CN117484066B

CN117484066B - Positioning clamping equipment and processing system

Info

Publication number: CN117484066B
Application number: CN202410003441.0A
Authority: CN
Inventors: 徐晶; 朱猛; 陶冲
Original assignee: KUKA Industrial Automation Kunshan Co Ltd
Current assignee: KUKA Industrial Automation Kunshan Co Ltd
Priority date: 2024-01-02
Filing date: 2024-01-02
Publication date: 2024-07-23
Anticipated expiration: 2044-01-02
Also published as: CN117484066A

Abstract

The application relates to positioning and clamping equipment and a processing system. The positioning and clamping device is used for positioning the excavator movable arm in the machining process of the excavator movable arm, and the excavator movable arm comprises a first fork arm, a second fork arm, a movable arm main body and a lug assembly; the positioning and clamping equipment comprises a first-stage positioning device and a second-stage positioning device; the first-stage positioning device comprises a first bottom plate, a first positioning mechanism and a first clamping mechanism, wherein the first positioning mechanism is arranged on the first bottom plate and is used for being matched with the first fork arm and the second fork arm in a plugging manner to position the first fork arm and the second fork arm, the first clamping mechanism is arranged on the first bottom plate and is used for positioning and clamping the movable arm main body between the first fork arm and the second fork arm so as to allow the machining system to form a semi-finished product after welding the movable arm main body with the first fork arm and the second fork arm. The positioning and clamping equipment can automatically position the movable arm of the excavator, and improves the working efficiency.

Description

Positioning clamping equipment and processing system

Technical Field

The application relates to the technical field of welding clamps, in particular to positioning and clamping equipment and a processing system.

Background

The movable arm structural member of the excavator is used as a key working part on the excavator, the welding strength of the whole structure plays a key role in the work of the excavator, however, because the structure of the excavator is relatively complex, the space occupation is large, the welding difficulty is generally large, welding is realized by various welding equipment and a large amount of manpower, and the welding quality of the movable arm structural member of the excavator is also dependent on the welding experience of welding personnel to a large extent, so that the structure of the excavator is low in welding efficiency and difficult to unify.

Spot welding splicing of the current excavator movable arm mainly comprises manual positioning clamping and welding, manual operation is complicated, a workpiece is required to be manually placed on a clamp, the size or the placement position of the workpiece is measured by using a mechanical positioning block or a measuring scale, the working efficiency is low, and the labor cost is high.

Disclosure of Invention

The embodiment of the application provides positioning and clamping equipment, and also provides a processing system with the positioning and clamping equipment.

In a first aspect, an embodiment of the present application provides a positioning and clamping device, applied to a machining system of an excavator boom, where the positioning and clamping device is used to position the excavator boom in a machining process of the excavator boom, and the excavator boom includes a first fork arm, a second fork arm, a boom main body, and a tab assembly; the positioning and clamping equipment comprises a first-stage positioning device and a second-stage positioning device. The first-stage positioning device comprises a first bottom plate, a first positioning mechanism and a first clamping mechanism, wherein the first positioning mechanism is arranged on the first bottom plate and is used for being matched with the first fork arm and the second fork arm in a plugging manner to position the first fork arm and the second fork arm, the first clamping mechanism is arranged on the first bottom plate and is used for positioning and clamping the movable arm main body between the first fork arm and the second fork arm so as to allow the machining system to form a semi-finished product after welding the movable arm main body with the first fork arm and the second fork arm. The second stage positioning device comprises a second bottom plate, a second positioning mechanism and a second clamping mechanism, wherein the second positioning mechanism and the second clamping mechanism are arranged on the second bottom plate, the second positioning mechanism is used for being in plug-in fit with the first fork arm and the second fork arm to position a semi-finished product, and the second clamping mechanism is used for positioning and clamping the lug assembly so as to allow the machining system to form an excavator movable arm after the movable arm main body and the lug assembly are welded.

In a second aspect, an embodiment of the present application further provides a machining system, where the machining system is used for machining an excavator boom, the machining system includes the positioning and clamping device, a transfer robot, and a welding robot, the positioning and clamping device is used for positioning the excavator boom, and the transfer robot is used for transferring the first fork arm, the second fork arm, the boom main body, and the tab assembly to the positioning and clamping device. The welding robot is used for welding the first fork arm, the second fork arm, the movable arm main body and the lug assembly on the positioning clamping equipment.

Compared with the prior art, when the positioning and clamping equipment provided by the embodiment of the application is applied to a processing system, the parts of the movable arm of the carrying robot grabbing excavator move to the first stage positioning device and are placed on the first bottom plate. The first positioning mechanism is in plug-in connection with the first fork arm and the second fork arm to position the first fork arm and the second fork arm. The first clamping mechanism positions and clamps the boom body between the first prong and the second prong. And the welding robot welds the movable arm main body with the first fork arm and the second fork arm to form a semi-finished product. After welding, the transfer robot transfers the semi-finished product to the second stage positioning device and places the semi-finished product on the second bottom plate. The second positioning mechanism is in plug-in connection with the first fork arm and the second fork arm to position the semi-finished product, and the second clamping mechanism is used for positioning and clamping the lug assembly. The excavator boom is formed after the boom body and the lug assembly are welded, and the excavator boom is formed after the boom body and the lug assembly are welded. Therefore, the positioning and clamping equipment completes clamping and positioning of all workpieces of the movable arm of the excavator through the first-stage positioning device and the second-stage positioning device, and the positioning and clamping equipment automatically clamps and positions, so that the operation is simple, manual measurement and positioning are not needed, the machining efficiency is improved, and the labor cost is reduced.

Drawings

In order to more clearly illustrate the technical solutions of the present application, the drawings that are needed in the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present application, and that other drawings can be obtained according to these drawings without inventive effort for a person skilled in the art.

Fig. 1 is a block diagram of a processing system according to an embodiment of the present application.

Fig. 2 is a schematic structural view of an excavator boom processed by the processing system of fig. 1, wherein fig. (a) and (B) respectively show schematic views of two different perspectives of the excavator boom.

Fig. 3 is a schematic structural view of a first stage positioning device of the positioning and clamping apparatus of the processing system shown in fig. 1.

Fig. 4 is a schematic structural view of a second stage positioning device of the positioning and clamping apparatus of the processing system shown in fig. 1.

Fig. 5 is a schematic view of a part of the first stage positioning device shown in fig. 3.

Fig. 6 is an enlarged view of the region P1 in fig. 5.

Fig. 7 is a schematic front projection structure of the first stage positioning device shown in fig. 3.

Fig. 8 is a schematic view of the first stage positioning device of fig. 3 from another perspective.

FIG. 9 is a schematic view of the second stage positioning device of FIG. 4 from another perspective.

FIG. 10 is a schematic view of a portion of the second stage positioning device of FIG. 4.

Fig. 11 is an enlarged view of the region P2 in fig. 9.

Fig. 12 is an enlarged view of the region P3 in fig. 10.

Description of the reference numerals: 100. positioning and clamping equipment; 101. a first stage positioning device; 10. a first base plate; 12. a lifting member; 121. a lifting cylinder; 123. a mounting plate; 20. a first positioning mechanism; 21. a first yoke positioning cylinder; 23. a first yoke compression assembly; 232. a first hold-down cylinder; 234. a second hold-down cylinder; 236. a third hold-down cylinder; 238. an auxiliary plate; 2381. a clamping groove; 25. a second arm positioning cylinder; 27. a second arm compression assembly; 272. a fourth pressing cylinder; 274. a fifth pressing cylinder; 276. a sixth pressing cylinder; 30. a first clamping mechanism; 31. a first clamping assembly; 32. a first support; 33. a second clamping assembly; 34. a first direction abutment; 341. a first tightening cylinder; 343. a second tightening cylinder; 345. a third pressing cylinder; 347. abutting the column; 36. a second direction abutting member; 361. fourth, abutting the cylinder; 363. fifth abutting the cylinder; 365. a first briquette; 367. a second briquetting; 369. a third briquetting; 38. a second support; 381. a first support cylinder; 383. a second support cylinder; 385. a third support cylinder; 39. a tension member; 392. a first tensioning cylinder; 394. a second tensioning cylinder; 396. tensioning the column; 40. a supporting and positioning piece; 50. a first head-tail positioner; 103. a second stage positioning device; 60. a second base plate; 70. a second positioning mechanism; 72. a third support; 74. a first yoke limiting cylinder; 76. a second arm limiting cylinder; 80. a second clamping mechanism; 81. a first ear plate positioning assembly; 812. a movable bottom plate; 814. a limit cylinder assembly; 816. a fourth support; 8161. a relief hole; 83. a second ear plate positioning assembly; 832. a propulsion cylinder assembly; 8321. a thrust cylinder; 834. a floating support assembly; 836. a hold-down cylinder assembly; 8361. a compression cylinder; 90. a boom positioning assembly; 92. a first clamping cylinder; 94. a second clamping cylinder; 96. a third clamping cylinder; 110. a second head-tail positioner; 200. a processing system; 201. a transfer robot; 203. a welding robot; 205. a control device; 300. a boom of an excavator; 301. a first yoke; 302. a second yoke; 303. a boom main body; 3032. a lower base plate; 3034. an inner side plate; 3036. an upper base plate; 3038. an outer panel; 304. a tab assembly; 3041. a lower ear plate; 3043. an upper ear plate; 305. and (5) a semi-finished product.

Detailed Description

The following description of the embodiments of the present application will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present application, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the application without making any inventive effort, are intended to be within the scope of the application.

In the description of the present invention, it should be noted that, unless explicitly stated and limited otherwise, the terms "mounted", "connected" and "connected" are to be construed broadly, and may be, for example, fixedly connected, detachably connected, or integrally connected. Either mechanically or electrically. Can be directly connected or indirectly connected through an intermediate medium, and can be communication between two elements. The specific meaning of the above terms in the present invention will be understood in specific cases by those of ordinary skill in the art.

Referring to fig. 1 and 2, the embodiment of the present application provides a positioning and clamping device 100, where the positioning and clamping device 100 is applied to a processing system 200 of an excavator boom 300, and the positioning and clamping device 100 is used for positioning and clamping the excavator boom 300 during the processing of the excavator boom 300. The positioning and clamping device 100 can automatically position the excavator movable arm 300, improve the working efficiency and reduce the labor cost.

The excavator boom 300 is a working device of an excavator, and is mainly used for controlling operations such as excavation and loading of a bucket of the excavator, and the shape of the excavator boom 300 is curved to a certain extent in order to better perform forced excavation of objects such as soil below a stop surface. In this embodiment, excavator boom 300 may include a first yoke 301, a second yoke 302, a boom body 303, and a tab assembly 304. Taking the welded body of the excavator boom 300 as an example, a first fork arm 301 and a second fork arm 302 are respectively connected to opposite ends of the boom body 303, and a tab assembly 304 is connected to a side wall of the boom body 303.

Specifically, in the present embodiment, the boom main body 303 has a certain curvature, and is substantially arc-shaped in shape. The boom body 303 may include a lower plate 3032, an inner plate 3034, an upper plate 3036, and an outer plate 3038, and the lower plate 3032, the inner plate 3034, the upper plate 3036, and the outer plate 3038 are sequentially welded end to form the hollow boom body 303. In the present embodiment, the boom main body 303 is arc-shaped, and the lower plate 3032, the inner plate 3034, the upper plate 3036, and the outer plate 3038 are arc-shaped. The first yoke 301 is connected to one end of the boom main body 303, and is welded to the lower plate 3032, the inner plate 3034, the upper plate 3036, and the outer plate 3038, respectively. The second yoke 302 is connected to an end of the boom main body 303 remote from the first yoke 301, and is welded to the lower plate 3032, the inner plate 3034, the upper plate 3036, and the outer plate 3038, respectively. The tab assembly 304 is connected to approximately the middle of the boom body 303, and the tab assembly 304 may include a lower ear plate 3041 and an upper ear plate 3043, the lower ear plate 3041 being connected to a side of the lower base plate 3032 adjacent to the outer side plate 3038, the upper ear plate 3043 being connected to a side of the upper base plate 3036 adjacent to the outer side plate 3038 and being disposed opposite the lower ear plate 3041 at a spacing.

Here, "lower plate 3032" may be understood as a side plate that is close to the clamping plane when the boom body 303 is placed on the positioning and clamping apparatus 100, and correspondingly, "upper plate 3036" may be understood as a side plate that is far from the clamping plane when the boom body 303 is placed on the positioning and clamping apparatus 100, and "upper ear plate 3043" and "lower ear plate 3041" are the same. Since the boom main body 303 is substantially arc-shaped, the inner and outer side plates of the arc-shaped boom main body 303 are respectively designated as an "inner plate 3034" and an "outer plate 3038".

In the description of the present application, it should be understood that the terms "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "inner," and the like indicate orientation or positional relationships based on that shown in the drawings, and are merely used for simplifying the description of the present application, rather than indicating or implying that the apparatus or element being referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore should not be construed as limiting the present application.

In the present embodiment, the machining system 200 is used for machining the excavator boom 300, and in the present embodiment, the machining system 200 is used for welding and assembling the excavator boom 300. The processing system 200 may include the positioning and clamping apparatus 100, the handling robot 201, and the welding robot 203 described above. The positioning and clamping apparatus 100 is used for positioning the excavator boom 300, and the transfer robot 201 is used for transferring components of the excavator boom 300 to the positioning and clamping apparatus 100, for example, for transferring the first yoke 301, the second yoke 302, the boom body 303, and the tab assembly 304. The welding robot 203 is used to weld the first yoke 301, the second yoke 302, the boom body 303, and the tab assembly 304 on the positioning fixture 100.

During processing, the carrying robot 201 grabs each part of the excavator movable arm 300, moves to the positioning and clamping device 100 and is placed on the positioning and clamping device 100, the positioning and clamping device 100 positions at least two parts of the excavator movable arm 300, and the welding robot 203 automatically and respectively welds each part of the excavator movable arm 300 on the positioning and clamping device 100. After all the welding is completed, the positioning and clamping device 100 releases the positioning of the excavator movable arm 300, and the carrying robot 201 grabs and carries the excavator movable arm 300 to complete discharging. The machining system 200 is fully automatic in carrying, positioning and welding operation to complete welding and assembling of the excavator movable arm 300, is simple to operate, does not need manual measurement and positioning, improves machining efficiency and reduces labor cost.

The specific operation and structure of the transfer robot 201 and the welding robot 203 are not limited in this specification, and for example, the transfer robot 201 may take and put the workpiece by a limit structure such as a clamp or a gripper, or the transfer robot 201 may take and put the workpiece by a magnetic attraction or a negative pressure suction. The welder 203 may be a spot welding robot, an arc welding robot, a laser welding robot, or the like.

In some embodiments, the processing system 200 may further include a control device 205, where the control device 205 may be electrically connected to the welding robot 203, the handling robot 201, and the positioning and clamping device 100, and the control device 205 is configured to control the handling robot 201, the positioning and clamping device 100, and the welding robot 203 to perform operations of automated handling, clamping, welding, and the like.

Referring to fig. 1,2 and 3, in a normal use state, the positioning and clamping device 100 is placed on a horizontal table top. In this embodiment, the positioning and clamping apparatus 100 may include a first stage positioning device 101 and a second stage positioning device 103. The first stage positioning device 101 includes a first base plate 10, a first positioning mechanism 20, and a first clamping mechanism 30. The first positioning mechanism 20 is disposed on the first base plate 10, and the first positioning mechanism 20 is configured to be in plug-in fit with the first fork arm 301 and the second fork arm 302 to position the first fork arm 301 and the second fork arm 302. The first clamping mechanism 30 is disposed on the first base plate 10, and the first clamping mechanism 30 is used for positioning and clamping the boom body 303 between the first fork arm 301 and the second fork arm 302, so as to allow the machining system 200 to weld the boom body 303 with the first fork arm 301 and the second fork arm 302 to form a semi-finished product 305. The second stage positioning device 103 includes a second base plate 60, a second positioning mechanism 70, and a second clamping mechanism 80. The second positioning mechanism 70 and the second clamping mechanism 80 are both disposed on the second base plate 60, and the second positioning mechanism 70 is configured to be in plug-in fit with the first fork arm 301 and the second fork arm 302 to position the semi-finished product 305. The second clamping mechanism 80 is used to position and clamp the tab assembly 304 to allow the machining system 200 to weld the boom body 303 to the tab assembly 304 to form the excavator boom 300.

In use, the transfer robot 201 picks up the components of the excavator boom 300 and moves to the first stage positioning device 101 and rests on the first floor 10. The first positioning mechanism 20 is in plug-in fit with the first fork arm 301 and the second fork arm 302 to position the first fork arm 301 and the second fork arm 302. The first clamping mechanism 30 positions and clamps the boom body 303 between the first yoke 301 and the second yoke 302. The welding robot 203 welds the boom main body 303 to the first yoke 301 and the second yoke 302 to form a semi-finished product 305. After the welding is completed, the transfer robot 201 transfers the semi-finished product 305 to the second stage positioning device 103 and places it on the second bottom plate 60. The second positioning mechanism 70 is in plug-in fit with the first fork arm 301 and the second fork arm 302 to position the semi-finished product 305, and the second clamping mechanism 80 is used for positioning and clamping the lug assembly 304. The welding robot 203 welds the boom body 303 to the tab assembly 304 to form the excavator boom 300. Therefore, the positioning and clamping device 100 completes the clamping and positioning of all the workpieces of the excavator movable arm 300 through the first-stage positioning device 101 and the second-stage positioning device 103, the positioning and clamping device 100 automatically clamps and positions, the operation is simple, the manual measurement and positioning are not needed, the machining efficiency is improved, and the labor cost is reduced.

In the present embodiment, the first base plate 10 is used to carry the first positioning mechanism 20, the first clamping mechanism 30, and the components of the excavator boom 300 to be processed. The specific structure of the first base plate 10 is not limited in this specification, for example, the first base plate 10 is substantially rectangular plate-shaped, the first base plate 10 may be provided with a plurality of holes, grooves, and other structures for fitting the first positioning mechanism 20 and the first clamping mechanism 30, and the first base plate 10 may be provided with a support bracket, a support block, a fixing base, and other structures for mounting the first positioning mechanism 20 and the first clamping mechanism 30.

In some embodiments, the first stage positioning device 101 may further include a first head-to-tail positioner 50, and the first base plate 10 may be connected to the first head-to-tail positioner 50, and the first head-to-tail positioner 50 is configured to drive the first base plate 10 to rotate. The first head-to-tail positioner 50 can clamp the first base plate 10 at both ends, and can rotate the first base plate 10 by electric power. The parts of the excavator movable arm 300 are positioned on the first bottom plate 10, and the first head-tail positioner 50 rotates the first bottom plate 10 to realize arbitrary rotation of the parts of the excavator movable arm 300, so that the parts are adjusted to a proper feeding and welding angle, and the productivity, the safety and the operability are improved.

In a normal use condition, the first head-to-tail positioner 50 is placed on a horizontal table. For convenience of description of the structural position of the positioning and clamping apparatus 100, the following description will be made in a state in which the first head-to-tail positioner 50 does not control the rotation of the first base plate 10, and the first base plate 10 is substantially parallel to the horizontal table top.

Referring to fig. 2,3 and 5, the first stage positioning device 101 may further include a supporting and positioning member 40, where the supporting and positioning member 40 is disposed on the first bottom plate 10, and the supporting and positioning member 40 is used for supporting and positioning the lower bottom plate 3032. The specific structure of the supporting and positioning member 40 is not limited in this specification, for example, the supporting and positioning member 40 may be a supporting seat, a supporting column, a supporting clamp, or the like, and in this embodiment, the supporting and positioning member 40 is an electro-permanent magnet.

To facilitate positioning and welding of the lower plate 3032 with other components, in the present embodiment, the supporting and positioning member 40 protrudes with respect to the first base plate 10 so that the lower plate 3032 is disposed at an opposite interval from the first base plate 10. As an example, the support positioner 40 may include a support column connected to the first base plate 10, and an electro-permanent magnet disposed at an end of the support column facing away from the first base plate 10. When in use, the transfer robot 201 precisely places the lower plate 3032 on the supporting and positioning member 40, the supporting and positioning member 40 supports the lower plate 3032 to be spaced from the first bottom plate 10, and after the supporting and positioning member 40 magnetizes and adsorbs and positions the lower plate 3032, the transfer robot 201 leaves.

In the present embodiment, the first positioning mechanism 20 is disposed on the first base plate 10, and is used for positioning the first fork arm 301 and the second fork arm 302. The first positioning mechanism 20 may include a first yoke positioning cylinder 21 and a first yoke hold down assembly 23. The output end of the first yoke positioning cylinder 21 is for a hole plug-in fit of the first yoke 301. The first fork arm 301 may be provided with a pin hole or shaft hole, and the pin hole may penetrate through the first fork arm 301 to be used for installing a rotating shaft or a pin shaft and other parts to connect the movable arm front fork and other arms or parts of the excavator; the extension and contraction direction of the output end of the first yoke positioning cylinder 21 may be set to be the same as the axial direction of the pin hole so as to be penetrated through the pin hole to improve the reliability of positioning. The specific type of the first yoke positioning cylinder 21 in this specification is not limited, and for example, the first yoke positioning cylinder 21 may be an electric cylinder, an air cylinder, an oil cylinder, or the like. In the present embodiment, the first yoke positioning cylinder 21 employs an oil cylinder. The first yoke positioning cylinder 21 is fixedly mounted to the first base plate 10, and for example, it may be fixed to the first base plate 10 by a mount, a bolt, or the like. The output end of the first fork arm positioning cylinder 21 extends out along the first direction Z and penetrates through the pin hole of the first fork arm 301 to realize preliminary positioning of the first fork arm 301. The "first direction Z" is understood to mean a thickness direction of the first base plate 10, and the first direction Z is substantially perpendicular to the horizontal table surface in a position state where the first base plate 10 is not rotated and is substantially parallel to the horizontal table surface.

The first yoke hold-down assembly 23 may include a first hold-down cylinder 232, a second hold-down cylinder 234, and a third hold-down cylinder 236. The first pressing cylinder 232 is fixedly connected to the first base plate 10 and is located at one side of the first yoke positioning cylinder 21. The first hold-down cylinder 232 is used to hold down the first yoke 301 to limit displacement of the first yoke 301 away from the first yoke positioning cylinder 21, thereby ensuring a snap fit between the first yoke positioning cylinder 21 and the first yoke 301. In order to adapt the height of the first yoke 301 (the distance between the first yoke 301 and the first base plate 10), a support block for mounting the first hold-down cylinder 232 is provided on the first base plate 10.

The specific structure of the first pressing cylinder 232 is not limited in this specification, for example, the first pressing cylinder 232 may be a single driving cylinder, such as an oil cylinder, an air cylinder, an electric cylinder, or the like, the first pressing cylinder 232 is disposed above the first yoke 301 (a side of the first yoke 301 facing away from the first yoke positioning cylinder 21), the first pressing cylinder 232 abuts against an upper surface of the first yoke 301 through telescopic movement (the terms of "up" and "down" in this specification may refer to the examples in the figures, and the terms of "up" and "down" in the specification are the same), and the displacement of the first yoke 301 in the first direction Z is limited together with the first yoke positioning cylinder 21. As another example, the first pressing cylinder 232 may include a driving cylinder and a movable pressing plate, where the movable pressing plate is rotatably connected to a supporting block on the first base plate 10, and is drivingly connected to the driving cylinder, and when the driving cylinder moves telescopically, one end of the movable pressing plate is lifted, and the other end of the movable pressing plate is lowered to abut against the upper surface of the first yoke 301, so as to implement positioning of the first yoke 301.

The second hold-down cylinder 234 and the third hold-down cylinder 236 are oppositely disposed for clamping opposite sides of the first yoke 301, respectively. Specifically, the second pressing cylinder 234 and the third pressing cylinder 236 are disposed on opposite sides of the first yoke 301, respectively, and are disposed close to the first pressing cylinder 232, and as an example, the second pressing cylinder 234 is disposed on the inner side of the lower plate 3032, and the third pressing cylinder 236 is disposed on the outer side of the lower plate 3032 (the lower plate 3032 takes an arc shape, and the arc shape of the lower plate 3032 defines the inner side (concave side) and the outer side (convex side)) thereof. Support columns for mounting the second and third hold-down cylinders 234, 236 may also be provided on the first base plate 10 so that the positions of the second and third hold-down cylinders 234, 236 are adapted to the height of the first yoke 301. The direction of extension of the output end of the second pressing cylinder 234 and the output end of the third pressing cylinder 236 is not limited in this specification, and in order to improve positioning stability, the direction of extension of the output end of the second pressing cylinder 234 is substantially perpendicular to the side wall of the first yoke 301 near the second pressing cylinder 234, and the direction of extension of the output end of the third pressing cylinder 236 is substantially perpendicular to the side wall of the first yoke 301 near the third pressing cylinder 236. The expansion and contraction directions of the output end of the second compression cylinder 234 and the output end of the third compression cylinder 236 can be adaptively adjusted according to the plane of the surface of the workpiece to be positioned. The second pressing cylinder 234 may be any one of an oil cylinder, an air cylinder, and an electric cylinder, and the third pressing cylinder 236 may be any one of an oil cylinder, an air cylinder, and an electric cylinder, and in this embodiment, the second pressing cylinder 234 and the third pressing cylinder 236 are oil cylinders.

When the first fork arm 301 is positioned, the transfer robot 201 (as shown in fig. 1) sucks the first fork arm 301, transfers and places the first fork arm 301 on the first bottom plate 10, and the output end of the first fork arm positioning cylinder 21 extends into the pin hole of the first fork arm 301 to perform positioning, and after positioning, the transfer robot 201 leaves. The first pressing cylinder 232 presses the first yoke 301 by abutting the upper surface of the first yoke 301 through a telescopic movement. The output end of the second pressing cylinder 234 and the output end of the third pressing cylinder 236 extend out and respectively press against the two opposite sides of the first fork arm 301, so as to clamp the first fork arm 301 and realize the positioning of the first fork arm 301.

The first yoke positioning cylinder 21 and the first yoke pressing assembly 23 described above are used to position the first yoke 301 so that the welding robot 203 welds the first yoke 301 and the lower plate 3032. In some embodiments, to better position the first yoke 301 and the lower plate 3032, the first yoke compression assembly 23 may also include two auxiliary plates 238. Two auxiliary plates 238 are connected to the output of the second hold-down cylinder 234 and the output of the third hold-down cylinder 236, respectively. The auxiliary plate 238 is used for expanding the supporting areas of the second pressing cylinder 234 and the third pressing cylinder 236, and when the second pressing cylinder 234 and the third pressing cylinder 236 respectively support against the opposite sides of the first fork arm 301, the auxiliary plate 238 is simultaneously supported against the lower base plate 3032 and the first fork arm 301.

In some embodiments, the number of the second pressing cylinders 234 and the third pressing cylinders 236 may be plural, and as an example, the number of the third pressing cylinders 236 is two, two third pressing cylinders 236 are arranged in parallel, and two third pressing cylinders 236 are abutted against the same side of the lower base plate 3032.

In this embodiment, the first positioning mechanism 20 may further include a second arm positioning cylinder 25 and a second arm hold down assembly 27. The output of the second prong positioning cylinder 25 is for a hole plug-in fit of the first prong 301. The second fork arm 302 may be provided with a pin hole or shaft hole that may extend through the second fork arm 302 for mounting a component such as a pivot or pin to connect the boom front fork to other arms or components of the excavator; the direction of extension and contraction of the output end of the second arm positioning cylinder 25 may be set to be the same as the axial direction of the pin hole so as to be penetrated through the pin hole to improve the reliability of positioning. The second fork arm positioning cylinder 25 and the first fork arm positioning cylinder 21 have substantially the same structure, and detailed description thereof will be omitted herein, and specific reference may be made to the structure of the first fork arm positioning cylinder 21.

The second fork arm hold-down assembly 27 may include a fourth hold-down cylinder 272, a fifth hold-down cylinder 274, and a sixth hold-down cylinder 276. The fourth hold-down cylinder 272 is fixedly connected to the first base plate 10 and is located on one side of the second arm positioning cylinder 25. The fourth hold-down cylinder 272 is configured to hold down the second prong 302 to limit displacement of the second prong 302 away from the second prong positioning cylinder 25, thereby ensuring a snap fit between the second prong positioning cylinder 25 and the second prong 302. In order to adapt the height of the second yoke 302 (the distance between the second yoke 302 and the first base plate 10), a support block for mounting the fourth pressure cylinder 272 is provided on the first base plate 10. The fourth pressing cylinder 272 and the first pressing cylinder 232 have substantially the same structure, and are not described herein, and specific reference may be made to the structure of the first pressing cylinder 232.

Fifth pressure cylinder 274 and sixth pressure cylinder 276 are oppositely disposed for clamping opposite sides of second prong 302, respectively. Specifically, fifth hold-down cylinder 274 and sixth hold-down cylinder 276 are disposed on opposite sides of second prong 302, respectively, and are each disposed proximate to fourth hold-down cylinder 272. As an example, the fifth pressing cylinder 274 is provided inside the lower base plate 3032, and the sixth pressing cylinder 276 is provided outside the lower base plate 3032 (the lower base plate 3032 has an arc shape, and the arc shape of the lower base plate 3032 defines the inside and the outside thereof). Support columns for mounting fifth and sixth hold-down cylinders 274, 276 may also be provided on first base plate 10 to adapt the positions of fifth and sixth hold-down cylinders 274, 276 to the height of second fork arm 302.

The present disclosure does not limit the directions of extension and contraction of the output end of the fifth pressing cylinder 274 and the output end of the sixth pressing cylinder 276, and in order to improve positioning stability, the direction of extension and contraction of the output end of the fifth pressing cylinder 274 is substantially perpendicular to the side wall of the second yoke 302 against which it abuts, and the direction of extension and contraction of the output end of the sixth pressing cylinder 276 is substantially perpendicular to the side wall of the second yoke 302 against which it abuts. The direction of expansion of the output of the fifth pressure cylinder 274 and the output of the sixth pressure cylinder 276 may be adaptively adjusted according to the plane of the surface of the workpiece to be positioned. The fifth pressing cylinder 274 may be any one of an oil cylinder, an air cylinder, and an electric cylinder, and the sixth pressing cylinder 276 may be any one of an oil cylinder, an air cylinder, and an electric cylinder, and in this embodiment, the fifth pressing cylinder 274 and the sixth pressing cylinder 276 are oil cylinders.

The second prong positioning cylinder 25 and the second prong hold-down assembly 27 described above are used to position the second prong 302 so that the welding robot 203 can weld the second prong 302 and the lower plate 3032. Similar to the first yoke compression assembly 23, to better position the second yoke 302 and the lower plate 3032, the second yoke compression assembly 27 may also include two auxiliary plates connected to the output of the fifth compression cylinder 274 and the output of the sixth compression cylinder 276, respectively. When the fifth pressing cylinder 274 and the sixth pressing cylinder 276 respectively press against opposite sides of the second yoke 302, the auxiliary plate is simultaneously pressed against the lower plate 3032 and the second yoke 302.

When the second fork arm 302 is positioned, the transfer robot 201 (as shown in fig. 1) sucks the second fork arm 302 to transfer and place the second fork arm 302 on the first base plate 10, the output end of the second fork arm positioning cylinder 25 stretches into the pin hole of the second fork arm 302 to perform positioning, and after positioning is completed, the transfer robot 201 leaves. The fourth pressing cylinder 272 presses the second yoke 302 by pressing the upper surface of the second yoke 302 by a telescopic movement. The output end of the fifth compressing cylinder 274 and the output end of the sixth compressing cylinder 276 extend out to respectively prop against the two opposite sides of the second fork arm 302, so as to clamp the second fork arm 302, and realize the whole positioning of the second fork arm 302.

After the positioning of the first fork arm 301 and the second fork arm 302 is completed, the welding robot 203 automatically welds the first fork arm 301 and the lower plate 3032, and welds the second fork arm 302 and the lower plate 3032. After the welding is completed, the welding robot 203 is moved away, the first hold-down cylinder 232 and the fourth hold-down cylinder 272 are retracted, the second hold-down cylinder 234 and the fifth hold-down cylinder 274 are retracted, and the hold-down control is released.

In this embodiment, the first clamping mechanism 30 may include a first clamping assembly 31 for positioning the inner plate 3034. The first clamping assembly 31 may include a first support 32 (shown in fig. 6), a first directional abutment 34, and a second directional abutment 36. The first support 32 is connected to the first bottom plate 10 and protrudes with respect to the first bottom plate 10 to support the inner plate 3034 such that a side of the inner plate 3034 adjacent to the lower bottom plate 3032 is attached to the lower bottom plate 3032. The specific structure of the first support 32 is not limited in this specification, and the first support 32 may be a fixed support structure, such as a support block, a support column, or the like. The first support 32 may also be a telescopic support structure, for example, the first support 32 may include a telescopic cylinder and a bearing seat connected to an output end of the telescopic cylinder, where the bearing seat may be spaced from the first bottom plate 10, and the telescopic cylinder may be telescopic to change a distance between the bearing seat and the first bottom plate 10, so that the first support 32 is suitable for supporting workpieces with different heights, or the first support 32 has two functions of supporting and abdicating. The surface of the first support 32 facing the inner plate 3034 is substantially parallel to the lower surface of the lower plate 3032.

The first direction abutting member 34 is used for abutting against one side of the inner side plate 3034 away from the lower bottom plate 3032, so that the inner side plate 3034 is attached to the lower bottom plate 3032, and the first direction abutting member 34 and the lower bottom plate 3032 jointly clamp the inner side plate 3034 to limit displacement of the inner side plate 3034 along the second direction X. The second direction X intersects (e.g., is perpendicular to) the first direction Z, and the second direction X may be a width direction of the first chassis 10. The specific structure of the first direction abutting member 34 is not limited in this specification, and the first direction abutting member 34 may include only one abutting cylinder or may include a plurality of abutting cylinders. In the present embodiment, the first direction abutment 34 may include a first abutment cylinder 341, a second abutment cylinder 343, and a third abutment cylinder 345. The first abutting cylinder 341, the second abutting cylinder 343, and the third abutting cylinder 345 are disposed inside the inner plate 3034 (the inner plate 3034 is arc-shaped, and the inner and outer sides thereof are defined by the arc-shaped outer shape of the inner plate 3034), and are arranged along the extending direction of the inner plate 3034. Specifically, in the present embodiment, the first abutting cylinder 341 and the third abutting cylinder 345 are disposed near both ends of the inner plate 3034, respectively, and the second abutting cylinder 343 is located in the middle of the inner plate 3034. The first, second and third abutting cylinders 341, 343 and 345 abut against different portions of the inner plate 3034, respectively, improving the positioning stability of the inner plate 3034.

The first, second and third tightening cylinders 341, 343, 345 may also be connected to the first base plate 10 by corresponding support structures to match the position of the inner plate 3034. In other embodiments, taking the second abutting cylinder 343 as an example, the second abutting cylinder 343 may be directly connected to the first bottom plate 10, the first direction abutting member 34 may further include an abutting column 347, the abutting column 347 is connected to an output end of the second abutting cylinder 343, the abutting column 347 extends along the first direction Z, and an end of the abutting column 347 facing away from the first bottom plate 10 protrudes from a side of the inner side plate 3034 facing away from the first bottom plate 10. The second abutting cylinder 343 makes up the height difference through the abutting column 347 to position the inner plate 3034, and the first abutting cylinder 341 and the third abutting cylinder 345 are the same, which will not be described herein.

Since the inner plate 3034 is substantially arc-shaped, the expansion and contraction directions of the first abutting cylinder 341, the second abutting cylinder 343 and the third abutting cylinder 345 are different from each other, and the expansion and contraction directions of the first abutting cylinder 341, the second abutting cylinder 343 and the third abutting cylinder 345 are adjusted according to the plane of the surface of the inner plate 3034 which is abutted by the first abutting cylinder 341, the second abutting cylinder 343 and the third abutting cylinder 345. As an example, the expansion and contraction direction of the first abutting cylinder 341 is substantially perpendicular to the surface of the inner plate 3034 against which it abuts to increase the contact area with the inner plate 3034, thereby improving the positioning stability.

In this embodiment, the second direction abutting member 36 is disposed opposite to the first support 32, and the second direction abutting member 36 is used to abut against a side of the inner plate 3034 facing away from the first support 32. The second direction abutment 36 cooperates with the first support 32 to limit displacement of the inner panel 3034 in the first direction Z. The second direction abutment 36 may comprise a fourth abutment cylinder 361 and a fifth abutment cylinder 363. The fourth and fifth tightening cylinders 361 and 363 are arranged in the extending direction of the inner plate 3034, the fourth tightening cylinder 361 is located between the first and second tightening cylinders 341 and 343, and the fifth tightening cylinder 363 is located between the third tightening cylinder 345 and the second arm pressing assembly 27.

The specific structure of the fourth pressing cylinder 361 in the present specification is not limited, and for example, the fourth pressing cylinder 361 may be a single driving cylinder, such as an oil cylinder, an air cylinder, an electric cylinder, or the like, and the first bottom plate 10 is provided with a support block for mounting the fourth pressing cylinder 361 such that the fourth pressing cylinder 361 is located above the inner plate 3034 (the side of the inner plate 3034 facing away from the first support 32), and the fourth pressing cylinder 361 presses the upper surface of the inner plate 3034 by a telescopic motion, and limits the displacement of the inner plate 3034 in the first direction Z together with the first support 32. As another example, similar to the first pressing cylinder 232, the fourth pressing cylinder 361 may also include a driving cylinder and a movable pressing plate, where the movable pressing plate is rotatably connected to the supporting block on the first bottom plate 10, and is drivingly connected to the driving cylinder, and when the driving cylinder moves telescopically, one end of the movable pressing plate is lifted, so that the other end of the movable pressing plate descends to press against the upper surface of the inner plate 3034, to position the inner plate 3034. The fifth abutting cylinder 363 is substantially identical to the fourth abutting cylinder 361, and will not be described again herein, and specific reference is made to the description of the fourth abutting cylinder 361.

When the inner plate 3034 is positioned, the transfer robot 201 (as shown in fig. 1) sucks the inner plate 3034, transfers and places the inner plate 3034 on the first bottom plate 10, specifically, places the inner plate 3034 on the first support 32 and is located between the first direction abutting piece 34 and the lower bottom plate 3032, and the first direction abutting piece 34 abuts against the inner plate 3034 to limit the displacement of the inner plate 3034 in the second direction X, so that the transfer robot 201 releases the inner plate 3034 and leaves. The second direction abutting piece 36 presses the upper surface of the inner panel 3034, limiting displacement of the inner panel 3034 in the first direction Z in cooperation with the first support 32. In order to facilitate welding of the inner plate 3034 and the first fork arm 301 and the second fork arm 302, two ends of the inner plate 3034 respectively cover a part of the first fork arm 301 and a part of the second fork arm 302, the second pressing cylinder 234 extends out and presses against the connection part of the first fork arm 301 and the inner plate 3034, and the fifth pressing cylinder 274 extends out and presses against the connection part of the second fork arm 302 and the inner plate 3034.

After the inner plate 3034 is positioned, the welding robot 203 automatically welds the inner plate 3034 and the lower plate 3032, the inner plate 3034 and the first yoke 301, and the inner plate 3034 and the second yoke 302. After the welding is completed, the welding robot 203 moves away, the first direction abutting piece 34 retreats, the pressing control on the inner plate 3034 is released, the third pressing cylinder 236 and the sixth pressing cylinder 276 retreats, and the pressing control on the lower plate 3032 is released.

In this embodiment, the first clamping mechanism 30 may also include a second clamping assembly 33 for positioning the upper floor 3036. The second clamping assembly 33 may include a second support 38 and a tension member 39, the second support 38 for supporting the upper plate 3036 such that the upper plate 3036 is opposite the lower plate 3032 and such that the upper plate 3036 is attached to the side of the inner plate 3034 facing away from the first bottom plate 10. Since the upper plate 3036 is an arc-shaped plate and has a long size in the third direction Y, the second support 38 may include a plurality of support cylinders arranged in the third direction Y in order to improve the support stability of the upper plate 3036. The third direction Y intersects (e.g., is perpendicular to) the first direction Z and the second direction X, and the third direction Y may be a length direction of the first base plate 10.

In particular, in the present embodiment, the second support 38 may include a first support cylinder 381, a second support cylinder 383, and a third support cylinder 385 arranged along the extending direction of the upper base plate 3036. The first, second and third support cylinders 381, 383 and 385 respectively support different portions of the upper base plate 3036, improving the support stability of the upper base plate 3036. In order to support the upper plate 3036, at least part of the structures of the first, second and third support cylinders 381, 383 and 385 are allowed to extend between the upper plate 3036 and the lower plate 3032, and since the inner plate 3034 has been welded to the inside of the upper plate 3036, the first, second and third support cylinders 381, 383 and 385 are disposed on the outside of the upper plate 3036 (the upper plate 3036 has an arc shape, the inner and outer sides of which are defined by the arc shape of the upper plate 3036).

First, second and third support cylinders 381, 383 and 385 may also be connected to first floor 10 by corresponding support structures to match the positions between upper and lower floor 3036, 3032. Since the boom main body 303 is provided in an arc shape, respective expansion and contraction directions of the first support cylinder 381, the second support cylinder 383, and the third support cylinder 385 are different from each other, and respective output ends of the first support cylinder 381, the second support cylinder 383, and the third support cylinder 385 can extend into an interval between the upper plate 3036 and the lower plate 3032. The first, second, and third support cylinders 381, 383, 385 each serve to support a surface of the upper floor plate 3036 substantially on the same plane, the upper floor plate 3036 being substantially parallel to the lower floor plate 3032 when the upper floor plate 3036 is placed on the second support 38, and an inner side of the upper floor plate 3036 being opposite a side wall of the inner side plate 3034.

Referring to fig. 2 and 7, in the present embodiment, the tightening member 39 is used to tighten the side of the upper plate 3036 away from the inner plate 3034 (i.e., the outer side of the upper plate 3036) to make the upper plate 3036 abut against the inner plate 3034, and the tightening member 39 and the inner plate 3034 clamp the upper plate 3036 together to limit the displacement of the upper plate 3036 in the second direction X. The tension member 39 may include a first tension cylinder 392 and a second tension cylinder 394, the first tension cylinder 392 and the second tension cylinder 394 being arranged in the extending direction of the upper floor 3036, the first tension cylinder 392 being located between the fourth abutting cylinder 361 and the second abutting cylinder 343, the second tension cylinder 394 being located between the second abutting cylinder 343 and the fifth abutting cylinder 363. The first tensioning cylinder 392 and the second tensioning cylinder 394 limit different portions of the upper plate 3036, respectively, improving the positioning stability of the upper plate 3036.

The specific structure of the first tightening cylinder 392 is not limited in this specification, and for example, the first tightening cylinder 392 may be an oil cylinder, an air cylinder, an electric cylinder, or the like. In this embodiment, the first tensioning cylinder 392 is a cylinder. The cylinder body of the first tensioning cylinder 392 is located inside the upper base plate 3036, and the output end of the first tensioning cylinder 392 is penetrated outside the upper base plate 3036 through the interval between the lower base plate 3032 and the first base plate 10. The tightening member 39 may further include a tightening post 396, the tightening post 396 being coupled to the output end of the first tightening cylinder 392 and located outside the upper plate 3036. The tensioning post 396 extends in a first direction Z (as shown in fig. 3), and an end of the tensioning post 396 facing away from the first floor plate 10 protrudes from a surface of a side of the upper floor plate 3036 facing away from the lower floor plate 3032. The output end of the first tensioning cylinder 392 is retracted to drive the tensioning column 396 to move to abut against the outer side of the upper plate 3036, so that the upper plate 3036 is in abutting contact with the inner plate 3034, and the effect of tensioning the upper plate 3036 is achieved. The second tensioning cylinder 394 is substantially identical in structure to the first tensioning cylinder 392, and the number of tensioning columns 396 may be two, and the two tensioning columns 396 are respectively connected to the output end of the first tensioning cylinder 392 and the output end of the second tensioning cylinder 394. The specific structure and use of the second tensioning cylinder 394 will not be described herein, and reference will be made specifically to the description of the structure of the first tensioning cylinder 392.

The second direction abutting member 36 (as shown in fig. 5) can press against the upper surface of the upper plate 3036 (i.e., the side of the upper plate 3036 facing away from the second support 38) by telescoping movement, and the second direction abutting member 36 and the second support 38 cooperate to clamp the upper plate 3036 and cooperatively limit the displacement of the upper plate 3036 in the first direction Z. Limiting of the upper base plate 3036 in the first direction Z multiplexes the second direction abutment 36, reducing the structure of the first stage positioning device 101, reducing costs and saving space.

When the upper plate 3036 is positioned, the first, second and third support cylinders 381, 383 and 385 extend such that the respective output ends extend between the upper plate 3036 and the lower plate 3032. The transfer robot 201 sucks the upper floor 3036 and transfers and places it on the second support 38. The two ends of the upper bottom plate 3036 are respectively overlapped on the first fork arm 301 and the second fork arm 302, and the first fork arm 301 and the second fork arm 302 are used for supporting. The first tensioning cylinder 392 and the second tensioning cylinder 394 tension the upper plate 3036, bringing the upper plate 3036 into abutting contact with the inner plate 3034, achieving a limit of the upper plate 3036 in the second direction X. The transfer robot 201 releases the upper plate 3036 and leaves. The second direction abutting piece 36 presses against the upper surface of the upper base plate 3036, and together with the second support 38, limits displacement of the upper base plate 3036 in the first direction Z. The third pressing cylinder 236 and the sixth pressing cylinder 276 extend out to laterally press against two ends of the upper base plate 3036, so that clamping and positioning of the upper base plate 3036 are completed.

After the positioning of the upper plate 3036 is completed, the welding robot 203 automatically welds the upper plate 3036 and the inner plate 3034, the upper plate 3036 and the first fork arm 301, and the upper plate 3036 and the second fork arm 302. After the welding is completed, the welding robot 203 moves away, the second direction abutting piece 36 moves back, the pressing control on the upper base plate 3036 is released, the third pressing cylinder 236, the first supporting cylinder 381, the second supporting cylinder 383, the third supporting cylinder 385 and the sixth pressing cylinder 276 all move back, the pressing control on the upper base plate 3036 is released, and simultaneously the first tensioning cylinder 392 and the second tensioning cylinder 394 extend, and the tensioning control on the upper base plate 3036 is released.

Referring to fig. 3, 5 and 8, since the second support 38 is partially disposed between the upper plate 3036 and the lower plate 3032, the welding between the upper plate 3036 and the inner plate 3034 is the welding of the external weld seam, and the third pressing cylinder 236 and the first support cylinder 381 may be movably disposed on the first bottom plate 10 in order to improve the welding strength between the upper plate 3036 and the inner plate 3034. In this embodiment, the first stage positioning device 101 may further include a lifter 12. The lifting member 12 may include a lifting cylinder 121 and a mounting plate 123, and the lifting cylinder 121 may be fixedly coupled to a side of the first base plate 10 facing away from the third pressing cylinder 236 and the first supporting cylinder 381. The mounting plate 123 is slidably connected to the first base plate 10, for example, at least part of the structure of the mounting plate 123 is slidably disposed through the first base plate 10 and connected to the output end of the lift cylinder 121. The output end of the lifting cylinder 121 stretches and contracts to drive the mounting plate 123 to slide relative to the first bottom plate 10. The direction in which the mounting plate 123 slides relative to the first floor 10 is substantially perpendicular to the surface of the first floor 10 that is adjacent to the part to be machined (the excavator boom 300). The third pressing cylinder 236 and the first supporting cylinder 381 are fixedly connected to the mounting plate 123, and the distance between the third pressing cylinder 236, the first supporting cylinder 381 and the first base plate 10 can be adjusted when the lifting member 12 is lifted, so that the positions of the third pressing cylinder 236, the first supporting cylinder 381 and the parts of the excavator boom 300 (shown in fig. 2) can be adjusted.

After the welding robot 203 finishes the external welding of the upper plate 3036, the third pressing cylinder 236 retreats to not push against the upper plate 3036, the first supporting cylinder 381 withdraws from between the upper plate 3036 and the lower plate 3032, the lifting member 12 descends (i.e. moves close to the first bottom plate 10) to drive the third pressing cylinder 236 and the first supporting cylinder 381 to descend to give way, and after interference is avoided, the welding robot 203 automatically welds the internal welding seams of the upper plate 3036 and the lower plate 3032, so that the welding strength is improved.

In the present embodiment, the distance between the third pressing cylinder 236 and the first base plate 10 can be adjusted when the lifter 12 moves relative to the first base plate 10, so that the third pressing cylinder 236 can be adapted to the positioning of workpieces of different heights. For example, when positioning the outer panel 3038, the lifter 12 may adjust the height of the third hold-down cylinder 236 to match the height of the outer panel 3038. The output end of the third hold-down cylinder 236 extends to be able to abut against the first end of the outer plate 3038, i.e., the end of the outer plate 3038 adjacent to the first yoke 301. In order to enhance the positioning effect of the third pressing cylinder 236 on the outer plate 3038, in this embodiment, a clamping groove 2381 is formed on a side of the auxiliary plate 238 facing the outer plate 3038, and the clamping groove 2381 is used for clamping the outer plate 3038. When the output end of the third hold-down cylinder 236 is extended, the auxiliary plate 238 moves closer to the outer plate 3038 until the inner wall of the holding groove 2381 abuts against the outer plate 3038. The outer plate 3038 is embedded in the clamping groove 2381, so that the positioning stability of the outer plate 3038 is improved.

When the outer panel 3038 is positioned, the transfer robot 201 suctions the outer panel 3038 and transfers and places the outer panel 3038 on the first support 32, and the first support 32 supports the outer panel 3038 so that the outer panel 3038 and the inner panel 3034 are flush. The lifting member 12 adjusts the height of the third pressing cylinder 236 to be adapted to the height of the outer plate 3038, and the output end of the third pressing cylinder 236 extends out, and the auxiliary plate 238 is clamped to the first end of the outer plate 3038 by the clamping groove 2381. The first and second tensioning cylinders 392, 394 retract, tensioning the middle of the outer panel 3038, causing the outer panel 3038 to abut the upper and lower base panels 3036, 3032. The second support cylinder 383 protrudes to press against the outer panel 3038, and the second direction pressing member 36 presses against the upper surface of the outer panel 3038. The sixth hold-down cylinder 276 abuts a second end of the outer plate 3038. The third hold-down cylinder 236, the sixth hold-down cylinder 276, and the tensioner 39 are used together to tighten the outer panel 3038 to attach the outer panel 3038 to the upper and lower base panels 3036, 3032 to complete the positioning of the outer panel 3038.

After the outer plate 3038 is positioned, the welding robot 203 automatically welds the outer plate 3038 and the lower plate 3032, the outer plate 3038 and the upper plate 3036, the outer plate 3038 and the first yoke 301, and the outer plate 3038 and the second yoke 302. After the welding is completed, the semi-finished product 305 is obtained, all clamping parts abutting against the outer side plate 3038 are retracted, and the transfer robot 201 transfers the semi-finished product 305 from the first stage positioning device 101 to the second stage positioning device 103.

Referring to fig. 2, 5 and 6, the positioning structure of the outer plate 3038 is simplified by multiplexing the positioning structures of a plurality of other parts, so that the cost of the positioning and clamping device 100 is greatly reduced. In the present embodiment, the second direction abutting piece 36 positions the inner plate 3034, the upper plate 3036 and the outer plate 3038 in order during welding and forming of the semi-finished product 305. To enable reuse of the second direction abutment 36, in the present embodiment, the second direction abutment 36 may further comprise a first press block 365, a second press block 367 and a third press block 369. Taking the fourth abutting cylinder 361 of the second abutting member 36 as an example, the first pressing block 365, the second pressing block 367 and the third pressing block 369 are all connected to the end portion of the fourth abutting cylinder 361 for abutting, and the first pressing block 365, the second pressing block 367 and the third pressing block 369 are arranged at intervals along the direction from the inner side plate 3034 to the outer side plate 3038.

When the fourth abutting cylinder 361 is used for positioning the inner plate 3034, the first pressing block 365 abuts against the upper surface of the inner plate 3034; when the fourth abutting cylinder 361 is used for positioning the upper base plate 3036, the first pressing block 365 abuts against the upper surface of the inner plate 3034, and the second pressing block 367 abuts against the upper surface of the upper base plate 3036; when the fourth pressing cylinder 361 is used to position the outer plate 3038, the first pressing block 365 presses against the upper surface of the inner plate 3034, the second pressing block 367 presses against the upper surface of the upper plate 3036, and the third pressing block 369 presses against the upper surface of the outer plate 3038. The dimensions of the first pressing block 365, the second pressing block 367 and the third pressing block 369 along the first direction Z may be different, and specifically, the dimensions may be adaptively adjusted according to the spread of the upper surface of the inner plate 3034, the upper surface of the upper plate 3036 and the upper surface of the outer plate 3038, so as to ensure that the second direction abutting member 36 can abut against the corresponding component when each component is positioned.

The first pressing block 365, the second pressing block 367 and the third pressing block 369 are a group of pressing blocks, and two pressing blocks can be arranged in number of the first pressing block 365, the second pressing block 367 and the third pressing block 369, namely, the second direction abutting piece 36 comprises two groups of pressing blocks, and the two groups of pressing blocks are respectively connected to the fourth abutting cylinder 361 and the fifth abutting cylinder 363.

Referring to fig. 2, 4 and 9, in the present embodiment, the second base plate 60 is used to carry the second positioning mechanism 70, the second clamping mechanism 80 and the semi-finished product 305 to be processed. The specific structure of the second base plate 60 is not limited in this specification, for example, the second base plate 60 is substantially rectangular plate-shaped, the second base plate 60 may be provided with a plurality of holes, grooves, and other structures for fitting the second positioning mechanism 70 and the second clamping mechanism 80, and the second base plate 60 may be provided with a support bracket, a support block, a fixing base, and other structures for mounting the second positioning mechanism 70 and the second clamping mechanism 80.

In some embodiments, the second stage positioning device 103 may further comprise a second head-to-tail positioner 110, and the second base plate 60 may be connected to the second head-to-tail positioner 110, and the second head-to-tail positioner 110 is configured to drive the second base plate 60 to rotate. The second head-to-tail positioner 110 can clamp the second bottom plate 60 through both ends, and can rotate the second bottom plate 60 by electric power. The semi-finished product 305 is positioned on the second bottom plate 60, and the second head-tail positioner 110 rotates the second bottom plate 60 to realize arbitrary rotation of the semi-finished product 305, so that the semi-finished product 305 is adjusted to a proper feeding and welding angle, and the productivity, the safety and the operability are improved.

In a normal use condition, the second head-to-tail positioner 110 is placed on a horizontal table. For convenience of description of the structural position of the positioning and clamping apparatus 100, the following description will be made in a state in which the second head-to-tail positioner 110 does not control the rotation of the second bottom plate 60, and the second bottom plate 60 is substantially parallel to the horizontal table top.

In this embodiment, the second positioning mechanism 70 may include a third support 72, a first yoke limit cylinder 74, and a second yoke limit cylinder 76. A third support 72 is connected to the second base plate 60 and protrudes relative to the second base plate 60 to support the blank 305, the third support 72 positioning the blank 305 in spaced relation to the second base plate 60 to facilitate welding the tab assembly 304 to the blank 305. The third support 72 may be a support block, a support column, or the like. The number of the third supports 72 may be plural, and the plural third supports 72 are arranged along the extending direction of the semi-finished product 305, and the plural third supports 72 support the semi-finished product 305 together, so that the placement stability of the semi-finished product 305 is improved.

The output end of the first fork arm limiting cylinder 74 is used for being in plug-in fit with the pin hole of the first fork arm 301, and the output end of the second fork arm limiting cylinder 76 is used for being in plug-in fit with the pin hole of the second fork arm 302. The first yoke limiting cylinder 74 and the second yoke limiting cylinder 76 are respectively located at two ends of the second bottom plate 60, wherein the structures of the first yoke limiting cylinder 74 and the first yoke positioning cylinder 21 are substantially the same, and the cooperation of the first yoke limiting cylinder 74 and the first yoke 301 is also substantially the same as the cooperation of the first yoke positioning cylinder 21 and the first yoke 301, which are not described herein, and specific reference is made to the description of the first yoke positioning cylinder 21. Similarly, the structure of the second arm stop cylinder 76 and the cooperation with the second arm 302 are also substantially the same as the second arm positioning cylinder 25, and will not be described again herein, and reference is made specifically to the description of the second arm positioning cylinder 25.

Referring to fig. 2, 9 and 10, in this embodiment, the second stage positioning device 103 may further include a boom positioning assembly 90, the boom positioning assembly 90 including a first clamping cylinder 92, a second clamping cylinder 94 and a third clamping cylinder 96. Wherein the first clamping cylinder 92 and the second clamping cylinder 94 are disposed opposite to each other for clamping opposite sides of the boom main body 303, specifically, the first clamping cylinder 92 and the second clamping cylinder 94 are disposed on opposite sides of the boom main body 303, respectively, and are both located at one end of the second base plate 60 near the second yoke 302. As an example, the first clamp cylinder 92 is provided on the inner side of the semi-finished product 305, and the second clamp cylinder 94 is provided on the outer side of the boom main body 303 (the semi-finished product 305 is arc-shaped, and the inner and outer sides thereof are defined by the arc-shaped outer shape of the boom main body 303). Support columns for mounting the first and second clamping cylinders 92 and 94 may also be provided on the second base plate 60 so that the positions of the first and second clamping cylinders 92 and 94 are adapted to the height of the side wall of the boom main body 303.

In the present specification, the direction of expansion and contraction of the output end of the first clamping cylinder 92 and the output end of the second clamping cylinder 94 is not limited, and in order to improve positioning stability, the direction of expansion and contraction of the output end of the first clamping cylinder 92 is approximately perpendicular to the side wall of the semi-finished product 305 that the first clamping cylinder 92 abuts against, and the direction of expansion and contraction of the output end of the second clamping cylinder 94 is approximately perpendicular to the side wall of the semi-finished product 305 that the second clamping cylinder 94 abuts against. The direction of expansion and contraction of the output ends of the first clamping cylinder 92 and the second clamping cylinder 94 can be adaptively adjusted according to the plane of the surface of the workpiece to be positioned. The first clamping cylinder 92 may be any one of an oil cylinder, an air cylinder, and an electric cylinder, and the second clamping cylinder 94 may be any one of an oil cylinder, an air cylinder, and an electric cylinder, and in this embodiment, the first clamping cylinder 92 and the second clamping cylinder 94 are both oil cylinders.

A third clamping cylinder 96 is fixedly coupled to the second base plate 60, the third clamping cylinder 96 being disposed opposite the third support 72 for commonly clamping the boom body 303. The specific structure of the third clamping cylinder 96 is not limited in this specification, and for example, the third clamping cylinder 96 may be a single driving cylinder, such as an oil cylinder, an air cylinder, an electric cylinder, or the like, the third clamping cylinder 96 being disposed above the boom main body 303 (the side of the boom main body 303 facing away from the second base plate 60), the third clamping cylinder 96 abutting against the upper surface of the boom main body 303 by telescopic movement, and limiting displacement of the boom main body 303 in the fourth direction a in cooperation with the third support 72. The fourth direction a is the thickness direction of the second bottom plate 60. As another example, the third clamping cylinder 96 may include a driving cylinder and a movable pressing plate, the movable pressing plate is rotatably connected to a supporting block on the second bottom plate 60 and is drivingly connected to the driving cylinder, and when the driving cylinder moves telescopically, one end of the movable pressing plate is lifted, and the other end of the movable pressing plate is lowered to abut against the upper surface of the movable arm body 303, so that positioning of the movable arm body 303 is achieved.

The number of the third clamping cylinders 96 is not limited in this specification, in this embodiment, the number of the third clamping cylinders 96 may be plural, the plural third clamping cylinders 96 may be arranged along the extending direction of the semi-finished product 305, and the plural third clamping cylinders 96 may be disposed on the same side of the semi-finished product 305 or may be divided on both sides. The plurality of third clamping cylinders 96 improves the positioning effect of the semi-finished product 305.

When the semi-finished product 305 is positioned, the transfer robot 201 (shown in fig. 1) transfers the semi-finished product 305 spot-welded at the first stage positioning device 101 and places it on the third support 72. The output end of the first fork arm limiting cylinder 74 extends out to position the first fork arm 301, and the transfer robot 201 leaves. The first clamping cylinder 92 and the second clamping cylinder 94 extend to clamp opposite sides of the boom body 303, respectively, and the output end of the second boom stop cylinder 76 extends to position the second boom 302. The third clamping cylinder 96 abuts against the upper surface of the boom main body 303 to achieve positioning of the semi-finished product 305.

In this embodiment, the second clamping mechanism 80 may include a first ear plate positioning assembly 81 for positioning the lower ear plate 3041. The first ear plate positioning assembly 81 can include a moving base plate 812, a limiting cylinder assembly 814, and a fourth support 816. The movable bottom plate 812 is disposed on a side of the boom body 303 adjacent to the tab assembly 304 and is slidably coupled to the second bottom plate 60. For example, the moving base 812 may be connected to the second base 60 by a sliding rail, and the moving base 812 moves in the fifth direction B relative to the second base 60. The fifth direction B intersects (e.g., is perpendicular to) the fourth direction a, which in the present embodiment is the width direction of the second bottom plate 60. The first ear plate positioning assembly 81 can also include a drive member, such as an electric cylinder, air cylinder, oil cylinder, etc., for driving the movement of the moving base plate 812 relative to the second base plate 60, the drive member being coupled between the second base plate 60 and the moving base plate 812.

Referring to fig. 10, 11 and 12, the limiting cylinder assembly 814 is disposed on the moving base 812, and the extending direction of the output end of the limiting cylinder assembly 814 extends along the fourth direction a. A fourth support 816 is disposed on a side of the limiting cylinder assembly 814 facing away from the moving base plate 812, the fourth support 816 being configured to support a lower ear plate 3041. The fourth support 816 may be a support plate, where the fourth support 816 is provided with a relief hole 8161, and an output end of the limiting cylinder assembly 814 extends out of the relief hole 8161 for mating with the lower ear plate 3041. The lower ear plate 3041 may be provided with pin holes that mate with the output end of the limiting cylinder assembly 814.

The specific structure of the limiting cylinder assembly 814 is not limited in this specification, for example, the limiting cylinder assembly 814 may include at least one of an electric cylinder, an oil cylinder, and an air cylinder, and in this embodiment, the limiting cylinder assembly 814 includes two oil cylinders, which are arranged along the sixth direction C and are used to position two ends of the lower ear plate 3041, respectively. The sixth direction C intersects (e.g., is perpendicular to) the fourth direction a and the fifth direction B, and the sixth direction C is the longitudinal direction of the second bottom plate 60. Correspondingly, two fourth supports 816 may be provided, where the two fourth supports 816 are respectively connected to two cylinders of the limiting cylinder assembly 814, and the two fourth supports 816 are respectively used to support two ends of the lower ear plate 3041.

In this embodiment, the second clamping mechanism 80 may further include a second ear plate positioning assembly 83 for positioning the upper ear plate 3043, and the second ear plate positioning assembly 83 may include a push cylinder assembly 832, a floating support assembly 834, and a hold down cylinder assembly 836. A propulsion cylinder assembly 832 is disposed on the moving floor 812, and a floating support assembly 834 is disposed at an output end of the propulsion cylinder assembly 832 for movement over the lower ear plate 3041 under the drive of the propulsion cylinder assembly 832. The floating support assembly 834 is for supporting the upper ear plate 3043.

The push cylinder assembly 832 may include at least one of an electric cylinder, an oil cylinder, and a gas cylinder, and in this embodiment, the push cylinder assembly 832 includes two push cylinders 8321, the two push cylinders 8321 being arranged on the moving base 812 in the sixth direction C. The respective expansion and contraction directions of the two pushing cylinders 8321 may be different, and the respective output ends of the two pushing cylinders 8321 may extend into the space between the upper ear plate 3043 and the lower ear plate 3041. Accordingly, there may be two floating support assemblies 834, where the two floating support assemblies 834 are respectively connected to the two pushing rams 8321, and the two floating support assemblies 834 are respectively used for supporting two ends of the upper ear plate 3043.

In the present embodiment, a floating support assembly 834 is used to movably support the upper ear plate 3043 to ensure a spacing between the upper ear plate 3043 and the lower ear plate 3041 when the upper ear plate 3043 is welded. The specific structure of the floating support assembly 834 is not limited in this specification, for example, the floating support assembly 834 may comprise a resilient rubber pad, spring, or like structure. As an example, the floating support assembly 834 may include a support block and an elastic member coupled between the output end of the push ram 8321 and the support block, the elastic member extending in a direction substantially the same as the fourth direction a. When the upper ear plate 3043 is placed on the supporting block, the upper ear plate 3043 may be slightly higher than the upper surface of the boom main body 303 under the action of the elastic member, and other positioning structures may be used to lower the upper ear plate 3043 before welding, so that the upper ear plate 3043 is lowered to conform to the height of the boom main body 303, and welding is performed at this time to ensure the distance between the upper ear plate 3043 and the lower ear plate 3041.

A hold down cylinder assembly 836 is provided to the movable floor 812, the hold down cylinder assembly 836 being adapted to hold down a side of the upper ear plate 3043 facing away from the floating support assembly 834 to clamp the upper ear plate 3043 in cooperation with the floating support assembly 834. The pressure cylinder assembly 836 abuts against the upper surface of the upper ear plate 3043 by a telescopic movement to limit displacement of the upper ear plate 3043 in the fourth direction a in conjunction with the floating support assembly 834. The pressure cylinder assembly 836 may include two pressure cylinders 8361, with the two pressure cylinders 8361 being positioned at opposite ends of the upper ear plate 3043, respectively, for pressing the opposite ends of the upper surface of the upper ear plate 3043, respectively. The structure of the pressing cylinder 8361 is substantially the same as that of the third clamping cylinder 96, and will not be described here.

When the lower ear plate 3041 and the upper ear plate 3043 are positioned, the transfer robot 201 grabs and places the lower ear plate 3041 on the fourth support 816, and the output end of the limiting cylinder assembly 814 extends out to be in plug-in fit with the hole on the lower ear plate 3041, so that positioning is completed. The transfer robot 201 is moved away and then the upper ear panels 3043 are grasped, placed on the floating support assembly 834, and positioned by penetrating the locating pins. Pressing down the compression ram 8361 positions the upper ear plate 3043. The moving floor 812 moves close to the boom body 303 until the lower ear plate 3041 is completely fitted to the lower floor 3032 of the boom body 303, and the upper ear plate 3043 is completely fitted to the upper floor 3036 of the boom body 303. After the positioning of the lower ear plate 3041 and the upper ear plate 3043 is completed, the welding robot 203 welds the upper ear plate 3043 and the boom body 303, and welds the lower ear plate 3041 and the boom body 303, and finally, the welding of the excavator boom 300 is completed, and the carrier robot 201 removes the excavator boom 300 from the second-stage positioning device 103.

In the positioning and clamping device 100 provided by the embodiment of the application, each part of the carrying robot 201, which grabs the excavator movable arm 300, moves to the first stage positioning device 101 and is placed on the first bottom plate 10. The first positioning mechanism 20 is in plug-in fit with the first fork arm 301 and the second fork arm 302 to position the first fork arm 301 and the second fork arm 302. The first clamping mechanism 30 positions and clamps the boom body 303 between the first yoke 301 and the second yoke 302. The welding robot 203 welds the boom main body 303 to the first yoke 301 and the second yoke 302 to form a semi-finished product 305. After the welding is completed, the transfer robot 201 transfers the semi-finished product 305 to the second stage positioning device 103 and places it on the second bottom plate 60. The second positioning mechanism 70 is in plug-in fit with the first fork arm 301 and the second fork arm 302 to position the semi-finished product 305, and the second clamping mechanism 80 is used for positioning and clamping the lug assembly 304. The boom body 303 and the tab assembly 304 are welded to form the excavator boom 300, and the boom body 303 and the tab assembly 304 are welded to form the excavator boom 300.

The positioning and clamping equipment 100 completes clamping and positioning of all workpieces of the excavator movable arm 300 through the first-stage positioning device 101 and the second-stage positioning device 103, the positioning and clamping equipment 100 is automatically clamped and positioned, the operation is simple, manual measurement and positioning are not needed, the machining efficiency is improved, and the labor cost is reduced.

In the description of the present specification, a description referring to terms "one embodiment," "some embodiments," "examples," "specific examples," or "some examples," etc., means that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the present application. In this specification, schematic representations of the above terms are not necessarily directed to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples. Furthermore, the different embodiments or examples described in this specification and the features of the different embodiments or examples may be combined and combined by those skilled in the art without contradiction.

Finally, it should be noted that: the above embodiments are only for illustrating the technical solution of the present application, and are not limiting. Although the application has been described in detail with reference to the foregoing embodiments, it will be appreciated by those of ordinary skill in the art that: the technical scheme described in the foregoing embodiments can be modified or some of the technical features thereof can be replaced by equivalents. Such modifications and substitutions do not drive the essence of the corresponding technical solutions to depart from the spirit and scope of the technical solutions of the embodiments of the present application.

Claims

1. The positioning and clamping device is characterized by being applied to a machining system of an excavator movable arm, and is used for positioning the excavator movable arm in the machining process of the excavator movable arm, wherein the excavator movable arm comprises a first fork arm, a second fork arm, a movable arm main body and a lug assembly, and the movable arm main body comprises a lower bottom plate and an upper bottom plate which are suitable for being arranged at intervals relatively; the positioning and clamping equipment comprises a first-stage positioning device and a second-stage positioning device;

The first stage positioning device comprises a first bottom plate, a first positioning mechanism, a first clamping mechanism and a supporting positioning piece, wherein the first positioning mechanism is arranged on the first bottom plate, the first positioning mechanism is used for being in plug-in fit with the first fork arm and the second fork arm to position the first fork arm and the second fork arm, the supporting positioning piece is arranged on the first bottom plate and used for supporting and positioning the lower bottom plate, and the supporting positioning piece protrudes relative to the first bottom plate to enable the lower bottom plate to be arranged at intervals with the first bottom plate; the first clamping mechanism is arranged on the first bottom plate and is used for positioning and clamping the movable arm main body between the first fork arm and the second fork arm so as to allow the machining system to weld the movable arm main body with the first fork arm and the second fork arm to form a semi-finished product;

The first positioning mechanism comprises a first fork arm positioning cylinder, a first fork arm compressing assembly, a second fork arm positioning cylinder and a second fork arm compressing assembly; the output end of the first fork arm positioning cylinder is used for being in plug-in fit with the hole of the first fork arm; the first fork arm pressing assembly comprises a first pressing cylinder, a second pressing cylinder and a third pressing cylinder, the first pressing cylinder is used for pressing the first fork arm to limit the displacement of the first fork arm, which deviates from the first fork arm positioning cylinder, and the second pressing cylinder and the third pressing cylinder are oppositely arranged to be used for clamping two opposite sides of the first fork arm respectively; the output end of the second compression cylinder and the output end of the third compression cylinder are respectively provided with an auxiliary plate, and the auxiliary plates of the output end of the second compression cylinder and the output end of the third compression cylinder are respectively used for simultaneously propping against the lower bottom plate and the first fork arm;

The output end of the second fork arm positioning cylinder is used for being in plug-in fit with the hole of the second fork arm; the second fork arm compressing assembly comprises a fourth compressing cylinder, a fifth compressing cylinder and a sixth compressing cylinder, the fourth compressing cylinder is used for compressing the second fork arm to limit the displacement of the second fork arm away from the second fork arm positioning cylinder, and the fifth compressing cylinder and the sixth compressing cylinder are oppositely arranged to be used for clamping two opposite sides of the second fork arm respectively; the output end of the fifth compression cylinder and the output end of the sixth compression cylinder are respectively provided with an auxiliary plate, and the auxiliary plates of the output end of the fifth compression cylinder and the output end of the sixth compression cylinder are respectively used for simultaneously propping against the lower bottom plate and the second fork arm;

The second stage positioning device comprises a second bottom plate, a second positioning mechanism and a second clamping mechanism, wherein the second positioning mechanism and the second clamping mechanism are both arranged on the second bottom plate, the second positioning mechanism is used for being in plug-in fit with the first fork arm and the second fork arm to position the semi-finished product, and the second clamping mechanism is used for positioning and clamping the lug assembly so as to allow the machining system to form the excavator movable arm after the movable arm main body and the lug assembly are welded.

2. The positioning and clamping device according to claim 1, wherein the boom body further comprises an inner plate adapted to be connected between the upper base plate and the lower base plate; the first clamping mechanism comprises a first clamping assembly, and the first clamping assembly comprises a first support, a first direction abutting piece and a second direction abutting piece; the first support is connected to the first bottom plate and protrudes relative to the first bottom plate to support the inner side plate, so that one side of the inner side plate, which is close to the lower bottom plate, is in contact with the lower bottom plate; the first direction abutting piece is used for abutting the inner side plate to jointly clamp the inner side plate with the lower bottom plate, the second direction abutting piece is arranged at an interval opposite to the first support, and the second direction abutting piece is used for abutting one side, deviating from the first support, of the inner side plate.

3. The positioning and clamping device of claim 2, wherein the first clamping mechanism further comprises a second clamping assembly including a second support and a tension member, the second support for supporting the upper base plate such that the upper base plate contacts a side of the inner side plate facing away from the first base plate; the tensioning piece is used for tensioning one side, away from the inner side plate, of the upper bottom plate so as to clamp the upper bottom plate together with the inner side plate; the second direction abutting piece is used for abutting against the upper bottom plate and clamping the upper bottom plate together with the second support.

4. The positioning and clamping device according to claim 3, wherein the movable arm main body further comprises an outer side plate adapted to be disposed in opposition to the inner side plate at a spacing, the outer side plate being adapted to be connected between the upper base plate and the lower base plate; the first support is used for supporting the outer side plate to enable the outer side plate to be flush with the inner side plate, the first stage positioning device further comprises a lifting piece movably arranged on the first bottom plate, the third pressing cylinder is arranged on the lifting piece, and the lifting piece drives the third pressing cylinder to move relative to the first bottom plate so that the third pressing cylinder can be propped against the first end of the outer side plate; the sixth compression cylinder is used for propping against the second end of the outer side plate, the tensioning piece is used for propping against the middle part of the outer side plate, and the third compression cylinder, the sixth compression cylinder and the tensioning piece are jointly used for propping against the outer side plate so as to enable the outer side plate to be in contact with the upper bottom plate and the lower bottom plate; the second direction abutting piece is used for abutting against one side, away from the first support, of the outer side plate.

5. The positioning and clamping device according to any one of claims 1 to 4, wherein the first stage positioning means further comprises a first head-to-tail positioner, the first base plate being connected to the first head-to-tail positioner, the first head-to-tail positioner being configured to drive the first base plate to rotate.

6. The positioning and clamping device of claim 1, wherein the second positioning mechanism comprises a third support, a first yoke limit cylinder and a second yoke limit cylinder, the third support being connected to the second base plate and protruding relative to the second base plate to support the semi-finished product; the output end of the first fork arm limiting cylinder is used for being in plug-in fit with the hole of the first fork arm, and the output end of the second fork arm limiting cylinder is used for being in plug-in fit with the hole of the second fork arm.

7. The positioning and clamping device of claim 6, wherein the second stage positioning device further comprises a boom positioning assembly including a first clamping cylinder, a second clamping cylinder, and a third clamping cylinder, the first clamping cylinder and the second clamping cylinder being disposed opposite one another for clamping opposite sides of the boom body, respectively, and the third clamping cylinder being disposed opposite the third support for commonly clamping the boom body.

8. The positioning and clamping device of claim 7, wherein the tab assembly comprises a lower tab adapted to be disposed on one side of the boom body, the second clamping mechanism comprises a first tab positioning assembly comprising a movable base plate slidably connected to the second base plate, a limiting cylinder assembly disposed on the movable base plate, and a fourth support disposed on the limiting cylinder assembly for supporting the lower tab, the fourth support having a relief hole through which an output end of the limiting cylinder assembly extends for mating with the lower tab hole.

9. The positioning and clamping device of claim 8, wherein said tab assembly further comprises an upper tab adapted to be positioned in opposed spaced relation to said lower tab; the second clamping mechanism further comprises a second ear plate positioning assembly, the second ear plate positioning assembly comprises a pushing cylinder assembly, a floating support assembly and a pressing cylinder assembly, the pushing cylinder assembly is arranged on the movable bottom plate, the floating support assembly is arranged at the output end of the pushing cylinder assembly, the pushing cylinder assembly is used for moving the floating support assembly to one side, away from the second bottom plate, of the lower ear plate, the floating support assembly is used for supporting the upper ear plate, the pressing cylinder assembly is arranged on the movable bottom plate, and the pressing cylinder assembly is used for pressing one side, away from the floating support assembly, of the upper ear plate so as to clamp the upper ear plate together with the floating support assembly; the movable bottom plate is used for moving towards the movable arm main body so that the upper lug plate is attached to the movable arm main body.

10. The positioning and clamping device according to any one of claims 6 to 9, wherein the second stage positioning apparatus further comprises a second head-to-tail positioner, the second base plate is connected to the second head-to-tail positioner, and the second head-to-tail positioner is configured to drive the second base plate to rotate.

11. A machining system for machining an excavator boom, the machining system comprising:

The positioning and clamping device of any one of claims 1 to 10, for positioning the excavator boom;

A transfer robot for transferring the first yoke, the second yoke, the boom body, and the tab assembly to the positioning and clamping device;

and the welding robot is used for welding the first fork arm, the second fork arm, the movable arm main body and the lug assembly on the positioning and clamping equipment.