CN114273849B

CN114273849B - Fixed frock clamp of robot base weld forming

Info

Publication number: CN114273849B
Application number: CN202210214556.5A
Authority: CN
Inventors: 仝晓朋
Original assignee: Jiangsu Bofa Robot Intelligent Equipment Co ltd
Current assignee: Jiangsu Bofa Robot Intelligent Equipment Co ltd
Priority date: 2022-03-07
Filing date: 2022-03-07
Publication date: 2022-05-13
Anticipated expiration: 2042-03-07
Also published as: CN114273849A

Abstract

The invention relates to the field of robot assembly forming, in particular to a fixed tool clamp for robot base welding forming, which comprises a base, a support frame, a workbench and a clamping and limiting mechanism, wherein in the clamping and limiting mechanism designed by the invention, a winding motor is started to drive a winding roller to rotate, so that the winding roller drives a clamping rack to move through a traction rope, and further drives a clamping block to enter a rectangular groove below the robot base, so that the robot base is limited and fixed through a clamping branch chain; in supporting the branch chain, electronic slider promotes the backup pad through the regulating block and opens, rotates the lead screw and drives the backup pad and remove in opposite directions to the backup pad can support the processing to the vertical section of robot base, avoids robot base to take place the shake in welding process, influences robot base's welding precision.

Description

Fixed frock clamp of robot base weld forming

Technical Field

The invention relates to the field of robot assembly forming, in particular to a fixed tooling clamp for welding forming of a robot base.

Background

The robot is a multi-joint mechanical arm widely used in the industrial field or a multi-degree-of-freedom machine device, and consists of a mechanical part, a sensing part and a control part, the robot can realize various industrial processing and manufacturing functions by depending on the power energy and the control capability of the robot, and the robot is widely used in various industrial fields such as electronics, logistics, chemical engineering and the like; the mechanical part of the robot is composed of a base, a machine body, an arm and an execution end, wherein the robot base is assembled and molded in a welding mode as shown in figure 9.

The robot base welds after needing to align earlier between the part at the welding forming in-process, has the slope problem between the part because factors such as joint atress is inhomogeneous probably cause between the part at the alignment in-process, if correct the alignment between the part, welding forming's robot base precision is relatively poor to influence subsequent robot equipment effect.

Because the robot base needs to carry out welded fastening through the welding machine in the welding forming process, the welding machine can cause the robot base to take place the shake because the bonding tool frequently contacts, separates with the robot base in welding process, and then the stability when influencing the robot base and fixing spacing leads to the welding effect of robot base relatively poor, influences the subsequent result of use of robot base.

Disclosure of Invention

In order to solve the problems, the invention adopts the following technical scheme: the utility model provides a fixed frock clamp of robot base weld forming, includes base, support frame, workstation and centre gripping stop gear, four corners of base up end install the support frame, the workstation is installed jointly to four support frame up ends, install centre gripping stop gear jointly on workstation and the base.

The clamping and limiting mechanism comprises a winding motor, a traction rope, a gear, a rack, a limiting rod, a limiting branched chain, a clamping rack, a clamping block, a supporting branched chain, a clamping branched chain and a winding roller, wherein the winding motor is arranged on the rear side of the upper end surface of the base through a motor base, a supporting bulge is arranged on the front side of the upper end surface of the base, one end of the winding roller is arranged on the front end surface of an output shaft of the winding motor, the other end of the winding roller is arranged on the rear end surface of the supporting bulge through a bearing, a plurality of annular grooves are formed in the circumferential surface of the winding roller from front to back, the gear is arranged at the front end of the winding roller, the rack meshed with the gear is arranged on the upper end surface of the base in a sliding manner, a plurality of limiting holes are formed in the front end surface of the rack plate from left to right, two locking bulges are symmetrically arranged on the left and right of the front side of the upper end surface of the base, a limiting through hole is formed in the locking bulge, and the limiting rod is arranged in a sliding manner inside the limiting through hole, the gag lever post rear end sets up in spacing downthehole portion, workstation up end bilateral symmetry has seted up two sets ofly and has led to the groove with the corresponding slip of annular groove, centre gripping frame lower extreme passes through the slip arch and sets up at the logical inslot portion that slides, haulage rope one end is installed at slip protruding lower extreme, the haulage rope other end is connected inside the annular groove, wherein the one end that left haulage rope is close to the winding roller is connected in the annular groove below, the haulage rope on right side is close to the one end of winding roller and is installed in the annular groove top, centre gripping frame up end is installed the grip block, the inside centre gripping that has seted up of grip block leads to the groove, the logical inslot portion of centre gripping is provided with the centre gripping branch chain, the support branch chain is installed to the grip block up end.

Preferably, the clamping branched chain comprises a movable cylinder, a movable block, a horizontal supporting block, a supporting spring rod, a horizontal limiting block and a limiting spring rod, wherein the movable cylinder is installed on the lower end face of the clamping through groove through a cylinder seat, the movable block is installed on the telescopic end of the movable cylinder, the front side wall and the rear side wall of the clamping through groove are provided with limiting connecting grooves communicated with the clamping connecting grooves, the horizontal supporting block is slidably arranged in the limiting connecting grooves, the supporting spring rod is installed between the horizontal supporting block and the clamping through groove, a connecting through groove communicated with the clamping through groove is formed in the clamping block and above the limiting connecting groove, the horizontal limiting block is slidably arranged in the connecting through groove, the limiting spring rod is installed between the horizontal limiting block and the clamping through groove, an inclined plane is symmetrically formed in the front and rear direction of one end, far away from the movable cylinder, of the movable block, and the horizontal supporting block and the horizontal limiting block are both abutted against the inclined plane, and the part of the inclined slope, which is contacted with the front and rear moving blocks, is provided with steps, and a guide slope is arranged between the steps.

Preferably, spacing branch include lift cylinder, elevating frame, support column, spacing roller, anticollision frame and anticollision roller, wherein the lift cylinder install terminal surface middle part under the workstation, elevating frame is installed to the terminal surface under the flexible end of lift cylinder, the support column of symmetry around the terminal surface left and right sides is installed to the elevating frame, install spacing roller through the bearing between the support column of symmetry around, the terminal surface symmetry slope is provided with the anticollision frame around the elevating frame, install the anticollision roller through the bearing between the anticollision frame of symmetry around.

Preferably, two centre gripping frame up end front and back symmetry seted up the alignment draw-in groove, install the L template jointly between two adjacent alignment draw-in grooves of front and back, left L template right-hand member face has seted up the detection recess, it is provided with the pick-up plate to slide around inside the recess to detect, install the flexible spring rod that extends from preceding back between pick-up plate and the detection recess, detection spring rod is installed to detection plate up end bilateral symmetry, two detection spring rod up end install the glass detection case jointly through the hinge, glass detection case front end face middle part is provided with the datum line, inside the reference liquid that is equal to the datum line of being equipped with of glass detection case.

Preferably, the supporting branched chain comprises a supporting frame, a screw rod, a movable frame, an electric slider, a movable connecting frame, a movable connecting block, an adjusting block and a supporting plate, wherein the supporting frame with an L-shaped structure is arranged on the upper end face of the clamping block, a supporting through groove is formed in the horizontal section of the supporting frame from left to right, the movable frame is arranged in the supporting through groove in a sliding manner, a movable protrusion is arranged on the lower end face of the movable frame, one end of the screw rod is rotatably arranged in the vertical section of the supporting frame through a bearing, the other end of the screw rod is arranged on the movable protrusion through threads, a through groove is formed in the movable frame from left to right, the electric slider is arranged in the through groove, the adjusting block is arranged at one end, far away from the electric slider, in the through groove, guiding through grooves are symmetrically formed in the adjusting block from top to bottom, and the distance between the ends, close to the electric slider, of the two guiding through grooves is smaller than the distance between the ends, far away from the electric slider, of the two guiding through grooves, the end face of the electric slider close to the adjusting block is provided with a movable connecting frame, the end face of the movable connecting frame close to the adjusting block is provided with a movable connecting block in a vertical sliding mode, one ends of the two supporting plates close to the electric slider are mounted on the movable connecting block through hinges, and the other ends of the supporting plates are arranged inside the guide through grooves in a sliding mode.

Preferably, workstation up end bilateral symmetry install fixed frame, the groove of stepping down has been seted up to fixed frame opposite face longitudinal symmetry, the inslot portion of stepping down is provided with the adjusting spring pole, install the limiting plate in advance between the adjusting spring pole on the same fixed frame jointly, two limiting plate fronts are opened in advance and are equipped with the direction inclined plane, limiting plate opposite face in advance evenly is provided with a plurality of guide rollers from preceding backward, the workstation up end just is located and installs the bearing board between the limiting plate in advance, and the bearing board middle part is provided with the central line that extends from the left hand right side.

Preferably, the left side and the right side of the upper end face of the workbench are provided with limiting frames matched with the clamping rack, so that the clamping rack is prevented from sliding off the workbench in the left-right moving process, and the limiting frames have the effects of blocking and limiting the clamping rack.

Preferably, the height of the limiting roller on the right side is higher than that of the limiting roller on the left side, and annular grooves matched with the traction ropes are formed in the circumferential surfaces of the limiting roller and the anti-collision roller.

Preferably, the backup pad one end of keeping away from electronic slider be provided with the electro-magnet, the electro-magnet is close to and is provided with the removal spring beam between the terminal surface of backup pad and the backup pad from the longitudinal symmetry, removal spring beam one end articulates in the backup pad, the removal spring beam other end articulates on the electro-magnet, after the backup pad removed the operating position, adsorb on the robot base after the electro-magnet circular telegram this moment, it is inseparable to avoid backup pad and the vertical section contact of robot base, improve the stability that the backup pad supported on the vertical section of robot base, the removal spring beam can guarantee that the electro-magnet all the time and the vertical section in close contact with of robot base in the support process.

Preferably, haulage rope and slip protruding between be provided with and be connected the rope, connect rope one end and fix on the haulage rope, connect the rope other end and fix the one end of keeping away from the haulage rope at the protruding lower extreme that slides, the haulage rope can guarantee to press from both sides the frame multiple spot with being connected the rope and pull, increase the haulage rope and drawing the stability of centre gripping frame in-process.

Preferably, the guide way that extends from preceding back is seted up on L template up end left side, and a plurality of slide rollers are evenly installed from preceding back to inside the guide way, and the magnifying glass is installed to the pick-up plate up end and be located glass detection case the place ahead, and the inside colored pigment that mixes of benchmark liquid.

The invention has the beneficial effects that: 1. in the designed clamping and limiting mechanism, the winding motor is started to drive the winding roller to rotate, so that the winding roller drives the clamping rack to move through the traction rope, the clamping block is driven to enter the rectangular groove below the robot base, and the robot base is limited and fixed through the clamping branch chain; in supporting the branch chain, electronic slider promotes the backup pad through the regulating block and opens, rotates the lead screw and drives the backup pad and remove in opposite directions to the backup pad can support the processing to the vertical section of robot base, avoids robot base to take place the shake in welding process, influences robot base's welding precision.

2. In the designed limiting branched chain, the lifting cylinder is started to drive the limiting roller to move through the mutual matching of the lifting frame and the supporting column, and then the limiting roller can drive the traction rope to move upwards, so that the traction rope is in a tight state, the clamping effect of the clamping block on the robot base is prevented from being influenced by the looseness of the traction rope, meanwhile, due to the fact that the distance exists between the limiting through holes, the limiting roller drives the traction rope to move, the distance between the limiting through holes can be compensated, the clamping limiting range of the clamping block is further widened, the applicability of the clamping block is better, the anti-collision frame and the anti-collision roller are matched with each other, the traction rope is prevented from being broken due to the fact that the traction rope is rubbed with the lifting frame in the moving process, and the service life of the traction rope is prolonged.

3. According to the invention, the glass detection box is tightly abutted against the transverse plate, when the reference liquid is consistent with the datum line, the transverse plate is in a horizontal state and is in a vertical state with the vertical section of the robot base, and when the transverse plate is inclined in the left-right direction, the transverse plate is in an inclined state, so that the glass detection box is inclined due to the elastic force of the detection spring rod, and the reference liquid and the datum line are not on the same horizontal plane, so that the glass detection box detects the inclination of the transverse plate before the welding of the robot base and the transverse plate, the problem of inclination after the welding of the transverse plate and the robot base is avoided, and the welding precision between the transverse plate and the robot base is improved.

Drawings

The invention is further illustrated with reference to the following figures and examples.

Fig. 1 is a schematic perspective view of a first embodiment of the present invention.

Fig. 2 is a front view of the present invention.

Fig. 3 is a left side view of the invention.

Fig. 4 is a partial cross-sectional view at a of fig. 2 of the present invention.

Fig. 5 is a partial enlarged view of the invention at C of fig. 4.

Fig. 6 is a partial cross-sectional view at B of fig. 3 of the present invention.

Fig. 7 is a schematic diagram of a second three-dimensional structure according to the present invention.

Fig. 8 is a schematic perspective view of the moving block of the present invention.

FIG. 9 is a front view of the robot base, cross plate and L-shaped plate mounting structure of the present invention.

Fig. 10 is an enlarged view of the invention at E of fig. 9.

Fig. 11 is a schematic view of a three-dimensional structure installed between the clamping frame and the alignment slot.

Fig. 12 is a schematic perspective view of the robot base and the horizontal plate according to the present invention.

In the figure: 1. a base; 2. a support frame; 3. a work table; 31. fixing the frame; 32. adjusting the spring rod; 33. a pre-limiting plate; 34. a support plate; 35. a centerline; 36. a limiting frame; 37. a guide roller; 4. a clamping and limiting mechanism; 41. a winding motor; 42. a hauling rope; 421. an annular groove; 422. connecting ropes; 43. a gear; 44. a rack; 45. a limiting rod; 46. a limiting branched chain; 461. a lifting cylinder; 462. a lifting frame; 463. a support pillar; 465. a limiting roller; 466. an anti-collision frame; 467. an anti-collision roller; 47. a clamping frame; 471. aligning the clamping groove; 472. an L-shaped plate; 4721. a slide roller; 473. detecting a plate; 474. a telescoping spring rod; 475. detecting the spring rod; 476. a glass detection box; 4761. a magnifying glass; 477. a reference line; 478. a reference liquid; 48. a clamping block; 49. a support branch chain; 491. a support frame; 492. a lead screw; 493. moving the frame; 494. an electric slider; 495. moving the connecting frame; 496. moving the connecting block; 497. an adjusting block; 498. a support plate; 4981. moving the spring rod; 4982. an electromagnet; 40. clamping the branched chain; 401. a moving cylinder; 402. a moving block; 403. a horizontal support block; 404. a support spring rod; 405. a horizontal limiting block; 406. a limiting spring rod; 407. a limit connecting groove; 408. connecting the through grooves; 409. clamping the through groove; 410. a winding roller; 5. a robot base; 51. a transverse plate.

Detailed Description

The embodiments of the invention will be described in detail below with reference to the drawings, but the invention can be implemented in many different ways as defined and covered by the claims.

Referring to fig. 1, a fixed frock clamp of robot base welding shaping, includes base 1, support frame 2, workstation 3 and centre gripping stop gear 4, four corners of 1 up end of base install support frame 2, workstation 3 is installed jointly to 2 up ends of four support frames, install centre gripping stop gear 4 jointly on workstation 3 and the base 1.

Referring to fig. 1 and 2, the clamping and limiting mechanism 4 includes a winding motor 41, a traction rope 42, a gear 43, a rack 44, a limiting rod 45, a limiting branch 46, a clamping frame 47, a clamping block 48, a supporting branch 49, a clamping branch 40 and a winding roller 410, wherein the winding motor 41 is installed on the rear side of the upper end surface of the base 1 through a motor base, a supporting protrusion is arranged on the front side of the upper end surface of the base 1, one end of the winding roller 410 is installed on the front end surface of the output shaft of the winding motor 41, the other end of the winding roller 410 is installed on the rear end surface of the supporting protrusion through a bearing, a plurality of annular grooves are formed on the circumferential surface of the winding roller 410 from front to back, the gear 43 is installed on the front end of the winding roller 410, the rack 44 engaged with the gear 43 is slidably arranged on the upper end surface of the base 1, a plurality of limiting holes are formed on the front end surface of the rack 44 from left to right, two locking protrusions are symmetrically arranged on the front side of the upper end surface of the base 1 from left to right, spacing through-hole has been seted up on the locking arch, the inside slip of spacing through-hole is provided with gag lever post 45, gag lever post 45 rear end sets up in spacing downthehole portion, 3 up end bilateral symmetry of workstation has seted up two sets of slip logical grooves corresponding with the annular groove, centre gripping frame 47 lower extreme passes through the slip protruding setting inside the groove that slides, haulage rope 42 one end is connected at slip protruding lower extreme, the haulage rope 42 other end is connected inside the annular groove, wherein the one end that left haulage rope 42 is close to winding roller 410 is installed in the annular groove below, the haulage rope 42 on right side is close to winding roller 410's one end and is installed in the annular groove top, grip block 48 is installed to centre gripping frame 47 up end, grip block 48 is inside to have seted up the logical groove of centre gripping 409, the inside centre gripping branched chain 40 that is provided with of logical groove 409 of centre gripping, support branched chain 49 is installed to grip block 48 up end.

Refer to fig. 1, 3 up end bilateral symmetry of workstation install fixed frame 31, the groove of stepping down has been seted up to fixed frame 31 opposite face longitudinal symmetry, the inslot portion of stepping down is provided with adjusting spring rod 32, install spacing board 33 in advance between the adjusting spring rod 32 on the same fixed frame 31 jointly, two spacing boards 33 front sides in advance are opened and are equipped with the direction inclined plane, spacing board 33 opposite face in advance evenly is provided with a plurality of guide rollers 37 from preceding backward, workstation 3 up end just is located and installs supporting plate 34 between the spacing board 33 in advance, and supporting plate 34 middle part is provided with the central line 35 from the left right side extension.

Referring to fig. 6 and 8, the clamping branched chain 40 includes a moving cylinder 401, a moving block 402, a horizontal supporting block 403, a supporting spring rod 404, a horizontal limiting block 405 and a limiting spring rod 406, wherein the moving cylinder 401 is installed on the lower end surface of the clamping through groove 409 through a cylinder seat, the moving block 402 is installed on the telescopic end of the moving cylinder 401, the front and rear side walls of the clamping through groove 409 are provided with a limiting connecting groove 407 communicated with the clamping through groove 409, the horizontal supporting block 403 is slidably arranged in the limiting connecting groove 407, the supporting spring rod 404 is installed between the horizontal supporting block 403 and the clamping through groove 409, a connecting through groove 408 communicated with the clamping through groove 409 is arranged in the clamping block 48 and above the limiting connecting groove 407, the horizontal limiting block 405 is slidably arranged in the connecting through groove 408, the limiting spring rod 406 is installed between the horizontal limiting block 405 and the clamping through groove 409, wherein an inclined plane is symmetrically arranged on the front and rear end of the moving block 402 far away from the moving cylinder 401, the horizontal support block 403 and the horizontal limit block 405 are both abutted against the inclined slope, and a step is arranged at the part of the inclined slope contacting with the front and rear moving blocks 402, and a guide slope is arranged between the steps.

Referring to fig. 2 and 3, the limiting branched chain 46 includes a lifting cylinder 461, a lifting frame 462, supporting columns 463, limiting rollers 465, anti-collision frames 466 and anti-collision rollers 467, wherein the lifting cylinder 461 is installed in the middle of the lower end surface of the workbench 3, the lifting frame 462 is installed on the lower end surface of the telescopic end of the lifting cylinder 461, the front and back symmetrical supporting columns 463 are installed on the left and right sides of the lower end surface of the lifting frame 462, the limiting rollers 465 are installed between the front and back symmetrical supporting columns 463, the anti-collision frames 466 are symmetrically and obliquely installed on the front and back of the left and right end surfaces of the lifting frame 462, and the anti-collision rollers 467 are installed between the front and back symmetrical anti-collision frames 466 through bearings.

Referring to fig. 7, the height of the limiting roller 465 on the right side is higher than that of the limiting roller 465 on the left side, and the circumferential surfaces of the limiting roller 465 and the anti-collision roller 467 are provided with annular grooves 421 matched with the traction ropes 42.

Referring to fig. 1, 9, 10 and 11, two front and back symmetrical alignment slots 471 are formed in the upper end face of each of the two clamping frames 47, an L-shaped plate 472 is installed between the front and back adjacent alignment slots 471, a detection groove is formed in the right end face of the L-shaped plate 472 on the left side, a detection plate 473 is arranged inside the detection groove in a front-back sliding manner, a telescopic spring rod 474 extending from front to back is installed between the detection plate 473 and the detection groove, detection spring rods 475 are installed on the upper end face of the detection plate 473 in a left-right symmetrical manner, glass detection boxes 476 are installed on the upper end faces of the two detection spring rods 475 through hinges, a reference line 477 is arranged in the middle of the front end face of each of the glass detection boxes 476, and reference liquid 478 which is flush with the reference line 477 is installed inside each of the glass detection box 476.

Referring to fig. 1, in specific operation, the robot base 5 is pushed into the pre-limiting plates 33 from front to back and then placed on the supporting plate 34, and meanwhile, the middle position of the robot base 5 is flush with the central line 35, so that the clamping blocks 48 can smoothly enter the clamping grooves at the left and right sides of the robot base 5, wherein the guide inclined planes can play a role in guiding and limiting the robot base 5, the robot base 5 can conveniently and quickly enter the pre-limiting plates 33, the adjusting spring rods 32 and the pre-limiting plates 33 are matched with each other to pre-limit the robot bases 5 with different widths, the robot base 5 is prevented from shaking before the robot base 5 is clamped, the alignment precision of the subsequent clamping blocks 48 and the clamping grooves is influenced, the guide rollers 37 can reduce the friction force between the robot base 5 and the pre-limiting plates 33, and after the robot base 5 is placed, the limiting rod 45 is taken down from the limiting hole, the winding motor 41 is started to drive the traction rope 42 to move in opposite directions through the winding roller 410, then the traction rope 42 drives the clamping block 48 to move in opposite directions through the clamping rack 47 so that the clamping block 48 is clamped in the clamping groove, when the clamping block 48 moves to the inside of the clamping groove, the winding roller 410 synchronously drives the rack 44 to move to a limiting position through the gear 43, then the limiting rod 45 is reinserted into the limiting hole, at the moment, the lifting cylinder 461 is started to drive the lifting rack 462 to move upwards, then the lifting rack 462 drives the limiting roller 465 to move upwards through the support pillar 463, the limiting roller 465 can drive the traction rope 42 to be tightened in the moving process, so that the traction rope 42 is always in a tightened state, wherein the height of the limiting roller 465 on the right side is higher than the height of the limiting roller 465 on the left side, so that the height difference generated by the height of the traction ropes 42 on the left side and the right side can be compensated, the limiting rollers 465 can synchronously drive the traction rope 42 to be tightened, the annular grooves 421 can limit the traction rope 42 in the moving process of the traction rope 42, the traction rope 42 is prevented from sliding back and forth on the limiting rollers 465 and the anti-collision rollers 467, the anti-collision rollers 467 and the anti-collision frames 466 are matched with each other, collision and friction between the traction rope 42 and the lifting frame 462 can be avoided, the service life of the traction rope 42 is influenced, after the limiting of the clamping block 48 is finished, the moving cylinder 401 is started to drive the moving block 402 to move, the moving block 402 drives the horizontal limiting block 405 to move to the upper end face of the horizontal section at the lower side of the robot base 5 through the inclined plane, the robot base 5 can be limited in the vertical direction, the horizontal supporting block 403 is driven to abut against the inside of the clamping groove through the guide inclined plane synchronously in the moving process of the moving block 402, and the horizontal supporting block 403 can limit the robot base 5 in the front and back direction, the robot base 5 is prevented from moving in the front-back direction, the ladder supports the horizontal supporting block 403 after the horizontal supporting block 403 finishes moving, and the supporting and limiting effects of the horizontal supporting block 403 are affected, wherein the supporting spring rod 404 and the limiting spring rod 406 respectively reset the front-back moving block 402 and the upper-lower moving block 402 in the working process.

After the robot base 5 is fixed, the transverse plate 51 is arranged on the upper end surface of the vertical section of the robot base 5 in a sliding manner from front to back, the left side and the right side of the transverse plate 51 are arranged on the upper end surface of the horizontal section of the L-shaped plate 472, the lower end surface of the left side of the transverse plate 51 abuts against the upper end of the glass detection box 476 in the arrangement process of the transverse plate 51, the detection spring rod 475 can always ensure that the glass detection box 476 and the lower end surface of the transverse plate 51 abut against tightly, at the moment, the existing welding machine (not shown in the figure) starts to move from front to back to carry out welding processing on the connection position between the transverse plate 51 and the robot base 5, the welding machine (not shown in the figure) drives the glass detection box 476 to move backwards through the detection plate 473 in the backward movement process, when the reference liquid 478 and the reference line 477 are consistent, the transverse plate 51 is in a horizontal state and keeps a vertical state with the vertical section of the robot base 5, when the transverse plate 51 inclines in the left and right directions, the transverse plate 51 is in an inclined state at this moment, so the glass detection box 476 inclines due to the elastic force action of the detection spring rod 475, at this moment, the reference liquid 478 and the reference line 477 are not on the same horizontal plane, at this moment, the transverse plate 51 is adjusted to a horizontal state through external adjusting equipment, so that the transverse plate 51 and the robot base 5 are always kept in a vertical state, the situation that the use effect of the robot base 5 in the later period is affected due to poor welding effect of the robot base 5 caused by welding of the transverse plate 51 and the robot base 5 in the inclined state is avoided, and after the welding process is finished, the telescopic spring rod 474 drives the glass detection box 476 to restore to the initial position through the detection plate 473.

Referring to fig. 1, the left side and the right side of the upper end surface of the worktable 3 are provided with the limiting frames 36 matched with the clamping rack 47, so that the clamping rack 47 is prevented from sliding off the worktable 3 in the process of moving left and right, and the limiting frames 36 block and limit the clamping rack 47.

Referring to fig. 2, a connecting rope 422 is arranged between the traction rope 42 and the sliding protrusion, one end of the connecting rope 422 is fixed on the traction rope 42, the other end of the connecting rope 422 is fixed at one end of the lower end of the sliding protrusion, which is far away from the traction rope 42, the traction rope 42 and the connecting rope 422 are mutually matched to ensure multipoint traction of the clamping rack 47, and the stability of the traction rope 42 in the process of traction of the clamping rack 47 is improved.

Referring to fig. 1, 4 and 5, the supporting branched chain 49 includes a supporting frame 491, a lead screw 492, a moving frame 493, an electric slider 494, a moving link 495, a moving link 496, an adjusting block 497 and a supporting plate 498, wherein the supporting frame 491 of an L-shaped structure is installed on the upper end surface of the clamping block 48, a supporting through slot is opened on the horizontal section of the supporting frame 491 from left to right, the moving frame 493 is slidably disposed inside the supporting through slot, a moving protrusion is disposed on the lower end surface of the moving frame 493, one end of the lead screw 492 is rotatably installed on the vertical section of the supporting frame 491 through a bearing, the other end of the lead screw 492 is installed on the moving protrusion through a screw thread, a through slot is opened on the moving frame 493 from left to right, the electric slider 494 is disposed inside the through slot, the adjusting block 497 is disposed at one end far from the electric slider 494 inside the through slot, guide through slots are symmetrically disposed inside the adjusting block 497 from top to bottom, and the distance between the ends of the two guiding through grooves close to the electric slider 494 is smaller than the distance between the ends of the two guiding through grooves far away from the electric slider 494, the end face of the electric slider 494 close to the adjusting block 497 is provided with a movable connecting frame 495, the end face of the movable connecting frame 495 close to the adjusting block 497 is provided with a movable connecting block 496 in a vertical sliding manner, one ends of the two support plates 498 close to the electric slider 494 are mounted on the movable connecting block 496 through hinges, the other ends of the support plates 498 are arranged in the guiding through grooves in a sliding manner, after the clamping and limiting of the robot base 5 are finished, the rotary screw shafts 492 drive the movable frames 493 to move oppositely through the movable protrusions, the movable frames 493 abut against the vertical section of the robot base 5, the electric slider 494 starts to drive the support plates 498 to slide in the guiding through the movable connecting frame 495 and the movable connecting block 496, and the support plates 498 abut against the vertical section of the robot base 5 through the guiding through grooves in the moving process, backup pad 498 can support robot base 5 with removing frame 493 mutually supporting, avoids robot base 5 to take place to rock in welding process, influences the stability of robot base 5 welding.

Referring to fig. 5, an electromagnet 4982 is disposed at one end of the support plate 498 away from the electric slider 494, moving spring rods 4981 are disposed between an end surface of the electromagnet 4982 close to the support plate 498 and the support plate 498 in an up-down symmetrical manner, one end of the moving spring rod 4981 is hinged to the support plate 498, the other end of the moving spring rod 4981 is hinged to the electromagnet 4982, when the support plate 498 is moved to a working position, the electromagnet 4982 is attached to the robot base 5 after being electrified, thereby avoiding the loose contact between the support plate 498 and the vertical section of the robot base 5, improving the stability of the support plate 498 supported on the vertical section of the robot base 5, and the moving spring rod 4981 can ensure that the electromagnet 4982 is always in close contact with the vertical section of the robot base 5 during the supporting process.

Referring to fig. 9 and 10, a guide groove extending from front to back is formed in the left side of the upper end surface of the L-shaped plate 472, a plurality of sliding rollers 4721 are uniformly installed inside the guide groove from front to back, the sliding rollers 4721 can reduce the friction force between the transverse plate 51 and the L-shaped plate 472 during the working process and reduce the friction loss of the transverse plate 51, a magnifying lens 4761 is installed on the upper end surface of the detection plate 473 and in front of the glass detection box 476, the magnifying lens 4761 can magnify the boundary between the reference liquid 478 and the reference line 477, so that the operator can more clearly recognize whether the reference liquid 478 and the reference line 477 are in the same horizontal plane, the reference liquid 478 has a color pigment mixed therein, when the reference liquid 478 inclines, a worker can more accurately and visually distinguish the deviation angle between the reference liquid 478 and the reference line 477, and the observation effect of the worker is prevented from being influenced by the too small inclination angle of the reference liquid 478.

Referring to fig. 11 and 12, the welding, forming and fixing process of the robot base 5 by the fixture for welding, forming and fixing the robot base provided by the invention includes the following steps: the first step is as follows: placing treatment: the robot base 5 is pushed in between the pre-limiting plates 33 from front to back so that the robot base 5 middle position is flush with the centerline 35.

The second step is that: clamping and limiting: take off gag lever post 45 from spacing hole, winding motor 41 starts and drives haulage rope 42 through winding roller 410 and remove in opposite directions, and then haulage rope 42 drives grip block 48 through centre gripping frame 47 and removes in opposite directions makes the grip block 48 joint at the joint inslot portion, when grip block 48 removes the joint inslot portion, winding roller 410 drives rack 44 through gear 43 in step and removes limiting position, insert gag lever post 45 inside spacing hole again, lift cylinder 461 starts to drive lift frame 462 rebound this moment, and then lift frame 462 drives spacing roller 465 rebound through support column 463, spacing roller 465 can drive haulage rope 42 at the removal in-process and tighten, thereby make haulage rope 42 be in the state of tightening all the time.

The third step: supporting treatment: after the robot base 5 centre gripping is spacing, rotate lead screw 492 and drive removal frame 493 through removing the arch and remove in opposite directions, and then remove the frame 493 and lean on the vertical section of robot base 5, electronic slider 494 starts to drive backup pad 498 and slide in the logical groove inside the direction through removing even frame 495 and removal even block 496, and then backup pad 498 supports and leans on the vertical section of robot base 5 through the logical groove of direction in the removal process.

The fourth step: welding treatment: the robot base 5 is welded by the existing welding machine, the welding machine drives the glass detection box 476 to move backwards through the detection plate 473 in the backward movement process, when the reference liquid 478 and the reference line 477 are consistent, the transverse plate 51 at the moment is in a horizontal state and is kept in a vertical state with a vertical section of the robot base 5, when the transverse plate 51 inclines in the left-right direction, the transverse plate 51 at the moment is in an inclined state, therefore, the glass detection box 476 inclines due to the elastic action of the detection spring rod 475, the reference liquid 478 and the reference line 477 are not on the same horizontal plane at the moment, the transverse plate 51 is adjusted to be in the horizontal state through external adjusting equipment at the moment, the transverse plate 51 and the robot base 5 are always kept in the vertical state, and after welding, the welded and formed robot base 5 is taken down, and the work is completed.

The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. The utility model provides a fixed frock clamp of robot base weld forming, includes base (1), support frame (2), workstation (3) and centre gripping stop gear (4), its characterized in that: base (1) four corners of up end install support frame (2), workstation (3) are installed jointly to four support frame (2) up end, install centre gripping stop gear (4) jointly on workstation (3) and base (1), wherein:

the clamping and limiting mechanism (4) comprises a winding motor (41), a traction rope (42), a gear (43), a rack (44), a limiting rod (45), a limiting branched chain (46), a clamping rack (47), a clamping block (48), a supporting branched chain (49), a clamping branched chain (40) and a winding roller (410), wherein the winding motor (41) is arranged on the rear side of the upper end face of the base (1) through a motor base, a supporting bulge is arranged on the front side of the upper end face of the base (1), one end of the winding roller (410) is arranged on the front end face of an output shaft of the winding motor (41), the other end of the winding roller (410) is arranged on the rear end face of the supporting bulge through a bearing, a plurality of annular grooves are formed in the circumferential face of the winding roller (410) from front to back, the gear (43) is arranged at the front end of the winding roller (410), the rack (44) meshed with the gear (43) is arranged on the upper end face of the base (1) in a sliding manner, the front end face of a rack (44) plate is provided with a plurality of limiting holes from left to right, two locking bulges are symmetrically arranged on the front side of the upper end face of a base (1) in a bilateral mode, limiting through holes are formed in the locking bulges, limiting rods (45) are slidably arranged in the limiting through holes, the rear ends of the limiting rods (45) are arranged in the limiting holes, two groups of sliding through grooves corresponding to annular grooves are symmetrically formed in the upper end face of a workbench (3) in the bilateral mode, the lower end of a clamping rack (47) is arranged in the sliding through grooves through the sliding bulges, one end of a traction rope (42) is arranged on the lower end face of the sliding bulges, the other end of the traction rope (42) is arranged in the annular grooves, one end, close to a winding roller (410), of the traction rope (42) on the left side is connected below the annular grooves, one end, close to the winding roller (410), on the right side is connected above the annular grooves, and a clamping block (48) is arranged on the upper end face of the clamping rack (47), a clamping through groove (409) is formed in the clamping block (48), a clamping branched chain (40) is arranged in the clamping through groove (409), and a supporting branched chain (49) is arranged on the upper end face of the clamping block (48);

the clamping branched chain (40) comprises a moving cylinder (401), a moving block (402), a horizontal supporting block (403), a supporting spring rod (404), a horizontal limiting block (405) and a limiting spring rod (406), wherein the moving cylinder (401) is installed on the lower end face of the clamping through groove (409) through a cylinder seat, the moving block (402) is installed at the telescopic end of the moving cylinder (401), limiting connecting grooves (407) communicated with the clamping through groove 409 are formed in the front side wall and the rear side wall of the clamping through groove (409), the horizontal supporting block (403) is arranged in the limiting connecting grooves (407) in a sliding manner, the supporting spring rod (404) is installed between the horizontal supporting block (403) and the clamping through groove (409), a connecting through groove (408) communicated with the clamping through groove (409) is formed in the clamping block (48) and above the limiting connecting groove (407), and the horizontal limiting block (405) is arranged in the connecting through groove (408) in a sliding manner, a limiting spring rod (406) is arranged between the horizontal limiting block (405) and the clamping through groove (409), inclined slopes are symmetrically formed in the front and back of one end, away from the moving cylinder (401), of the moving block (402), the horizontal supporting block (403) and the horizontal limiting block (405) are abutted against the inclined slopes, a step is arranged at the part, in contact with the front and back moving blocks (402), of each inclined slope, and a guide slope is arranged between the steps;

the limiting branched chain (46) comprises a lifting cylinder (461), a lifting rack (462), supporting columns (463), limiting rollers (465), anti-collision frames (466) and anti-collision rollers (467), wherein the lifting cylinder (461) is installed in the middle of the lower end face of the workbench (3), the lifting rack (462) is installed on the lower end face of the telescopic end of the lifting cylinder (461), the front and back symmetrical supporting columns (463) are installed on the left side and the right side of the lower end face of the lifting rack (462), the limiting rollers (465) are installed between the front and back symmetrical supporting columns (463) through bearings, the anti-collision frames (466) are symmetrically arranged on the front and back of the left and right end faces of the lifting rack (462) in an inclined mode, and the anti-collision rollers (467) are installed between the front and back symmetrical anti-collision frames (466) through bearings;

the upper end faces of the two clamping racks (47) are symmetrically provided with aligning clamping grooves (471) in front and back, an L-shaped plate (472) is installed between the front aligning clamping groove (471) and the back aligning clamping groove (471) together, a detection groove is formed in the right end face of the left L-shaped plate (472), a detection plate (473) is arranged in the detection groove in a front-back sliding mode, a telescopic spring rod (474) extending from front to back is installed between the detection plate (473) and the detection groove, detection spring rods (475) are installed on the upper end faces of the detection plate (473) in a left-right symmetrical mode, glass detection boxes (476) are installed on the upper end faces of the two detection spring rods (475) together through hinges, a datum line (477) is arranged in the middle of the front end face of each glass detection box (476), and datum liquid (478) which is level to the datum line (477) is installed in each glass detection box (476);

the supporting branched chain (49) comprises a supporting rack (491), a lead screw (492), a moving rack (493), an electric slider (494), a moving connecting rack (495), a moving connecting block (496), an adjusting block (497) and a supporting plate (498), wherein the supporting rack (491) with an L-shaped structure is installed on the upper end face of the clamping block (48), a supporting through groove is formed in the horizontal section of the supporting rack (491) from left to right, the moving rack (493) is arranged in the supporting through groove in a sliding mode, a moving bulge is arranged on the lower end face of the moving rack (493), one end of the lead screw (492) is rotatably installed on the vertical section of the supporting rack (491) through a bearing, the other end of the lead screw (492) is installed on the moving bulge through threads, a through groove is formed in the moving rack (493) from left to right, the electric slider (494) is arranged in the through groove, the adjusting block (497) is arranged at one end, far away from the electric slider (494), in the through groove, the adjusting block (497) is internally provided with guide through grooves in an up-down symmetrical manner, the distance between one ends, close to the electric sliding block (494), of the two guide through grooves is smaller than the distance between one ends, far away from the electric sliding block (494), of the two guide through grooves, the end face, close to the adjusting block (497), of the electric sliding block (494) is provided with a movable connecting frame (495), the end face, close to the adjusting block (497), of the movable connecting frame (495) is provided with a movable connecting block (496) in an up-down sliding manner, one ends, close to the electric sliding block (494), of the two supporting plates (498) are mounted on the movable connecting block (496) through hinges, and the other ends of the supporting plates (498) are arranged inside the guide through grooves in a sliding manner;

the upper end face of the workbench (3) is bilaterally and symmetrically provided with fixed racks (31), the opposite faces of the fixed racks (31) are symmetrically provided with abdicating grooves in the front and back direction, adjusting spring rods (32) are arranged in the abdicating grooves, pre-limiting plates (33) are jointly arranged between the adjusting spring rods (32) on the same fixed rack (31), the front sides of the two pre-limiting plates (33) are provided with guide inclined planes, the opposite faces of the pre-limiting plates (33) are uniformly provided with a plurality of guide rollers (37) from front to back, a bearing plate (34) is arranged between the pre-limiting plates (33) and the upper end face of the workbench (3), and the middle part of the bearing plate (34) is provided with a central line (35) extending from left to right;

the left side and the right side of the upper end surface of the workbench (3) are provided with limit frames (36) matched with the clamping rack (47);

an electromagnet (4982) is arranged at one end, far away from the electric sliding block (494), of the supporting plate (498), a movable spring rod (4981) is vertically and symmetrically arranged between the end face, close to the supporting plate (498), of the electromagnet (4982) and the supporting plate (498), one end of the movable spring rod (4981) is hinged to the supporting plate (498), and the other end of the movable spring rod (4981) is hinged to the electromagnet (4982);

a connecting rope (422) is arranged between the traction rope (42) and the sliding protrusion, one end of the connecting rope (422) is fixed on the traction rope (42), and the other end of the connecting rope (422) is fixed at one end, far away from the traction rope (42), of the lower end of the sliding protrusion;

a guide groove extending from front to back is formed in the left side of the upper end face of the L-shaped plate (472), a plurality of sliding rollers (4721) are uniformly installed in the guide groove from front to back, a magnifying lens (4761) is installed on the upper end face of the detection plate (473) and located in front of the glass detection box (476), and colored pigments are mixed in the reference liquid (478).