CN116275798A - Workpiece positioning and clamping device for robot welding - Google Patents

Abstract

The invention discloses a workpiece positioning and clamping device for robot welding, which comprises a carrying frame, wherein the carrying frame is of a U-shaped structure with an opening facing horizontally and two arms vertically corresponding to each other, a first auxiliary carrier plate and a second auxiliary carrier plate are arranged in the carrying frame at intervals up and down, and the first auxiliary carrier plate and the second auxiliary carrier plate are respectively and rotatably connected with the top part and the bottom part of the carrying frame; the first support plate bottom and the second support plate top are symmetrically provided with a first micro-distance lifting structure and a second micro-distance lifting structure, and the first multi-directional positioning structure and the second multi-directional positioning structure for clamping the workpiece are symmetrically arranged at the first micro-distance lifting structure bottom and the second micro-distance lifting structure top. The multidirectional positioning structure and the micro-distance lifting structure are arranged symmetrically up and down, so that two workpieces to be welded can be firmly clamped in the center of the base, centering can be quickly realized, the vertical position of any workpiece to be welded can be adjusted according to the vertical spacing requirement, and the operation is quick, flexible and convenient.

Description

Workpiece positioning and clamping device for robot welding

Technical Field

The invention relates to the technical field of robot welding, in particular to a workpiece positioning and clamping device for robot welding.

Background

In order to facilitate the robot to weld two workpieces with high precision, a special positioning and clamping device is often needed, namely, the two workpieces to be welded are respectively clamped and aligned up and down, so that the workpiece deviation in the welding process is avoided, and the welding effect is influenced; however, the existing positioning clamp is driven by hydraulic pressure and air pressure, the derivation distance in each direction is difficult to control accurately in the multidirectional derivation clamping process in the horizontal direction, the movement response speed and time between the clamping jaws of the clamp are difficult to synchronize, the workpiece position is easy to deviate relative to the center of a welding station, the upper workpiece and the lower workpiece to be welded are difficult to align completely, and the adjustment on the micro distance is difficult to carry out, so that the welding quality is influenced. Because the vertical sizes of the workpieces are different, the distance between the two workpieces needs to be adjusted during welding, and the existing clamp is difficult to realize micro-distance lifting of the upper workpiece and the lower workpiece respectively.

Therefore, it is necessary to develop a workpiece positioning and clamping fixture for robot welding, which is convenient to operate, can synchronously and accurately control the deducing distance in all directions, and can realize micro-distance lifting.

Disclosure of Invention

The invention aims to solve the defects of the background technology and provide the workpiece positioning and clamping fixture for the robot welding, which is convenient to operate, synchronously and accurately controls the derivation distances in all directions and can realize micro-distance lifting.

The technical scheme of the invention is as follows: the workpiece positioning and clamping device for robot welding is characterized by comprising a carrying frame, wherein the carrying frame is of a U-shaped structure with an opening facing horizontally and two arms vertically corresponding to each other, a first auxiliary carrier plate and a second auxiliary carrier plate are arranged in the carrying frame at intervals up and down, and the first auxiliary carrier plate and the second auxiliary carrier plate are respectively connected with the top of the carrying frame and the bottom of the carrying frame in a rotating way;

the bottom of the first auxiliary carrier plate and the top of the second auxiliary carrier plate are symmetrically provided with a first micro-distance lifting structure and a second micro-distance lifting structure for adjusting the vertical position of the workpiece, and the bottom of the first micro-distance lifting structure and the top of the second micro-distance lifting structure are symmetrically provided with a first multidirectional positioning structure and a second multidirectional positioning structure for clamping the workpiece;

the second multidirectional positioning structure comprises a cylindrical base, a hollow base and a top cover arranged at the top of the base, wherein guide grooves are formed in the top cover from the edge along the radial direction inwards, the guide grooves are a plurality of guide grooves which are arranged at equal intervals along the circumferential direction, clamping wheel assemblies are arranged on the guide grooves, and the guide assemblies are arranged on the base and used for driving all the clamping wheel assemblies to synchronously move along the guide grooves where the clamping wheel assemblies are located.

Preferably, a plurality of axially-arranged avoidance through grooves are formed in the side wall of the base, the avoidance through grooves are in one-to-one correspondence with the clamping wheel assemblies, the upper ends of the avoidance through grooves are communicated with the corresponding guide grooves, a carrying positioning ring is coaxially arranged in the base, the inner wall of the carrying positioning ring extends to form a plurality of positioning plates, and the positioning plates are in one-to-one correspondence with the clamping wheel assemblies and are used for installing the clamping wheel assemblies.

Further, the clamping wheel assembly comprises a carrying plate positioned below the top cover and a clamping roller which is positioned on the upper surface of the top cover and can roll along the radial direction,

the carrying plate passes through the avoidance through groove and is fixedly connected with the top surface of the carrying positioning ring, the top surface of the carrying plate is provided with a first sliding block capable of sliding along the radial direction of the base, the carrying plate is also provided with a first sliding block driving piece for driving the first sliding block to slide along the radial direction, the first sliding block upwards passes through the guide groove and is provided with a U-shaped positioning frame with an opening facing inwards in the radial direction at the top, and the clamping roller is rotationally connected with the opening of the positioning frame.

Further, the first slider driving piece comprises a first belt wheel, a second belt wheel and a driving belt, the first belt wheel and the second belt wheel are arranged at intervals along the radial direction, the driving belt is used for driving and connecting the first belt wheel and the second belt wheel, the first belt wheel is rotationally connected with the top surface of the outer end of the carrying plate, the second belt wheel is positioned above the corresponding positioning plate, and the second belt wheel is rotationally connected with the positioning plate through a second belt wheel shaft arranged at the center;

the carrying plate is provided with a slideway inside the transmission belt and is in sliding connection with the first sliding block, and one side of the sliding block is connected with the transmission belt and is used for driving the first sliding block to slide radially when the transmission belt moves.

Further, the guiding component comprises a driving module for driving one clamping wheel component to move and a transmission module for synchronously transmitting the motion of one clamping wheel component to the other clamping wheel component,

the driving module comprises a travel guide plate fixedly connected with the outer wall of the carrying positioning ring, a second sliding block capable of sliding along the radial direction of the base is arranged at the bottom of the travel guide plate, a second sliding block driving piece is arranged on one side of the travel guide plate and used for sliding along the radial direction of the second sliding block, a second gear is arranged below the corresponding positioning plate by a second belt wheel shaft of one clamping wheel assembly, a rack is connected with the lower end of the second sliding block and meshed with the second gear to drive the second gear to rotate when the second sliding block moves, and a sliding rail is arranged below the corresponding positioning plate of one clamping wheel assembly and is in sliding connection with the rack.

Still further, the second slider driving piece includes mounting panel and first motor, the mounting panel sets up in one of them side of stroke deflector, and first motor is installed in the mounting panel top surface, first motor rotates the end and is used for driving the second slider and slides when first motor rotates with second slider top through the connecting rod piece connection.

Still further, the connecting rod piece includes eccentric rod, linkage push rod, transfer pole, eccentric rod one end and first motor rotation end fixed connection, transfer pole one end and second slider fixed connection, eccentric rod other end, transfer pole other end are articulated with linkage push rod both ends respectively.

Furthermore, the transmission module comprises an inner gear ring coaxially arranged on the inner side of the carrying positioning ring and positioned above the positioning plate, the inner gear ring can be movably connected on the carrying positioning ring around the axis of the inner gear ring, and the second belt wheel shaft is provided with a first gear above the positioning plate and meshed with the inner gear ring.

Preferably, the second micro-distance lifting structure comprises lifting components which are radially and symmetrically arranged below the base, each lifting component comprises a base, a mounting lug, a second motor, a driving rod, a driven rod, a pin shaft and a connecting block,

the base is fixedly connected with the top surface of the second auxiliary carrier plate, a pair of mounting lugs are formed by extending the upper end of the base, the driving rod and the driven rod are respectively arranged on the inner sides of the two mounting lugs, a second motor is arranged on the outer wall of the mounting lug adjacent to the driving rod, the driving end of the second motor penetrates through the mounting lugs to be fixedly connected with one end of the driving rod, one end of the driven rod is hinged to the adjacent mounting lug, the inner ends of the connecting blocks can be movably connected to the bottom of the base in the radial direction, and the outer ends of the connecting blocks are hinged to the other end of the driving rod and the other end of the driven rod through pin shafts to be used for driving the base to vertically move when the driving end of the motor rotates.

Preferably, the carrying frame is further provided with a third driving piece for driving the first auxiliary carrier plate and the second auxiliary carrier plate to synchronously rotate along the same vertical axis.

The beneficial effects of the invention are as follows:

1. in the multidirectional positioning structure, one clamping wheel assembly is driven to move radially through the driving module, the movement of the clamping wheel assembly is synchronously transmitted to other clamping wheel assemblies through the transmission module, the power source in the driving module is only the first motor, the operation process is efficient, quick and easy to control, all the clamping wheel assemblies move synchronously, the workpiece to be welded is firmly clamped in the center of the base, and the welding effect is improved.

2. In the micro-distance lifting structure, the power source is only the second motor, and the second motor rotates to drive the connecting lug on the outer wall of the base to vertically move, so that the base can vertically move up and down, and a workpiece to be welded can be vertically adjusted in a micro-distance manner, and the micro-distance lifting structure is convenient and quick.

3. The multidirectional positioning structure and the micro-distance lifting structure are arranged in the carrying frame in an up-down symmetrical mode, so that two workpieces to be welded can be firmly clamped in the center of the base, centering of the two workpieces to be welded can be quickly achieved, the vertical position of any workpiece to be welded can be adjusted according to the vertical spacing requirement, and the operation is flexible.

4. The carrying frame is also provided with the third driving piece to drive the two auxiliary carrier plates to synchronously rotate, so that the two auxiliary carrier plates can synchronously rotate during welding of the robot to realize circumferential welding, and the welding of the two workpieces to be welded can be completed rapidly and with high quality.

Drawings

FIG. 1 is a perspective view of the device of the present invention

FIG. 2 is a schematic diagram illustrating the connection of a second micro-distance lifting structure and a second multi-directional positioning structure

FIG. 3 is a schematic diagram illustrating the second multi-directional positioning structure

FIG. 4 is a schematic view showing the connection of a positioning ring (omitted from the circumferential portion) to an internal gear ring

FIG. 5 is a schematic view of a clamping wheel assembly

FIG. 6 is a schematic view of the connection of the pinch roller assembly to the base

FIG. 7 is a schematic view of an active module structure

FIG. 8 is a schematic diagram of connection between an active module and a base

FIG. 9 is a schematic view of a second micro-distance lifting structure

Wherein: 1-carrying frame 2-second multidirectional positioning structure 3-first auxiliary carrying plate 4-second auxiliary carrying plate 5-first micro-distance lifting structure 6-second micro-distance lifting structure (61-base 62-mounting lug 63-second motor 64-driving rod 65-driven rod 66-pin shaft 67-connecting block) 7-first multidirectional positioning structure 8-base (81-avoidance through slot) 9-top cover (91-guide slot 92-support column) 10-clamping wheel assembly (101-carrying plate 102-clamping roller 103-positioning frame 104-first slide block 105-first pulley 106-second pulley 107-transmission belt 108-slideway 109-second pulley shaft) 11-driving module (111-travel guide plate 112-second slide block 113-second gear 114-rack 115-mounting plate 116-first motor 117-eccentric rod 118-linkage push rod 119-transmission rod) 12-transmission module (121-inner gear ring 122-first gear) 13-carrying positioning ring (131-positioning plate 132-slide rail-to-positioning hole) 100-to be welded.

Detailed Description

Embodiments of the present invention are described in detail below, wherein like or similar reference numerals refer to like or similar elements or elements having like or similar functions throughout. The embodiments described below by referring to the drawings are illustrative and intended to explain the present invention and should not be construed as limiting the invention.

In the description of the present invention, it should be understood that the terms "longitudinal", "transverse", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc. indicate orientations or positional relationships based on the drawings, are merely for convenience in describing the present invention and simplifying the description, and do not indicate or imply that the devices or elements referred to must have a specific orientation, be configured and operated in a specific orientation, and thus should not be construed as limiting the present invention.

Furthermore, the terms "first," "second," and the like, are used for descriptive purposes only and are not to be construed as indicating or implying a relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defining "a first" or "a second" may explicitly or implicitly include one or more such feature. In the description of the present invention, the meaning of "plurality" means at least two, for example, two, three, etc., unless specifically defined otherwise.

The invention will now be described in further detail with reference to the drawings and to specific examples.

The invention is illustrated in further detail by the following specific examples.

As shown in fig. 1-9, the invention provides a workpiece positioning and clamping device for robot welding, which comprises a carrying frame 1, wherein the carrying frame 1 is of a U-shaped structure with an opening facing horizontally and two arms vertically corresponding, a first auxiliary carrier plate 3 and a second auxiliary carrier plate 4 are arranged in the carrying frame 1 at intervals up and down, and the first auxiliary carrier plate 3 and the second auxiliary carrier plate 4 are respectively connected with the top of the carrying frame 1 and the bottom of the carrying frame 1 in a rotating way. In this embodiment, the first auxiliary carrier 3 and the second auxiliary carrier 4 are both horizontal plates.

The bottom of the first auxiliary carrier plate 3 and the top of the second auxiliary carrier plate 4 are symmetrically provided with a first micro-distance lifting structure 5 and a second micro-distance lifting structure 6 for adjusting the vertical position of the workpiece 100 to be welded, and the bottom of the first micro-distance lifting structure 5 and the top of the second micro-distance lifting structure 6 are symmetrically provided with a first multi-directional positioning structure 7 and a second multi-directional positioning structure 2 for clamping the workpiece 100 to be welded.

The second multidirectional positioning structure 2 comprises a cylindrical base 8 with a hollow interior and a top cover 9 arranged at the top of the base 8, wherein the top cover 9 is provided with guide grooves 91 from the edge along the radial direction inwards, the guide grooves 91 are a plurality of guide grooves 91 which are arranged at equal intervals along the circumferential direction, clamping wheel assemblies 10 are arranged on each guide groove 91, and the base 8 is provided with a guide assembly for driving all the clamping wheel assemblies 10 to synchronously move along the guide grooves 91 where the clamping wheel assemblies are arranged.

The side wall of the base 8 is provided with a plurality of axially-arranged avoidance through grooves 81, the avoidance through grooves 81 are in one-to-one correspondence with the clamping wheel assemblies 10, the upper ends of the avoidance through grooves 81 are communicated with the corresponding guide grooves 91, the base 8 is internally and coaxially provided with a carrying locating ring 13, the inner wall of the carrying locating ring 13 extends to form a plurality of locating plates 131, the locating plates 131 are in one-to-one correspondence with the clamping wheel assemblies 10, and locating holes 131 are formed in the locating plates 131 and are used for installing the clamping wheel assemblies 10. In this embodiment, the base 8 has a vertical central axis, the top cover 9 is coaxially arranged with the base 8, and a support column 92 is arranged at the center of the top cover 9 and connected with the base 8. The clamping wheel assembly 10 is provided with 4 groups in total, and the number of the guide grooves 91, the avoidance through grooves 81 and the positioning plates 131 are correspondingly arranged.

In this embodiment, the clamping wheel assembly 10 includes a carrying plate 101 located below the top cover 9 and a clamping roller 102 located on the upper surface of the top cover 9 and capable of rolling along a radial direction, the carrying plate 101 passes through the avoidance through groove 81 along a radial direction and the inner end is fixedly connected with the top surface of the carrying positioning ring 13, a first sliding block 104 capable of sliding along the radial direction of the base 8 is arranged on the top surface of the carrying plate 101, a first sliding block driving member is further arranged on the carrying plate 101 and used for driving the first sliding block 104 to slide along the radial direction, the first sliding block 104 passes through the guide groove 91 upwards and is provided with a positioning frame 103 with a U-shaped opening facing inwards along the radial direction at the top, and the clamping roller 102 is rotationally connected with the opening of the positioning frame 102. The positioning frame 103 can be slightly higher than the upper surface of the top cover 9 so as not to block the rolling of the clamping roller 102, and the positioning frame 103 is fixedly connected with the top of the first sliding block 104 at the bottom of the outer end.

The first slider driving piece comprises a first belt pulley 105 and a second belt pulley 106 which are arranged at intervals along the radial direction, a closed driving belt 107 which is used for driving and connecting the first belt pulley 105 with the second belt pulley 106, the first belt pulley 105 is rotationally connected with the top surface of the outer end of the carrying plate 101, the second belt pulley 106 is positioned above the corresponding positioning plate 131, and the second belt pulley 106 is rotationally connected with the positioning plate 131 through a second belt pulley shaft 109 arranged at the center; the carrying plate 103 is provided with a slideway 108 inside the driving belt 107 and is slidably connected with the first sliding block 104, and one side (upper side in fig. 6) of the sliding block 104 is connected with the driving belt 107 for driving the first sliding block 104 to slide radially when the driving belt 107 moves.

In this embodiment, the guiding assembly includes a driving module 11 for driving one of the clamping wheel assemblies 10 to move, and a transmission module 12 for synchronously transmitting the motion of one of the clamping wheel assemblies 10 to the other clamping wheel assemblies 10, the driving module 11 includes a travel guide plate 111 fixedly connected with the outer wall of the carrying positioning ring 13, a second slider 112 capable of sliding radially along the base 8 is disposed at the bottom of the travel guide plate 111, a second slider driving member is disposed at one side of the travel guide plate 111 for sliding the second slider 112 radially, a second gear 113 is disposed below the corresponding positioning plate 131 on the second pulley shaft 109 of one of the clamping wheel assemblies 10, a rack 114 is engaged with the second gear 113 at the lower end of the second slider 112, and a sliding rail 132 is disposed below the corresponding positioning plate 131 of one of the clamping wheel assemblies 10 and is slidably connected with the rack 114. In this embodiment, the sliding rail 132 has a U-shaped structure with an opening facing the second gear 113 horizontally, two arms of the U-shape correspond up and down, and the rack 114 is slidably connected to the U-shaped opening of the sliding rail 132. The upper end of the sliding rail 132 is fixedly connected with the bottom of the positioning plate 131.

The second slider driving part comprises a mounting plate 115 and a first motor 116, wherein the mounting plate 115 is arranged on one side of the travel guide plate 111, the first motor 116 is arranged on the top surface of the mounting plate 115, and the rotating end of the first motor 116 is connected with the top of the second slider 112 through a connecting rod part and used for driving the second slider 112 to slide when the first motor 116 rotates. The connecting rod piece comprises an eccentric rod 117, a linkage push rod 118 and a transfer rod 119, one end of the eccentric rod 117 is fixedly connected with the rotating end of the first motor 116, one end of the transfer rod 119 is fixedly connected with the second sliding block 112, and the other end of the eccentric rod 117 and the other end of the transfer rod 119 are respectively hinged with two ends of the linkage push rod 118.

The transmission module 12 includes an inner gear ring 121 coaxially disposed inside the positioning ring 13 and above the positioning plate 131, the inner gear ring 121 is movably connected to the positioning ring 13 and rotatable around its axis, and the second pulley shaft 109 is provided with a first gear 122 above the positioning plate 131 and engaged with the inner gear ring 121.

The second micro-distance lifting structure 6 comprises lifting components which are radially and symmetrically arranged below the base 8, each lifting component comprises a base 61, a mounting lug 62, a second motor 63, a driving rod 64, a driven rod 65, a pin shaft 66 and a connecting block 67, the base 61 is fixedly connected with the top surface of the second auxiliary carrier plate 4, a pair of mounting lugs 62 are formed by extending the upper end of the base 61, the driving rod 64 and the driven rod 65 are respectively arranged on the inner sides of the two mounting lugs 62, the second motor 63 is arranged on the outer wall of the mounting lug 62 adjacent to the driving rod 64, the driving end of the second motor 63 penetrates through the mounting lug 62 and is fixedly connected with one end of the driving rod 64, one end of the driven rod 65 is hinged to the adjacent mounting lug 62, the inner end of each connecting block 67 can be radially and movably connected to the corresponding base 8 bottom plate (the connecting block 67 and the base 8 bottom plate can only radially and relatively move, the outer ends of the connecting block 67 can be realized through a common drawing sliding connection structure), the outer ends of the connecting block 67 are positioned between the driving rod 64 and the driven rod 65, and the outer ends of the connecting block 67 are hinged to the driving rod 64 and the driven rod 65 through the pin shaft 66.

The carrying frame 1 is also provided with a third driving piece for driving the first auxiliary carrier plate 3 and the second auxiliary carrier plate 4 to synchronously rotate along the same vertical axis. The third driving piece can adopt two motors from top to bottom to respectively and synchronously drive the first auxiliary carrier plate 3 and the second auxiliary carrier plate 4 to rotate, and can also adopt a common structure in the field according to the requirements of technicians.

In this embodiment, the first micro-distance lifting structure 5 and the second micro-distance lifting structure 6, the first multi-directional positioning structure 7 and the second multi-directional positioning structure 2 are vertically symmetrically arranged, so that the first micro-distance lifting structure 5 and the first multi-directional positioning structure 7 are not described again.

The working principle of the invention is as follows:

the to-be-welded workpiece 100 is placed on the surface of the top cover 9, the first motor 116 is controlled to drive the eccentric rod 117 to complete rotation, the eccentric arrangement of the eccentric rod 117 is utilized to form deduction from one end to the other end, the deduction is utilized to transfer the deduction to the transfer rod 119, the transfer rod 119 is utilized to deduce sliding displacement of the second sliding block 112 on the inner side of the Cheng Daoxiang plate 111, the second sliding block 112 is utilized to drive the rack 114 to slide on the sliding rail 132, the rack 114 is utilized to mesh with the second gear 113, the rack 114 drives the second gear 113 to drive the second belt wheel shaft 109 to complete rotation, the second belt wheel shaft 109 is utilized to drive the first gear 122 to complete rotation, the first gear 122 is utilized to mesh with the inner gear ring 121, the inner gear ring 121 is driven by the first gear 122 to complete rotation on the inner side of the carrying positioning ring 13, the inner gear ring 121 is utilized to drive the other first gears 122 to synchronously rotate, the other second belt wheel shaft 109 is driven to synchronously rotate, and the second belt wheel 106 is driven to complete synchronous rotation of the conveying belt 107 and the first belt wheel 105 in a belt transmission mode. The first sliding block 104 is connected with one side of the driving belt 107, so that the driving belt 107 pulls the first sliding block 104 to deduce the positioning frame 103 and the clamping wheel 102 under the guidance of the slideway 108 in the rotating process, and the workpiece is clamped and fixed in a multi-directional synchronous manner.

When the workpiece 100 to be welded needs to be adjusted in vertical position, the second motor 63 is controlled to drive the driving rod 64 to complete clockwise or anticlockwise rotation (the second motor 63 of the two lifting assemblies which are symmetrically arranged in radial direction synchronously rotates in opposite directions), so that the driven rod 65 and the connecting block 67 are driven to form height adjustment on the second multidirectional positioning structure 2, and the distance between the two workpieces 100 to be welded is adjusted, so that better welding is facilitated. When the two workpieces to be welded 100 are centered up and down and clamped at proper intervals, the robot starts welding and drives the two auxiliary carrier plates to synchronously rotate through the third driving piece according to the welding speed.

Claims (10)

1. The workpiece positioning and clamping device for robot welding is characterized by comprising a carrying frame (1), wherein the carrying frame (1) is of a U-shaped structure with an opening facing horizontally and two arms vertically corresponding, a first auxiliary carrier plate (3) and a second auxiliary carrier plate (4) are arranged in the carrying frame (1) at intervals up and down, and the first auxiliary carrier plate (3) and the second auxiliary carrier plate (4) are respectively connected with the top of the carrying frame (1) and the bottom of the carrying frame (1) in a rotating way;

the first micro-distance lifting structure (5) and the second micro-distance lifting structure (6) for adjusting the vertical position of the object are symmetrically arranged at the bottom of the first auxiliary carrier plate (3) and the top of the second auxiliary carrier plate (4), and the first multi-directional positioning structure (7) and the second multi-directional positioning structure (2) for clamping the object are symmetrically arranged at the bottom of the first micro-distance lifting structure (5) and the top of the second micro-distance lifting structure (6);

the second multidirectional positioning structure (2) comprises a cylindrical base (8) with a hollow inside and a top cover (9) arranged at the top of the base (8), guide grooves (91) are formed in the top cover (9) from the edge along the radial direction inwards, the guide grooves (91) are formed in a plurality of guide grooves (91) which are arranged at equal intervals along the circumferential direction, clamping wheel assemblies (10) are arranged on the guide grooves (91), and the base (8) is provided with guide assemblies for driving all the clamping wheel assemblies (10) to synchronously move along the guide grooves (91) where the clamping wheel assemblies are located.

2. The workpiece positioning and clamping device for robot welding according to claim 1, wherein a plurality of axially-arranged avoidance through grooves (81) are formed in the side wall of the base (8), the avoidance through grooves (81) are in one-to-one correspondence with the clamping wheel assemblies (10) and the upper ends of the avoidance through grooves (81) are communicated with the corresponding guide grooves (91), a carrying positioning ring (13) is coaxially arranged in the base (8), a plurality of positioning plates (131) are formed by extending the inner wall of the carrying positioning ring (13), and the positioning plates (131) are in one-to-one correspondence with the clamping wheel assemblies (10) and are used for installing the clamping wheel assemblies (10).

3. The workpiece positioning and clamping device for robot welding according to claim 2, wherein the clamping wheel assembly (10) comprises a carrying plate (101) positioned below the top cover (9) and a clamping roller (102) positioned on the upper surface of the top cover (9) and capable of rolling along the radial direction,

the utility model discloses a clamp device for the automobile, including base (8), locating ring (13) and clamp roller (102), including base, locating ring (102) and locating rack (102) opening part, carry board (101) and dodge logical groove (81) and inner and carry on locating ring (13) top surface fixed connection, carry board (101) top surface is equipped with can follow base (8) radial gliding first slider (104), still be equipped with first slider driver on carrying board (101) and be used for driving first slider (104) radial slip, first slider (104) upwards pass guide way (91) and be equipped with U-shaped locating rack (103) of opening radial inwards at the top, clamp roller (102) rotate and connect locating rack (102) opening part.

4. A workpiece positioning and clamping device for robot welding according to claim 3, characterized in that the first slider driving member comprises a first belt wheel (105), a second belt wheel (106) and a transmission belt (107) which is arranged at intervals along the radial direction and is used for connecting the first belt wheel (105) with the second belt wheel (106) in a transmission way, the first belt wheel (105) is rotationally connected with the top surface of the outer end of the carrying plate (101), the second belt wheel (106) is positioned above the corresponding positioning plate (131), and the second belt wheel (106) is rotationally connected with the positioning plate (131) through a second belt wheel shaft (109) arranged at the center;

the carrying plate (101) is provided with a slideway (108) inside the driving belt (107) and is in sliding connection with the first sliding block (104), and one side of the sliding block (104) is connected with the driving belt (107) and is used for driving the first sliding block (104) to slide radially when the driving belt (107) moves.

5. The workpiece positioning and clamping device for robot welding according to claim 4, wherein the guiding assembly comprises a driving module (11) for driving one clamping wheel assembly (10) to move and a transmission module (12) for synchronously transmitting the motion of one clamping wheel assembly (10) to the other clamping wheel assembly (10),

the driving module (11) comprises a travel guide plate (111) fixedly connected with the outer wall of the carrying positioning ring (13), a second sliding block (112) capable of sliding along the radial direction of the base (8) is arranged at the bottom of the travel guide plate (111), a second sliding block driving piece is arranged on one side of the travel guide plate (111) and used for sliding along the radial direction of the second sliding block (112), a second gear (113) is arranged below a corresponding positioning plate (131) of one clamping wheel assembly (10) on a second pulley shaft (109), a rack (114) is connected to the lower end of the second sliding block (112) and meshed with the second gear (113) and used for driving the second gear (113) to rotate when the second sliding block (112) moves, and a sliding rail (132) is arranged below the positioning plate (131) corresponding to one clamping wheel assembly (10) and is in sliding connection with the rack (114).

6. The workpiece positioning and clamping device for robot welding according to claim 5, wherein the second slider driving member comprises a mounting plate (115) and a first motor (116), the mounting plate (115) is arranged on one side of the travel guide plate (111), the first motor (116) is mounted on the top surface of the mounting plate (115), and the rotating end of the first motor (116) is connected with the top of the second slider (112) through a connecting rod member for driving the second slider (112) to slide when the first motor (116) rotates.

7. The workpiece positioning and clamping device for robot welding according to claim 6, wherein the connecting rod piece comprises an eccentric rod (117), a linkage push rod (118) and a transmission rod (119), one end of the eccentric rod (117) is fixedly connected with the rotating end of the first motor (116), one end of the transmission rod (119) is fixedly connected with the second sliding block (112), and the other end of the eccentric rod (117) and the other end of the transmission rod (119) are respectively hinged with two ends of the linkage push rod (118).

8. The workpiece positioning and clamping device for robot welding according to claim 5, wherein the transmission module (12) comprises an internal gear ring (121) coaxially arranged on the inner side of the mounting positioning ring (13) and above the positioning plate (131), the internal gear ring (121) is movably connected to the mounting positioning ring (13) in a manner of rotating around the axis of the internal gear ring, and each second pulley shaft (109) is provided with a first gear (122) above the positioning plate (131) and meshed with the internal gear ring (121).

9. The workpiece positioning and clamping device for robot welding according to claim 1, wherein the second micro-distance lifting structure (6) comprises lifting assemblies which are symmetrically arranged in the radial direction below the base (8), each lifting assembly comprises a base (61), a mounting lug (62), a second motor (63), a driving rod (64), a driven rod (65), a pin shaft (66) and a connecting block (67),

the base (61) is fixedly connected with the top surface of the second auxiliary carrier plate (4), a pair of mounting lugs (62) are formed by extending the upper end of the base (61), the driving rod (64) and the driven rod (65) are respectively arranged on the inner sides of the two mounting lugs (62), a second motor (63) is arranged at the outer wall of the mounting lug (62) adjacent to the driving rod (64), the driving end of the second motor (63) penetrates through the mounting lugs (62) to be fixedly connected with one end of the driving rod (64), one end of the driven rod (65) is hinged to the adjacent mounting lug (62), the inner end of the connecting block (67) can be movably connected to the bottom of the base (8) in the radial direction, and the outer end of the connecting block (67) is hinged to the other end of the driving rod (64) through a pin shaft (66) to be used for driving the base (8) to vertically move when the driving end of the motor (63) rotates.

10. The workpiece positioning and clamping device for robot welding according to claim 1, wherein the carrying frame (1) is further provided with a third driving piece for driving the first auxiliary carrier plate (3) and the second auxiliary carrier plate (4) to synchronously rotate along the same vertical axis.

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