide block inserts between two gears, screw-threaded engagement on described gear and slide block, described back-moving spring 49 acts on slide block 50 so that slide block reset.

The structure of the second multilayer manipulator 102 of described the second rotating disk, can be as 5, as shown in Figure 12.Wherein as shown in Figure 6, described flexible connection fixture comprises flexible connection the first clamping plate 53 and flexible connection the second clamping plate 54 to soft connecting clamp, and the middle part of flexible connection the second clamping plate 54 is pivoted on flexible connection the first clamping plate 53.The top of the top of described the first clamping plate 53 and described flexible connection the second clamping plate 54 is respectively equipped with flexible connection and adds the portion of holding; The bottom of flexible connection the second clamping plate 54 is oblique pressing plate 542, between the oblique pressing plate 542 of flexible connection the second clamping plate 54 and the bottom of flexible connection the first clamping plate 53, be provided with a flexible connection tensioner spring 545, flexible connection fixture passes through the flexible connection tensioner spring 545 of its bottom by flexible connection the second clamping plate 54, flexible connection the first clamping plate 53 tensioners, thereby the clamping part of flexible connection the first clamping plate 53, flexible connection the second clamping plate 54 is stepped up, thereby add, hold flexible connection 41.Described tensioner spring also can be used other forms of spring to replace, and as torsion spring etc., but preferably flexible connection spring is tensioner spring.

Pivotable between flexible connection the first clamping plate 53 and flexible connection the second clamping plate 54 is installed preferably and is realized in the following manner: at flexible connection the second clamping plate 54 middle parts, be provided with ear type part 544 with holes, as shown in the figure, described ear type part 544 with holes is between the flexible connection clamping part and oblique pressing plate 54 of flexible connection the first clamping plate 53, flexible connection the first clamping plate 53 are provided with bearing pin 543, bearing pin 543 on flexible connection the first clamping plate 53 stretches into the hole of ear type part 544, makes flexible connection the second clamping plate 54 around bearing pin 543 pivotables of flexible connection the first clamping plate 53.

The flexible connection clamping part of flexible connection the first clamping plate 53 and flexible connection the second clamping plate 54 preferably adopts following structure: the flexible connection clamping part of flexible connection the first clamping plate 53 comprises at least two the first clamping plate square columns 531 in left and right, between two the first clamping plate square columns 531, be provided with through hole, the flexible connection clamping part of described flexible connection the second clamping plate 54 comprises two the second clamping plate square columns 541 in left and right, between two the second clamping plate square columns 541, is provided with through hole.Between the first clamping plate square column 531 and the second clamping plate square column 541, adopt straight trough engaging structure 533.As shown in Figure 6, the straight trough of described straight trough engaging structure is positioned on the first clamping plate square column 531, and engaging tooth projection is arranged on the second clamping plate square column 541; Certainly, as another kind of embodiment, the straight trough of straight trough integrated structure also can be positioned at the second clamping plate square column 541, and engaging tooth is positioned on the first clamping plate square column 531.The flexible connection clamping part of flexible connection the first clamping plate 53 or flexible connection the second clamping plate 54 can be also one and add and hold plate, but preferably adopts two columns to add gripping member, and it can be also cylinder or other cylindricalitys that described column adds gripping member, but optimum is square column.

Described flexible connection fixture preferably adopts mode shown in Fig. 6 to be installed on installing rack 103, described flexible connection the first clamping plate 53 are vertical with the substrate 56 of its bottom, described substrate 56 is connected with installing rack 103 and extends out from installing rack 103, and described flexible connection the second clamping plate 54 are pivoted on flexible connection the first clamping plate 53 and are positioned at the side away from installing rack 103.

This flexible connection Fixture Layout vertically laying is rationally compact, can make a plurality of original papers weld simultaneously, can obtain welding position more accurately, and facilitate pressing operation and dismounting in production line machinery is produced.Substrate and flexible connection the first clamping plate 53 can be integrated, as shown in Figure 5; Also can be split, a substrate being independent of outside flexible connection fixture for example, this substrate one end is fixed on to install and adds, flexible connection the first clamping plate 53 are vertically mounted on this substrate, as shown in Figure 6, flexible connection the first clamping plate 53 can be vertically fixed on by the screw 532 of its underpart (described substrate does not draw) on substrate.In addition the substrate 56 of described flexible connection the first clamping plate 53 can be one with installing rack 103, also can be fixedly mounted on installing rack 103, for example, by screw, fix.

The flexible connection fixture of described multilayer manipulator can be manually or automated manner drive, be illustrated in figure 5 manual drives mode, people is the oblique pressing plate 542 of pressing flexible connection the second clamping plate 54, the flexible connection of flexible connection the second clamping plate 54, flexible connection the first clamping plate 53 is added hold part from.Preferred mode is automatic type of drive, as shown in figure 12, described multilayer manipulator is also equipped with flexible connection fixture control cylinder 60b, on flexible connection fixture control cylinder 60b, be provided with tilting bar 60a, flexible connection fixture control cylinder 60b control that tilting bar 60a moves up and down or side-to-side movement to press the oblique pressing plate 542 of flexible connection the second clamping plate 54, the flexible connection retained part that makes two clamping plate of flexible connection fixture from, unclamp flexible connection 41.

What the ground floor rigid element fixture of the second multilayer manipulator 102 of described the second rotating disk preferably adopted is the composition element fixture as described in Fig. 8 or Figure 13.

In embodiment illustrated in fig. 8, described composition element fixture 51 at least comprises two composition element clamping plate 51 that left and right distributes, the relative madial wall of described two composition element clamping plate, 51 front end clamping part is provided with the front end straight trough 511 of bar shaped, the rear end base plate 524 of described two composition element clamping plate 51 is inserted in the bar shaped chute interior 29 of installing rack 103, and described two composition element clamping plate 51 preferably adopt batter post 516, right cylinder 515 to adjust the position at clamping part place.

The another one embodiment of this layer of composition element fixture as shown in figure 13, it comprises two composition element clamping plate 51 that left and right distributes, this manipulator can add holds multiple rigid element, such as bimetal leaf, arc angle etc., different from other ordinary rigid component fixture is, it is especially applicable to adding the complicated intermediate structure of holding by a plurality of element welding fabrications, and for example supporting structure 42.Described composition element clamping plate 51 ends are provided with projection 521 in opposite directions, when two the first rigid element clamping plate 51 clamp, between two protruding in opposite directions 521 rear portions, two the first rigid element clamping plate 51, form fixture hole 517, each protruding 521 is provided with front end straight trough 511 in opposite directions, and described front end straight trough 511 connects to fixture hole 517 from the first rigid element clamping plate 51.As preferred scheme, described the first rigid element clamping plate 51 also comprise batter post 516, the right cylinder end boss 513 between right cylinder 515, right cylinder 515 and fixture hole 517, described the first rigid element clamping plate 51 stretch into right cylinder end boss 513 in the strip chute 29 of installing rack 103 by screw, and be connected with driving mechanism, thereby make the fixing more firm of rigid element fixture.

The second multilayer manipulator 102 of described the second rotating disk, its second layer rigid element fixture preferably adopts adding shown in Fig. 7 to hold the moving contact fixture of moving contact 40, and it comprises on the end face of one end of 55, two moving contact clamping plate 55 of two moving contact clamping plate and has half mouthful 551,

The preferred structure of described second layer rigid element fixture as shown in Figure 5, comprises two moving contact clamping plate 55, and moving contact clamping plate 55 comprise toe board panel 552 and vertical panel 554, and described toe board panel 552 is along oblique the stretching out of installing rack extension direction; Toe board panel 552 as shown in Figure 7 has one directly to extension 5541 and oblique portion 5542, to form, and directly to extension and oblique portion, makes toe board panel 552 on the whole along oblique the stretching out of installing rack extension direction.The bottom vertical of vertical panel 554 is arranged on the front end of toe board panel 552, and the retaining part of two the second rigid element clamping plate 55 is in the top of vertical panel 554.

The clamping part of described moving contact clamping plate 55 preferably adopts two relative half mouthful 551; this clamping part is applicable to adding very much holds the first-class similar rigid element of movable contact; also it is not limited only to add and holds moving contact; other rigid element also belong to this patent protection domain; if certainly use the clamping part of other types instead, be also fine, such as establishing to add at two the second rigid element clamping plate 55 end sides, hold opening.The end of toe board panel 552 stretches into bar shaped chute 29 and is connected with the driving mechanism on installing rack 103.

From common directly to stretch formula fixture different, in moving contact clamping plate 55 shown in Fig. 7 of the present invention, adopted 552 pairs of fixtures of toe board panel to carry out tilting, also adopted 554 pairs of fixtures of vertical panel to carry out bending, thereby adjust added the rigid element of holding up and down, the position of front and back, make to be added the rigid element of holding and can be placed on one end that flexible connection fixture adds the portion of holding, thereby make pad more accurate.Certainly this tilting and bending also can be applicable to flexible connection fixture and/or other rigid element fixtures coordinating with flexible connection fixture, for example by the first flexible connection clamping plate 53 perpendicular to substrate, for another example the position that utilizes bending to raise flexible connection fixture on flexible connection substrate 56 in Figure 10 embodiment makes its flexible connection fixture and other rigid element fixtures keep concordant, and and for example in Figure 12, rigid element fixture 51 adds by bending or tilting handle the portion of holding and is reduced to the position concordant with flexible connection fixture.

The present invention is with the multilayer manipulator of flexible connection fixture, its scope is not limited to drawing and the illustrated scope of above-described embodiment, for example the position of described flexible connection fixture does not need to be positioned at the 3rd layer, also can with the position transposing of the rigid element fixture of the second layer, or by the location swap of two rigid element fixtures, but transposition in any case, all need to guarantee the clamping part of two rigid element fixtures is placed on respectively to the region that the two ends of flexible connection fixture clamping part are closed on, for example: the adding of a rigid element fixture holds left side that position is positioned at flexible connection fixture first clamping plate the second clamping plate and add and hold near square column, the adding of another rigid element fixture, holds right side that position is positioned at flexible connection fixture first clamping plate the second clamping plate and adds and hold near square column.

For the multilayer manipulator with flexible connection fixture, the clamping part place direction of flexible connection the first clamping plate 53 of take is X-axis positive direction, take flexible connection the first clamping plate 53 one end relative with clamping part is X-axis negative direction, the direction of take perpendicular to 53, flexible connection the first clamping plate is Y direction, the direction of wherein take away from installing rack 103 is Y-axis positive direction, take flexible connection the first clamping plate 53 two ends, clamping part left and right is Z-direction, multilayer manipulator is preferably arranged as follows: take embodiment illustrated in fig. 10 is example, the base plate of described two-layer rigid element fixture and the projector distance of the substrate of soft connecting clamp in Y-axis are all greater than 0, the base plate of second layer rigid element fixture and the base plate of soft connecting clamp are all greater than 0 at the projector distance of X-axis, the projector distance of the base plate of second layer rigid element fixture on Z axis is all greater than 0.Certainly in other alternate embodiments, also base plate that can ground floor rigid element is all greater than 0 at the projector distance of X-axis, the base plate of second layer rigid element fixture on Z axis projector distance be all greater than 0, or the base plate of ground floor rigid element is all greater than 0 at the projector distance of Y-axis, the projector distance of the base plate of second layer rigid element fixture on Z axis is all greater than 0.No matter be which kind of is arranged as long as assurance meets following projected position relation: at the base plate of described two-layer rigid element fixture and the substrate of soft connecting clamp, the projector distance in Y-axis is all greater than 0, in the base plate of described two-layer rigid element fixture, have at least the projector distance of a base plate in X-axis to be greater than 0, in the base plate of described two-layer rigid element fixture, have at least the projector distance of a base plate on Z axis to be greater than 0.

In embodiment, the second multilayer manipulator 102 of the second rotating disk has adopted following rigid element type of drive and installing rack structure: described installing rack 103 comprises transverse slat 43 as shown in Figure 5, and what have also comprises stringer board.Every layer of manipulator is all provided with at least one deck transverse slat 43, is equipped with the driving mechanism of a set of driving rigid element fixture at each rigid element fixture place layer, the base plate of each rigid element clamping plate of two-layer rigid element fixture all stretches in the bar shaped chute of installing rack 103, described bar shaped chute preferably adopts dovetail groove, on each base plate in installing rack, be provided with monolateral tooth bar 32, the driving mechanism of rigid element fixture comprises: the screwed slide block 50 in one end, back-moving spring 49 and two gears 46 that pivotable is installed, each gear meshes with the monolateral tooth bar of a base plate respectively, described two gears 46 are placed side by side, described slide block 50 inserts between two gears 46, screw-threaded engagement on described gear 46 and slide block 50, described action of reset spring on slide block so that slide block reset.Wherein, monolateral tooth bar can be independent component, can be also a part for base plate.

In order to adapt to the rigid element fixture of number of different types, the present invention also provides a kind of preferred drive mechanism and installing rack 103, as Figure 12 has shown the drives structure of the second multilayer manipulator 102 of the second rotating disk.Every layer, three layers of manipulator is all provided with at least one deck transverse slat 43, and described installing rack 103 is also provided with two of left and right stringer boards 44 so that driving mechanism to be installed at rigid element fixture place layer, at rigid element fixture layer, is equipped with a set of driving mechanism.Rigid element fixture is positioned at ground floor and the second layer, therefore at this two-layer left and right stringer board 44 that is equipped with.The driving mechanism of every layer includes slide block 50, two driving mechanism pressing plates 451, pressing plate fixed pivot axi 471, the initial spring 461 of pressing plate, have at least a driving mechanism pressing plate 451 to be pivoted on pressing plate fixed pivot axi 471, described pressing plate fixed pivot axi 471 is fixedly mounted on the transverse slat 43 of installing rack 103 and pressing plate fixed pivot axi 471 is positioned at the middle part of driving mechanism pressing plate 451, one end of these two driving mechanism pressing plates 451 is connected with two clamping plate of rigid element fixture respectively, and the other end is accepted the touching of slide block; Between this driving mechanism pressing plate 451 and the stringer board 44 of installing rack 103, be provided with the initial spring 461 of pressing plate, the initial spring 461 of described pressing plate is preferably placed at the side near rigid element fixture clamping plate.When promote sliding 50 time, two driving mechanism pressing plates 451 of slide block 50 touchings make the touched end of two driving mechanism pressing plates 451 separated, thereby drive the jaws close of the rigid element fixture of two driving mechanism pressing plate 451 other ends to clamp, when slide block 50 is return when separated with driving mechanism pressing plate 451, two driving mechanism pressing plates 451 the initial spring 461 of pressing plate by depressing reset, the clamping plate of rigid element fixture are cancelled adding and are held.

For embodiment illustrated in fig. 12, the driving mechanism of described rigid element fixture can be asymmetric, for example, only have a driving mechanism pressing plate 451 to be pivoted on pressing plate fixed pivot axi 471, and another is fixedly mounted on installing rack transverse slat 43.As preferred embodiment as shown in Figure 2, the driving mechanism of described rigid element fixture is symmetrically arranged, now there are two pressing plate fixed pivot axis 471 and two initial springs 461 of pressing plate, two driving mechanism pressing plates 451 are pivoted on respectively on a pressing plate fixed pivot axi 471, and reset by the initial spring 461 of pressing plate separately.

Described slide block can artificially manually be controlled and slide, also can adopt cylinder automatically to control, for example on installing rack 103 sides, a rigid element fixture control cylinder (not shown) is set, described rigid element fixture control cylinder is multilayer push rod cylinder, drive each layer of driving mechanism simultaneously, make each layer of rigid element fixture discharge at one time or clamp.

In order to make drive unit sensitiveer and accurate, at described slide block 50, away from a side of driving mechanism pressing plate 451, be provided with driving spring 49, by driving spring 49, make 451 accelerated motions of driving mechanism pressing plate; In addition, at driving mechanism pressing plate 451, near one end of slide block 50, be provided with step cylinder 48 to accept the pressure of slide block, the operation that step cylinder 48 makes drive unit more accurately and stable.

Accurate and stable isolating construction can be designed to: driving mechanism pressing plate 451 near have the slide block 50 of endoporus symmetrical V-type feeler, to accept top compacting from the right-hand member cylinder rod of slide block existing to the opening of each rigid element clamping plate, realize and unclamp rigid element; After right-hand member cylinder rod resets, two driving mechanism pressing plates 451 and slide block rely on respectively spring to implement the reset that retreats of the clamping of rigid element and slide block; Slide block (49) slides before and after slide block.

Claims

1. a flexible connection fixture, comprises flexible connection the first clamping plate (53) and flexible connection the second clamping plate (54), it is characterized in that:

The middle part of flexible connection the second clamping plate (54) is pivoted on flexible connection the first clamping plate (53); The top of the top of described the first clamping plate (53) and described flexible connection the second clamping plate (54) is respectively equipped with flexible connection and adds the portion of holding; The bottom of flexible connection the second clamping plate (54) is oblique pressing plate (542), and flexible connection the second clamping plate (54) are pressed against on flexible connection the first clamping plate (53) by flexible connection spring (545).

2. flexible connection fixture according to claim 1, is characterized in that:

The flexible connection clamping part of flexible connection the first clamping plate (53) comprises at least two the first clamping plate square columns (531) in left and right; between two the first clamping plate square columns (531), be provided with through hole; the flexible connection clamping part of described flexible connection the second clamping plate (54) comprises two the second clamping plate square columns (541) in left and right, between two the second clamping plate square columns (541), is provided with through hole; Between the first clamping plate square column (531) and the second clamping plate square column (541), adopt straight trough engaging structure (533).

3. flexible connection fixture according to claim 1, is characterized in that:

At flexible connection the second clamping plate (54) middle part, be provided with ear type part (544) with holes, flexible connection the first clamping plate (53) are provided with bearing pin (543), and the bearing pin (543) on flexible connection the first clamping plate (53) stretches into the hole of ear type part (544).

4. flexible connection fixture according to claim 1, is characterized in that:

Described flexible connection spring (545) adopts tensioner spring, and described tensioner spring is positioned between the oblique pressing plate (542) of flexible connection the second clamping plate (54) and the bottom of flexible connection the first clamping plate (53).

5. with a multilayer manipulator for flexible connection fixture, comprise the installing rack (103) of installation manipulator, it is characterized in that:

At at least two-layer manipulator of the upper setting of described installing rack (103), wherein having one deck manipulator at least is flexible connection fixture, and having one deck manipulator at least is rigid element fixture;

Described each rigid element fixture comprises two relative rigid element clamping plate, on the installing rack (103) of rigid element fixture place layer, be provided with strip chute, two rigid element clamping plate of each rigid element fixture are inserted strip chute and can in strip chute, be moved by base plate separately;

Described flexible connection fixture comprises that the middle part of flexible connection the first clamping plate (53) and flexible connection the second clamping plate (54) flexible connection the second clamping plate (54) is pivoted on flexible connection the first clamping plate (53); The top of the top of described the first clamping plate (53) and described flexible connection the second clamping plate (54) is respectively equipped with flexible connection and adds the portion of holding; The bottom of flexible connection the second clamping plate (54) is oblique pressing plate (542), and flexible connection the second clamping plate (54) are pressed against on flexible connection the first clamping plate (53) by flexible connection spring (545); Described flexible connection the first clamping plate (53) are fixed on installing rack (103) by the substrate of bottom.

6. the multilayer manipulator with flexible connection fixture according to claim 5, is characterized in that:

7. the multilayer manipulator with flexible connection fixture according to claim 5, is characterized in that:

8. the multilayer manipulator with flexible connection fixture according to claim 5, is characterized in that:

9. the multilayer manipulator with flexible connection fixture according to claim 5, is characterized in that:

On described installing rack (103), be at least provided with three layers of manipulator, in these three layers of manipulators, having two-layer manipulator at least is rigid element fixture, and one deck manipulator is flexible connection fixture in addition; Wherein one deck rigid element fixture add the close region that the portion of holding is positioned at flexible connection the first clamping plate (53) and flexible connection the second clamping plate (54) clamping part one end, another layer of rigid element fixture add the close region that the portion of holding is positioned at flexible connection the first clamping plate (53) and flexible connection the second clamping plate (54) clamping part other end.

10. the multilayer manipulator with flexible connection fixture according to claim 9, is characterized in that:

The clamping part place direction of flexible connection the first clamping plate (53) of take is X-axis positive direction, one end that flexible connection the first clamping plate (53) of take are relative with clamping part is X-axis negative direction, the direction of take perpendicular to flexible connection the first clamping plate (53) face is Y direction, the direction of wherein take away from installing rack (103) is Y-axis positive direction, take two ends, flexible connection the first clamping plate (53) clamping part left and right is Z-direction, described two-layer rigid element fixture, flexible connection fixture adopts following arrangement: flexible connection the first clamping plate (53) stretch out from installing rack (103) by substrate (56), each rigid element folder respectively base plate by separately stretches out from installing rack (103), at the base plate of described two-layer rigid element fixture and the substrate of soft connecting clamp, the projector distance in Y-axis is all greater than 0, in the base plate of described two-layer rigid element fixture, have at least the projector distance of a base plate in X-axis to be greater than 0, in the base plate of described two-layer rigid element fixture, have at least the projector distance of a base plate on Z axis to be greater than 0.

The 11. multilayer manipulators with flexible connection fixture according to claim 5, is characterized in that:

Described flexible connection the first clamping plate (53) are vertical with the substrate (56) of its bottom, described substrate (56) is connected with installing rack (103) and extends out from installing rack (103), and described flexible connection the second clamping plate (54) are pivoted on flexible connection the first clamping plate (53) and go up and be positioned at the side away from installing rack (103).

The 12. multilayer manipulators with flexible connection fixture according to claim 5, is characterized in that:

The described multilayer manipulator with flexible connection fixture is also furnished with flexible connection fixture control cylinder (60b), on flexible connection fixture control cylinder (60b), be provided with tilting bar (60a), flexible connection fixture control cylinder (60b) is controlled tilting bar (60a) action to press the oblique pressing plate (542) of flexible connection the second clamping plate (54).

The 13. multilayer manipulators with flexible connection fixture according to claim 5, is characterized in that:

Described installing rack (103) comprises transverse slat (43), and every layer of manipulator is all provided with at least one deck transverse slat (43), is equipped with the driving mechanism of a set of driving rigid element fixture at each rigid element fixture place layer;

On each base plate in installing rack, be provided with monolateral tooth bar, the driving mechanism of rigid element fixture comprises: the screwed slide block in one end, back-moving spring and two gears that pivotable is installed, each gear meshes with the monolateral tooth bar of a base plate respectively, described two gears are placed side by side, described slide block inserts between two gears, screw-threaded engagement on described gear and slide block, described action of reset spring on slide block so that slide block reset.

The 14. multilayer manipulators with flexible connection fixture according to claim 5, is characterized in that:

Described installing rack (103) consists of transverse slat (43) and stringer board (44), and every layer of manipulator is all provided with at least one deck transverse slat (43), is equipped with the driving mechanism of a set of driving rigid element fixture at each rigid element fixture place layer;

Every cover driving mechanism includes two driving mechanism pressing plates (451), pressing plate fixed pivot axi (471), the initial spring of pressing plate (461) and slide block (50), have at least a driving mechanism pressing plate (451) to be pivoted on pressing plate fixed pivot axi (471), described pressing plate fixed pivot axi (471) is fixedly mounted on the middle part that the upper and pressing plate fixed pivot axi (471) of the transverse slat (43) of installing rack (103) is positioned at driving mechanism pressing plate (451), one end of these two driving mechanism pressing plates (451) is connected with the base plate of one of two clamping plate of rigid element fixture respectively, driving mechanism pressing plate (451) other end is accepted the touching of slide block, between this driving mechanism pressing plate (451) and the stringer board (44) of installing rack, be provided with the initial spring of pressing plate (461).

The 15. multilayer manipulators with flexible connection fixture according to claim 14, is characterized in that: described slide block (50) is arranged with driving spring (49) away from a side of driving mechanism pressing plate (451); At driving mechanism pressing plate (451), near one end of slide block (50), being provided with step cylinder (49) accepts slide block and presses.

16. according to the multilayer manipulator with flexible connection fixture described in claim 13 or 14 or 15, it is characterized in that: the rigid element fixture of described multilayer manipulator is at least two-layer, described rigid element fixture control cylinder is multilayer push rod cylinder, drives the slide block of each layer of driving mechanism by a rigid element fixture control cylinder simultaneously.

The 17. multilayer manipulators with flexible connection fixture according to claim 5, is characterized in that: described bar shaped chute is the dovetail groove of bar shaped.

The 18. multilayer manipulators with flexible connection fixture according to claim 5, is characterized in that:

In described rigid element fixture, having one at least is composition element fixture, described composition element fixture at least comprises two composition element clamping plate (51) that left and right distributes, and the relative madial wall of described two composition element clamping plate (51) front end clamping part is provided with the front end straight trough (511) of bar shaped.

The 19. multilayer manipulators with flexible connection fixture according to claim 18, is characterized in that:

Have at least composition element clamping plate (51) end to be provided with projection (521) in opposite directions, when two composition element clamping plate (51) clamp, at two, between projection (521) rear portion, two composition element clamping plate (51), form fixture hole (517) in opposite directions, each in opposite directions projection (521) be provided with front end straight trough (511), described front end straight trough (511) connects to fixture hole (517) from composition element clamping plate 51.

20. 1 kinds of full-automatic welding systems, comprise the first rotating disk (1), the second rotating disk (2), at each rotating disk, at least lay a welding equipment around, it is characterized in that:

A plurality of the first multilayer manipulators (101) are set on the first rotating disk (1); a plurality of the second multilayer manipulators (102) are set on the second rotating disk (2); the first multilayer manipulator (101) and the second multilayer manipulator (102) include installing rack (103); at at least two-layer manipulator of the upper setting of described installing rack (103); on described the first multilayer manipulator (101), having one deck manipulator at least is flexible connection fixture, and having one deck manipulator at least is rigid element fixture; And/or to have one deck manipulator at least on described the second multilayer manipulator (102) be flexible connection fixture, having one deck manipulator at least is rigid element fixture;

21. full-automatic welding systems according to claim 20, is characterized in that:

A plurality of the first multilayer manipulators (101) at the edge of the first rotating disk (1), have been evenly arranged, each first multilayer manipulator (101) comprises an installing rack and three layers of manipulator consisting of rigid element fixture at least as described below, wherein the first multilayer manipulator ground floor rigid element fixture adds and holds arc angle (25), the first multilayer manipulator second layer rigid element fixture adds holds bimetal leaf (26), and the first the 3rd layer, multilayer manipulator rigid element fixture adds holds terminal plate (28) and joint cover (27);

At the first rotating disk (1) side, along the first turntable rotation direction, arrange successively the first welding equipment (7) and the second welding equipment (10), the first welding equipment (7) welds together terminal plate (28) and joint cover (27), and the second welding equipment (10) carries out three-in-one welding by joint cover (27), bimetal leaf (26), arc angle (25) and forms support (42);

At the edge of the second rotating disk (2), be evenly arranged a plurality of the second multilayer manipulators (102), each second multilayer manipulator (102) is one independently with the multilayer manipulator of flexible connection fixture, described the second multilayer manipulator (102) all comprises an installing rack and three layers of manipulator at least as described below, and wherein the second multilayer manipulator (102) ground floor is for adding the rigid element fixture of holding support (42);

The second layer is for to add the rigid element fixture of holding moving contact (40) for the second multilayer manipulator (102), and the second the 3rd layer, multilayer manipulator (102) is flexible connection fixture; The direction of rotation of the second rotating disk (2) is contrary with the first rotating disk (1), at the second rotating disk (2) side, along the second turntable rotation direction, arrange successively the 3rd welding equipment (13), the 4th welding equipment (11): the 3rd welding equipment (13) welds support (42), flexible connection (41), the 4th welding equipment (11) welds flexible connection (41) and moving contact (40).

22. according to the full-automatic welding system described in claim 20 or 21, it is characterized in that:

23. according to the full-automatic welding system described in claim 20 or 21, it is characterized in that:

24. according to the full-automatic welding system described in claim 20 or 21, it is characterized in that:

25. according to the full-automatic welding system described in claim 20 or 21, it is characterized in that:

On the installing rack (103) of described the first multilayer manipulator (101) or the second multilayer manipulator (102), be at least provided with three layers of manipulator, in these three layers of manipulators, having two-layer manipulator at least is rigid element fixture, and one deck manipulator is flexible connection fixture in addition; Wherein one deck rigid element fixture add the close region that the portion of holding is positioned at flexible connection the first clamping plate (53) and flexible connection the second clamping plate (54) clamping part one end, another layer of rigid element fixture add the close region that the portion of holding is positioned at flexible connection the first clamping plate (53) and flexible connection the second clamping plate (54) clamping part other end.

26. according to the full-automatic welding system described in claim 20 or 21, it is characterized in that:

In the multilayer manipulator with flexible connection fixture, the clamping part place direction of flexible connection the first clamping plate (53) of take is X-axis positive direction, one end that flexible connection the first clamping plate (53) of take are relative with clamping part is X-axis negative direction, the direction of take perpendicular to flexible connection the first clamping plate (53) is Y direction, the direction of wherein take away from installing rack (103) is Y-axis positive direction, take two ends, flexible connection the first clamping plate (53) clamping part left and right is Z-direction, described two-layer rigid element fixture, flexible connection fixture adopts following arrangement: flexible connection the first clamping plate (53) stretch out from installing rack (103) by substrate (56), each rigid element folder respectively base plate by separately stretches out from installing rack (103), at the base plate of described two-layer rigid element fixture and the substrate of soft connecting clamp, the projector distance in Y-axis is all greater than 0, in the base plate of described two-layer rigid element fixture, have at least the projector distance of a base plate in X-axis to be greater than 0, in the base plate of described two-layer rigid element fixture, have at least the projector distance of a base plate on Z axis to be greater than 0.

27. according to the full-automatic welding system described in claim 20 or 21, it is characterized in that:

In the multilayer manipulator with flexible connection fixture, described flexible connection the first clamping plate (53) are vertical with the substrate (56) of its bottom, described substrate (56) is connected with installing rack (103) and extends out from installing rack (103), and described flexible connection the second clamping plate (54) are pivoted on flexible connection the first clamping plate (53) and go up and be positioned at the side away from installing rack (103).

28. according to the full-automatic welding system described in claim 20 or 21, it is characterized in that:

With the multilayer manipulator of flexible connection fixture, is also furnished with flexible connection fixture control cylinder (60b), on flexible connection fixture control cylinder (60b), be provided with tilting bar (60a), flexible connection fixture control cylinder (60b) is controlled tilting bar (60a) action to press the oblique pressing plate (542) of flexible connection the second clamping plate (54).

29. according to the full-automatic welding system described in claim 20 or 21, it is characterized in that:

The installing rack (103) of described the first multilayer manipulator (101) or the second multilayer manipulator (102) comprises transverse slat (43), every layer of manipulator is all provided with at least one deck transverse slat (43), is equipped with the driving mechanism of a set of driving rigid element fixture at each rigid element fixture place layer;

30. according to the full-automatic welding system described in claim 20 or 21, it is characterized in that:

The installing rack (103) of described the first multilayer manipulator (101) or the second multilayer manipulator (102) comprises transverse slat (43) and stringer board (44), every layer of manipulator is all provided with at least one deck transverse slat (43), is equipped with the driving mechanism of a set of driving rigid element fixture at each rigid element fixture place layer;

Every cover driving mechanism includes two driving mechanism pressing plates (451), pressing plate fixed pivot axi (471), the initial spring of pressing plate (461) and slide block (50), have at least a driving mechanism pressing plate (451) to be pivoted on pressing plate fixed pivot axi (471), described pressing plate fixed pivot axi 471 is fixedly mounted on the middle part that the upper and pressing plate fixed pivot axi (471) of the transverse slat (43) of installing rack (103) is positioned at driving mechanism pressing plate (451), one end of these two driving mechanism pressing plates (451) is connected with the base plate of one of two clamping plate of rigid element fixture respectively, driving mechanism pressing plate (451) other end is accepted the touching of slide block, between this driving mechanism pressing plate (451) and the stringer board (44) of installing rack, be provided with the initial spring of pressing plate (46).

31. full-automatic welding systems according to claim 30, is characterized in that:

Described slide block (50) is arranged with driving spring (49) away from a side of driving mechanism pressing plate (451); At driving mechanism pressing plate (451), near one end of slide block (50), being provided with step cylinder (49) accepts slide block and presses.

32. according to the full-automatic welding system described in claim 20 or 21, it is characterized in that: described bar shaped chute is the dovetail groove of bar shaped.

33. full-automatic welding systems according to claim 21, is characterized in that:

The second multilayer manipulator (102) has one at least, and to state in rigid element fixture be composition element fixture, described composition element fixture at least comprises two composition element clamping plate (51) that left and right distributes, and the relative madial wall of described two composition element clamping plate (51) front end clamping part is provided with the front end straight trough (511) of bar shaped.

34. full-automatic welding systems according to claim 33, is characterized in that:

35. full-automatic welding systems according to claim 20, is characterized in that:

Wherein at least one rigid element fixture adopts following structure: on two clamping plate (34), be provided with relative first and drive front end slot (341) in vertical and open interrupt grooves (343) with relative first in vertical, two clamping plate (34) end is installed in the strip chute (29) of installing rack (103) by clamping plate boss base plate (344).

36. full-automatic welding systems according to claim 20, is characterized in that:

Wherein at least one rigid element fixture adopts following structure: on two clamping plate (38), be provided with open on relative front end slot (381) and on open stage casing groove (384), drive front end slot (381) on described and there is front end inclined-plane (381).

37. full-automatic welding systems according to claim 20, is characterized in that:

Wherein at least one rigid element fixture adopts following structure: two clamping plate (55), and clamping plate (55) comprise toe board panel (552) and vertical panel (554), described toe board panel (552) is along oblique the stretching out of installing rack extension direction; Toe board panel (554) has one directly to extension (5541) and oblique portion (5542), to form, and directly to extension and oblique portion, makes toe board panel (552) on the whole along oblique the stretching out of installing rack extension direction; The bottom vertical of vertical panel (554) is arranged on the front end of toe board panel (552), and the retaining part of clamping plate (55) is in the top of vertical panel (554).