CN118023753A - Variable adaptability sports equipment welding device and welding method thereof - Google Patents

Abstract

The present invention belongs to the technical field of sports equipment production and processing, and specifically relates to a variable adaptable sports equipment welding device and a welding method thereof, wherein a variable adaptable sports equipment welding device comprises an automatic welding robot, a gantry placed side by side with the automatic welding robot, a machine tool frame fixedly mounted on two groups of gantry frames, a reference positioning component mounted on the machine tool frame, a middle positioning component mounted on the machine tool frame, a pressure plate combined with the middle positioning component, and an end positioning component mounted on the machine tool frame; the gantry comprises a base, an inclination adjustment motor fixedly mounted on the base, and a connecting seat fixedly mounted on the power output end of the inclination adjustment motor. The present invention can adjust the position of each supporting component according to the actual data of the pipe fitting, so as to adaptively meet the welding requirements of different pipe fittings. When the pipe fitting data changes, there is no need to replace the clamping mold, which reduces the production cost, while improving the welding accuracy, so that the product yield rate is higher.

Description

A variable adaptability sports equipment welding device and welding method thereof

Technical Field

The invention belongs to the technical field of sports equipment production and processing, and specifically relates to a variable adaptability sports equipment welding device and a welding method thereof.

Background technique

Sports equipment is widely used in various sports and fitness activities. It has various types and functions. Our common sports equipment includes treadmills, elliptical machines, Smith racks, pull-ups, bicycle trainers, etc. These sports equipment contain some metal brackets to a greater or lesser extent. These metal brackets are welded together by various components during production, and most of these components are metal pipes of various shapes.

The common welding methods for existing sports equipment metal pipes are as follows:

Automatic welding robot equipment: This is the most advanced and commonly used welding equipment. Automatic welding robots can improve welding accuracy, ensure welding quality, and significantly improve production efficiency; for example, some companies use QIROX compact equipment to weld various components;

Robotic welding machines: With the development of intelligent manufacturing technology, robotic welding machines are also widely used in the production of sports equipment; these robotic welding machines have the ability to autonomously identify welding positions and can adapt to different welding tasks to ensure high efficiency and high quality of welding work;

Traditional manual welding: In some small-scale production or complex structures that cannot be automated, manual welding still requires experienced workers;

Laser welding equipment: For some welding work that requires high precision and high aesthetics, laser welding equipment is a good choice; laser welding can provide very fine welds and is suitable for sports equipment with high requirements on appearance.

However, since metal pipes of various shapes are distributed in sports equipment, the positioning of the pipes becomes a thorny problem during the above-mentioned welding process. Traditional welding positioning fixtures can only simply position pipes of a single diameter or a single clamping angle. This makes it impossible for traditional welding positioning fixtures to be adaptively changed according to needs when clamping and positioning metal pipes in sports equipment. Subsequently, a variety of different types of welding positioning fixtures are formulated to meet different needs. However, this type of welding positioning fixture can only be discarded when the data of the metal pipe changes, and the positioning fixture must be constantly replaced, which increases the manufacturing cost. If it is used reluctantly to save costs, the welding positioning accuracy will be reduced, and problems such as larger welding gaps, low firmness, and insufficient compressive strength will occur, posing many safety hazards.

Summary of the invention

The purpose of the present invention is to provide a variable adaptable sports equipment welding device and a welding method thereof, which can adjust the position of each supporting component according to the actual data of the pipe fitting, so as to adaptively meet the welding needs of different pipe fittings. When the pipe fitting data changes, there is no need to replace the clamping mold, thereby reducing production costs and improving welding accuracy, so that the product yield is higher.

The technical solution adopted by the present invention is as follows:

A variable adaptability sports equipment welding device, comprising:

Automatic welding robot;

A gantry, placed side by side with the automatic welding robot, comprising a base, a tilt adjustment motor fixedly mounted on the base, and a connecting seat fixedly mounted on a power output end of the tilt adjustment motor;

A machine tool frame is fixedly installed between the two sets of connecting seats;

Referring to the positioning assembly, it is installed on the machine tool frame, and includes a movable positioning shaft, a fixed shaft coaxially opposite to the movable positioning shaft, and a first cylinder, the movable positioning shaft and the fixed shaft are both fixedly installed with positioning cone blocks, the first cylinder is fixedly installed on the machine tool frame, the movable positioning shaft is fixedly installed at the power output end of the first cylinder, and a positioning mechanism is provided between the movable positioning shaft and the fixed shaft;

A middle positioning assembly is installed on the machine tool frame, comprising a support, a rotary platform integrally formed with the support, a rotary driver arranged on one side of the rotary platform, and a clamping support rotatably installed on the top surface of the rotary platform, wherein a clamping groove is provided at the center of the clamping support, and a multi-directional clamping mechanism is provided on the clamping groove;

A pressing plate, which is combined with the middle positioning assembly, and a pressing mechanism for driving the pressing plate is provided between the pressing plate and the machine tool frame;

The end positioning assembly is installed on the machine tool frame, and includes a fixed support and a movable support slidably installed on the fixed support, wherein the fixed support is symmetrically provided with an arc groove on one side opposite to the movable support, an arc clamp block is slidably connected inside the arc groove, an extension portion is fixedly installed at the clamping mouth of the arc clamp block, and a pushing mechanism for driving the movable support to move is provided on the movable support;

Among them, the vertical pipe is initially positioned by referring to the positioning component, and then the middle positioning component is used to adjust the clamping angles of the remaining pipelines according to the welding angle and clamp them for positioning, while the end positioning component is used to position and clamp each branch pipe.

The positioning mechanism comprises a laser locator and a receiver coaxially opposite to the laser locator. A positioning ring is arranged between the receiver and the laser locator, and the positioning ring is provided with a tapered hole on the axis of the receiver.

The multi-directional clamping mechanism comprises positioning slide grooves symmetrically arranged on both sides of the clamping groove, a pneumatic clamping pin is slidably installed in the positioning slide groove, and an air port for driving the pneumatic clamping pin is arranged at one end of the rotary drive away from the rotary platform.

It also includes a first adjustment component, which is arranged between the middle positioning component, the pressure plate and the machine tool frame, and is used to adjust the position of the middle positioning component and the pressure plate compared to the machine tool frame;

The first adjustment component includes an inner track fixedly installed on the inner wall of the machine tool frame, an inner slide seat slidably installed on the inner track, a crossbeam fixedly installed between the inner slide seats, and a fourth cylinder fixedly installed at both ends of the bottom surface of the crossbeam, the power output end of the fourth cylinder passes through the crossbeam and extends to its top surface, a first upper support plate is fixedly installed between the power output ends of the fourth cylinder, an installation groove is opened on the top surface of the first upper support plate, a first longitudinal track is fixedly installed in the installation groove, and a first longitudinal slide seat is slidably installed on the first longitudinal track.

The first adjustment component also includes a servo motor fixedly mounted on the connecting seat, a nut fixedly mounted at the center of the inner sliding seat, and a lead screw threadedly connected to the nut, the lead screw being rotatably connected between the two groups of the connecting seats, and the power output end of the servo motor being transmission-connected to one end of the lead screw via a reducer.

The support is fixedly mounted on the first longitudinal slide, a positioning support plate is fixedly mounted on one side of the top surface of the support, and a first tightening stud is threadedly connected to the positioning support plate.

The pressing mechanism includes a tripod fixedly installed on the top surface of the first upper support plate through a pad, one end of the tripod is fixedly connected to an H-shaped bracket, and the other end is rotatably connected to a second cylinder, a connecting buckle is fixedly installed on the power output end of the second cylinder, the connecting buckle is coaxially rotatably connected to a support rod and a movable tongue, the movable tongue is rotatably connected to the H-shaped bracket at one end away from the connecting buckle, the support rod is nested in the top end of the H-shaped bracket at one end away from the connecting buckle, and is rotatably connected to a pressure rod, a bolt seat is adjustably fixedly connected to the pressure rod, and the pressure plate is fixedly installed at the bottom end of the bolt seat.

It also includes a second adjustment component, which is arranged between the end positioning component and the machine tool frame and is used to adjust the position of the end positioning component compared to the machine tool frame;

The second adjustment assembly includes a linear drive component fixedly mounted on the outer wall of the machine tool frame, a workbench slidably mounted on the linear drive component, and a movable support fixedly mounted between two groups of the workbench, fifth cylinders are symmetrically mounted on both ends of the bottom surface of the movable support, the power output end of the fifth cylinder passes through the movable support, and a second upper support plate is fixedly mounted on the power output ends of the two groups of the fifth cylinders, a second longitudinal rail is fixedly mounted on the top surface of the second upper support plate, a third longitudinal slide and a fourth longitudinal slide are respectively slidably connected to the second longitudinal rail, and a second tightening stud is threadedly connected to the third longitudinal slide.

The pushing mechanism includes a positioning cross plate fixedly mounted on the top surface of the fourth longitudinal slide, a third cylinder rotatably connected to the positioning cross plate, and a slide rod seat fixedly mounted on the positioning cross plate, the slide rod seat is slidably connected to a slide rod at one end away from the third cylinder, a triangular connecting piece is rotatably connected between the power output end of the third cylinder and the slide rod seat, a movable push rod is rotatably connected between the triangular connecting piece and the slide rod, a push seat is fixedly mounted on one end of the slide rod away from the movable push rod, and the push seat is fixedly mounted on the movable support.

A variable adaptability sports equipment welding method, applied to the above-mentioned variable adaptability sports equipment welding device, comprises the following steps:

Step 1: Place the vertical pipe between the movable positioning shaft and the fixed shaft, and start the first cylinder at the same time. Push the movable positioning shaft gradually toward the fixed shaft through the first cylinder, and use the positioning cone blocks between them and the hollow of the pipe to clamp and position it. At the same time, the laser locator emits laser rays, which pass through the positioning ring and are accurately received by the receiver to complete the initial positioning of the pipe.

Step 2: According to the position relationship between the middle pipe fitting and the initial pipe fitting, the middle positioning assembly is slid relative to the first upper support plate to adjust its longitudinal position. After reaching the appropriate position, the first tightening stud is rotated to complete the longitudinal positioning. At the same time, the fourth cylinder is used to push the first upper support plate upward or downward as a whole to complete the vertical positioning. Then, the servo motor is used to drive the lead screw to rotate, so that the crossbeam slides between the inner rails to complete the lateral positioning.

Step 3: Then, the clamping support is rotated by cooperating with the rotary platform through the rotary drive to adjust the angle of the clamping groove compared to the initial pipe fitting, and then the middle pipe fitting is placed in the clamping groove. According to the position of the clamping groove, the position of the pressure plate is adjusted compared to the pressure rod. Then, the second cylinder is used to press the pressure plate down through the support rod, the movable tongue and the pressure rod to press it on the middle pipe fitting, so as to cooperate with the clamping groove to position and fix the pipe fitting, and at the same time, the pneumatic drive is used to drive the pneumatic clamping pin through the air port to perform secondary reinforcement on both sides of the pipe fitting to make it accurately positioned;

Step 4: According to the positional relationship between the tail pipe and the middle pipe, the third longitudinal slide and the fourth longitudinal slide are slid relative to the second upper support plate. After reaching the appropriate position, the longitudinal positioning of the end positioning assembly is completed by rotating the second tightening stud. At the same time, the fifth cylinder is used to push the second upper support plate upward or downward as a whole to complete the vertical positioning. Then, the workbench can be driven to move horizontally through the linear drive component, thereby driving the movable support to move horizontally to complete the horizontal positioning;

Step 5. According to the welding angle of the tail pipe fitting compared with the middle pipe fitting, the arc groove on the fixed support is rotated and adjusted, and the fixed support is positioned by the tightening bolt threadedly connected in the fixed support. Then, the tail pipe fitting is placed between the two sets of arc clamps and the extension part. At the same time, the movable support is pushed gradually close to the fixed support by the linkage of the third cylinder through the triangular connector, the movable push rod and the slide rod. At the same time, the arc clamp on the movable support will rotate to an angle that fits the surface of the pipe fitting under the interaction force with the pipe fitting, so that the tail pipe fitting is clamped at a fixed angle by the two sets of arc clamps and the extension part.

Step 6: Use an automatic welding robot to weld the joints between the initial pipe fitting, the middle pipe fitting and the tail pipe fitting in sequence under the control of a computer program.

The technical effects achieved by the present invention are:

The present invention uses the structural characteristics of the hollow pipe to accurately position the hollow pipe by cooperating with the movable positioning shaft and the fixed shaft, thereby ensuring the accuracy of the initial positioning, so that the reference coordinates of the positioning can be established, providing a reference for subsequent positioning to ensure the accuracy of subsequent positioning, and at the same time using the laser positioner, the receiver and the positioning ring to cooperate to perform initial positioning calibration to ensure the accuracy of the mold installation position, thereby ensuring the accuracy of positioning and improving the welding accuracy;

The present invention provides a middle positioning component, and can use the rotary drive to cooperate with the rotary platform to adjust the angle of the clamping support, so as to adaptively change the clamping angle of the clamping groove, so that the pipe fitting can be adaptively clamped according to needs. At the same time, the inverted triangular groove structure of the clamping groove cooperates with the pressure plate, so that the pipe fitting can be stably limited at the center position of the clamping groove to ensure accurate positioning.

The present invention provides pneumatic clamping pins on the clamping support and on both sides of the clamping groove. Under the action of the pneumatic driver, the pneumatic clamping pins can be used to perform secondary clamping and positioning on the pipe inside the clamping groove, so that the pipe can be clamped stably and the pipe can be calibrated secondary to ensure that the positioning accuracy reaches the welding standard, thereby improving the welding accuracy.

The present invention provides two sets of relative arc clamping blocks and extension parts on the fixed support and the movable support, and the movable support can slide relative to the fixed support, so as to clamp pipes of different diameters. At the same time, the arc clamping block and the extension part are rotatably connected to the fixed support and the movable support, so that the clamping angle can be adaptively adjusted according to welding requirements when necessary, and the movable support can be pushed by the third cylinder for adaptive clamping. The combined clamping surface of the arc clamping block and the extension part is an inner concave inclined surface, so that the clamping and positioning of the pipe can be completed during the pushing process, and the pipe can be stably and accurately clamped between the two sets of arc clamping blocks and the extension part.

The present invention provides a first adjustment component and a second adjustment component, and can adaptively adjust the positions of the middle positioning component, the pressure plate and the end positioning component in the lateral, longitudinal and vertical directions compared to the reference positioning component according to the welding needs of the pipe fitting, so that it can be freely adjusted in a three-dimensional space, so that each pipe fitting can be adaptively positioned in turn according to the initial positioning, thereby meeting the different positioning requirements when welding pipe fittings with different data. When the pipe fitting data changes, there is no need to replace the clamping mold, thereby reducing production costs, while improving welding accuracy, and making the product yield rate higher.

BRIEF DESCRIPTION OF THE DRAWINGS

FIG1 is a schematic diagram of the structure of an embodiment of the present invention in use;

FIG2 is a schematic diagram of a partial three-dimensional structure of an embodiment of the present invention;

3 is a schematic diagram of the structure of a first adjustment component and a second adjustment component according to an embodiment of the present invention;

4 is a schematic diagram of the structure of a reference positioning assembly according to an embodiment of the present invention;

FIG5 is a top cross-sectional view of FIG4 of the present invention;

6 is a schematic diagram of the combined structure of the middle positioning assembly and the pressure plate according to an embodiment of the present invention;

FIG7 is an exploded view of FIG6 of the present invention;

FIG8 is a partial exploded view of FIG7 of the present invention;

9 is a schematic structural diagram of a central positioning assembly according to an embodiment of the present invention;

10 is a schematic diagram of the connection structure of the pressing plate according to an embodiment of the present invention;

FIG11 is a partial exploded view of the end positioning assembly and the second adjustment assembly according to an embodiment of the present invention;

12 is a schematic structural diagram of an end positioning assembly according to an embodiment of the present invention;

13 is a schematic diagram of a partial structure of an end positioning assembly according to an embodiment of the present invention;

FIG. 14 is an exploded view of FIG. 13 of the present invention.

In the accompanying drawings, the components represented by the reference numerals are listed as follows:

1. Automatic welding robot; 2. Gantry; 3. Machine tool frame; 4. Reference positioning assembly; 5. Middle positioning assembly; 6. Press plate; 7. End positioning assembly; 8. First adjustment assembly; 9. Second adjustment assembly;

21. Base; 22. Tilt adjustment motor; 23. Connecting seat;

41. movable positioning shaft; 42. fixed shaft; 43. positioning cone block; 44. first cylinder; 45. laser positioner; 46. receiver; 47. positioning ring; 48. first mounting bracket; 49. second mounting bracket;

51. Support; 52. Rotating platform; 53. Rotating driver; 54. Clamping support; 55. Clamping groove; 56. Positioning slide; 57. Pneumatic clamping pin; 58. Air port; 59. Positioning support plate; 510. First tightening stud;

61. tripod; 62. H-shaped bracket; 63. second cylinder; 64. connecting buckle; 65. support rod; 66. movable tongue; 67. pressure rod; 68. bolt seat;

71. Fixed support; 72. Moving support; 73. Arc groove; 74. Circular arc clamping block; 75. Extension; 76. Slideway; 77. Sliding pin; 78. Bayonet pin; 79. Slot; 710. Positioning horizontal plate; 711. Third cylinder; 712. Sliding rod seat; 713. Triangular connector; 714. Active push rod; 715. Sliding rod; 716. Push seat; 717. Tightening bolt;

81. inner rail; 82. inner slide; 83. crossbeam; 84. nut; 85. lead screw; 86. servo motor; 87. fourth cylinder; 88. first upper support plate; 89. mounting groove; 810. first longitudinal rail; 811. first longitudinal slide;

91. Linear drive component; 92. Workbench; 93. Movable support; 94. Fifth cylinder; 95. Second upper support plate; 96. Second longitudinal track; 97. Third longitudinal slide; 98. Fourth longitudinal slide; 99. Second tightening stud.

Detailed ways

In order to make the purpose and advantages of the present invention more clearly understood, the present invention is specifically described below in conjunction with embodiments. It should be understood that the following text is only used to describe one or several specific embodiments of the present invention, and does not strictly limit the scope of protection of the specific claims of the present invention.

As shown in Fig. 1-14, a variable adaptability sports equipment welding device comprises an automatic welding robot 1, a gantry 2 placed side by side with the automatic welding robot 1, a machine frame 3 fixedly mounted on two sets of gantry frames 2, a reference positioning component 4 mounted on the machine frame 3, a middle positioning component 5 mounted on the machine frame 3, a pressing plate 6 combined with the middle positioning component 5, and an end positioning component 7 mounted on the machine frame 3;

Among them, the gantry 2 includes a base 21, an inclination adjustment motor 22 fixedly installed on the base 21, and a connecting seat 23 fixedly installed at the power output end of the inclination adjustment motor 22. The machine tool frame 3 is fixedly installed between the two groups of connecting seats 23, so that during the welding process, the inclination adjustment motor 22 can be used to adjust the welding inclination between the pipe fitting and the automatic welding robot 1 as needed to meet different welding requirements, and the vertical pipe is initially positioned by referring to the positioning component 4, and then the middle positioning component 5 is used to adjust the clamping and fixing angles of the remaining pipelines according to the welding angle and clamp and position them, and the end positioning component 7 is used to position and clamp each branch pipe.

Referring to Figures 2 and 4-5, the reference positioning assembly 4 includes a movable positioning shaft 41, a fixed shaft 42 coaxially opposite to the movable positioning shaft 41, and a first cylinder 44. The movable positioning shaft 41 and the fixed shaft 42 are both fixedly mounted with positioning cone blocks 43, and the first cylinder 44 is fixedly mounted on the machine tool frame 3. The movable positioning shaft 41 is fixedly mounted on the power output end of the first cylinder 44. The first cylinder 44 can be used to push the movable positioning shaft 41 gradually close to the fixed shaft 42, so that the positioning cone blocks 43 and the hollowness of the pipe fittings are used to clamp and position it along the axis to ensure that it can be positioned parallel to the machine tool frame 3.

Further, in order to install the movable positioning shaft 41 and the fixed shaft 42, a first mounting frame 48 and a second mounting frame 49 are fixedly installed on the machine tool frame 3, wherein the first cylinder 44 is installed on the first mounting frame 48, and the fixed shaft 42 is installed on the second mounting frame 49, and the movable positioning shaft 41 slides through the side plate of the first mounting frame 48 and is arranged opposite to the fixed shaft 42 to ensure the stability of the support positioning;

Furthermore, in order to calibrate the initial positioning, a laser locator 45 and a receiver 46 coaxially opposite to the laser locator 45 are respectively installed on the top of the first mounting frame 48 and the second mounting frame 49, and a positioning ring 47 is arranged between the receiver 46 and the laser locator 45. The positioning ring 47 has a conical hole on the axis of the receiver 46. When positioning, an infrared laser can be emitted by the laser locator 45, which passes through the conical hole on the positioning ring 47 and is received by the receiver 46, indicating that the initial positioning is fine. Since the minimum aperture of the conical hole is consistent with the laser beam diameter, if the infrared laser cannot be received by the receiver 46, it means that there is a deviation in the positioning of the first mounting frame 48 and the second mounting frame 49, and the installation position of the first mounting frame 48 and the second mounting frame 49 needs to be adjusted until they reach the exact position, thereby ensuring the accuracy of the initial positioning, so that the reference coordinates of the positioning can be established, providing a reference for subsequent positioning, so as to ensure the accuracy of subsequent positioning.

Referring to Figures 2 and 9, the central positioning assembly 5 includes a support 51, a rotating platform 52 integrally formed with the support 51, a rotating driver 53 arranged on one side of the rotating platform 52, and a clamping support 54 rotatably installed on the top surface of the rotating platform 52. A clamping groove 55 is opened in the center of the clamping support 54, and the bottom of the clamping groove 55 is an inverted triangular groove. When clamping different pipe fittings, the clamping support 54 can be rotated by cooperating with the rotating platform 52 through the rotating driver 53 according to the specific data requirements of the pipe welding, so as to adjust the angle of the clamping groove 55 compared to the reference coordinate.

Referring to Figures 2-3 and 6-8, in order to adjust the position of the middle positioning assembly 5 in three-dimensional space so that it can be adaptively adjusted in the horizontal, longitudinal, and vertical directions relative to the reference coordinates, a first adjustment assembly 8 is also included, which is arranged between the middle positioning assembly 5, the pressing plate 6 and the machine tool frame 3;

The first adjusting assembly 8 comprises an inner rail 81 fixedly mounted on the inner wall of the machine tool frame 3, an inner slide seat 82 slidably mounted on the inner rail 81, a crossbeam 83 fixedly mounted between the inner slide seats 82, and a fourth cylinder 87 fixedly mounted on both ends of the bottom surface of the crossbeam 83. The power output end of the fourth cylinder 87 extends through the crossbeam 83 to its top surface, and a first upper support plate 88 is fixedly mounted between the power output ends of the fourth cylinder 87, so that the first upper support plate 88 and the middle positioning assembly 5 are pushed upward or downward as a whole by the fourth cylinder 87 to complete the vertical positioning. At the same time, a mounting groove 89 is opened on the top surface of the first upper support plate 88, and a first longitudinal rail 810 is fixedly mounted in the mounting groove 89. At the same time, a first longitudinal slide seat 811 is slidably mounted on the first longitudinal rail 810, and the support 51 is fixedly mounted on the first longitudinal slide seat 811, so that it can slide relative to the first upper support plate 88.

Furthermore, a positioning support plate 59 is fixedly installed on one side of the top surface of the support 51, and a first tightening stud 510 is threadedly connected to the positioning support plate 59. After the middle positioning assembly 5 slides to a suitable position, the first tightening stud 510 can be rotated to press against the surface of the first upper support plate 88 to complete the longitudinal positioning;

Furthermore, in order to facilitate the lateral positioning of the middle positioning component 5, the first adjustment component 8 also includes a servo motor 86 fixedly mounted on the connecting seat 23, a nut 84 fixedly mounted at the center of the inner sliding seat 82, and a screw 85 threadedly connected to the nut 84. By rotating the screw 85 and connecting it between the two sets of connecting seats 23, and connecting the power output end of the servo motor 86 to one end of the screw 85 through a reducer, the servo motor 86 can be used to drive the screw 85 to rotate during adjustment, so that the crossbeam 83 can slide between the inner rails 81 to complete the lateral positioning.

2 and 10 , in order to cooperate with the middle positioning assembly 5 to position and clamp the pipe fitting, a pressure plate 6 is provided just above the clamping groove 55;

Among them, in order to drive the pressure plate 6 to cooperate with the clamping groove 55, a tripod 61 is fixedly installed on the top surface of the first upper support plate 88 through a pad, and an H-shaped bracket 62 is fixedly connected to one end of the tripod 61, and the other end is rotatably connected to the second cylinder 63, and at the same time, a connecting buckle 64 is fixedly installed at the power output end of the second cylinder 63 in sequence, and the connecting buckle 64 is coaxially rotatably connected to the support rod 65 and the movable tongue 66, and the movable tongue 66 is rotatably connected to the H-shaped bracket 62 at one end away from the connecting buckle 64, and the support rod 65 is nested in the top of the H-shaped bracket 62 at one end away from the connecting buckle 64, and is rotatably connected to the pressure rod 67, and the pressure rod 67 is adjustably fixedly connected to the bolt seat 68, and finally the pressure plate 6 is fixedly installed on the bottom end of the bolt seat 68, and the second cylinder 63 is used to press the pressure plate 6 downward through the support rod 65, the movable tongue 66 and the pressure rod 67 to make it pressed on the middle pipe fitting, thereby cooperating with the clamping groove 55 to position and fix the pipe fitting.

In this embodiment, when the longitudinal position of the middle positioning assembly 5 changes, the bolt seat 68 can be adjusted relative to the position of the pressure rod 67 so that they can cooperate with each other; of course, in other embodiments, the tripod 61 can also be slidably installed on the first longitudinal rail 810 like the support 51 to facilitate synchronous adjustment.

Furthermore, positioning grooves 56 are symmetrically provided on both sides of the clamping groove 55, and pneumatic clamping pins 57 are slidably installed in the positioning grooves 56. At the same time, an air port 58 for driving the pneumatic clamping pin 57 is provided at one end of the rotary drive 53 away from the rotary platform 52. By connecting a pneumatic drive to the air port 58, the pneumatic drive is used to drive the pneumatic clamping pin 57 through the air port 58 to perform secondary reinforcement on both sides of the pipe fitting, so that its positioning is accurate.

Referring to Figures 2 and 12-14, the end positioning assembly 7 includes a fixed support 71 and a movable support 72 slidably mounted on the fixed support 71. The fixed support 71 and the movable support 72 are symmetrically provided with arc grooves 73 on opposite sides, and arc clamping blocks 74 are slidably connected inside the arc grooves 73. By rotating the arc clamping blocks 74 between the fixed support 71 and the movable support 72, the angle of the clamping groove formed by the two groups of arc clamping blocks 74 compared to the reference coordinates is changed, thereby meeting the requirements for pipe fittings under different requirements. The arc clamping block 74 is provided with an extension 75 fixedly mounted at the clamping opening thereof, which can improve the clamping range of the arc clamping block 74 on the pipe fittings, and can also clamp pipe fittings with large diameters. By setting the combined clamping surface of the arc clamping block 74 and the extension 75 as an inner concave inclined surface, the pipe fittings can be moved downward by utilizing the side thrust of the inclined surface during the pushing process, and at the same time cooperate with the bottom wall of the fixed support 71 to complete the clamping and positioning of the pipe fittings, and stably and accurately clamp the pipe fittings between the two sets of arc clamping blocks 74 and the extension 75;

In order to allow the movable support 72 to slide along the predetermined track, a slideway 76 is provided on the fixed support 71, and a sliding pin 77 is integrally formed on the movable support 72, and the sliding pin 77 is slidably embedded in the slideway 76, so that the movable support 72 can slide stably along the slideway 76 to ensure the clamping accuracy;

In other embodiments, the extension portion 75 may not be provided to clamp a small diameter pipe, and the selection is made according to actual needs in actual use;

Furthermore, the fixed support 71 and the movable support 72 are both integrally formed with a latch pin 78 at the center of the arc-shaped groove 73. At the same time, a latch groove 79 is provided on the outer surface of the arc clamp block 74 to match it, so as to ensure that the arc clamp block 74 can slide stably in a circular shape compared with the fixed support 71 and the movable support 72. At the same time, a clamping bolt 717 is also threadedly connected in the fixed support 71. After the angle of the clamping groove formed by the two groups of arc clamp blocks 74 is adjusted compared with the reference coordinate, one of the arc clamp blocks 74 can be positioned by rotating the clamping bolt 717, and the other will adaptively change to a state parallel to it under the action of relative force, thereby completing the clamping of the pipe fitting.

Referring to FIGS. 2-3 and 6-8 , in order to adjust the position of the end positioning assembly 7 in three-dimensional space so that it can be adaptively adjusted in the horizontal, longitudinal, and vertical directions relative to the reference coordinates, a second adjustment assembly 9 is also included, which is arranged between the end positioning assembly 7 and the machine tool frame 3;

Among them, the second adjustment component 9 includes a linear drive component 91 fixedly installed on the outer wall of the machine tool frame 3, a workbench 92 slidably installed on the linear drive component 91, and a movable support 93 fixedly installed between the two groups of workbenches 92. Under the driving action of the linear drive component 91, the workbench 92 can move laterally, thereby driving the movable support 93 and the end positioning component 7 to move laterally, thereby completing its lateral positioning, by symmetrically installing the fifth cylinder 94 at both ends of the bottom surface of the movable support 93, and the power output end of the fifth cylinder 94 passes through the movable support 93, and is fixedly installed on the power output ends of the two groups of fifth cylinders 94 There is a second upper support plate 95, which can be pushed upward or downward as a whole by using the fifth cylinder 94 to complete its vertical positioning. At the same time, a second longitudinal track 96 is fixedly installed on the top surface of the second upper support plate 95, and a third longitudinal slide 97 and a fourth longitudinal slide 98 are slidably connected on the second longitudinal track 96. By fixing the end positioning assembly 7 between the third longitudinal slide 97 and the fourth longitudinal slide 98, the longitudinal position of the end positioning assembly 7 compared to the reference coordinate can be conveniently adjusted compared to sliding the third longitudinal slide 97 and the fourth longitudinal slide 98 on the second upper support plate 95;

Furthermore, by threading the second abutting stud 99 on the third longitudinal slide 97, the longitudinal positioning of the end positioning assembly 7 can be completed by rotating the second abutting stud 99 after the third longitudinal slide 97 and the fourth longitudinal slide 98 slide to a suitable position; in this embodiment, three groups of the second abutting stud 99 are provided for stable positioning;

Furthermore, referring specifically to FIG. 12 , in order to drive the movable support 72 to automatically clamp the pipe fitting, a positioning cross plate 710 is fixedly installed on the top surface of the fourth longitudinal slide 98, and a third cylinder 711 and a slide bar seat 712 are rotatably connected to the positioning cross plate 710, and a slide bar 715 is slidably connected to the end of the slide bar seat 712 away from the third cylinder 711, and a triangular connector 713 is rotatably connected between the power output end of the third cylinder 711 and the slide bar seat 712, and the triangular connector 713 and the slide bar 715 are rotatably connected. The movable support 72 is pushed gradually closer to the fixed support 71 by the third cylinder 711 through the linkage of the triangular connector 713, the movable push rod 714 and the slide rod 715. At the same time, the arc clamping block 74 on the movable support 72 will rotate to an angle that fits the surface of the pipe under the interaction force with the pipe, so that the tail pipe can be clamped at a fixed angle by two sets of arc clamping blocks 74 and the extension part 75.

As shown in FIG. 1-14, a variable adaptability sports equipment welding method is applied to the above-mentioned variable adaptability sports equipment welding device, comprising the following steps:

Step 1: Place the vertical pipe between the movable positioning shaft 41 and the fixed shaft 42, and start the first cylinder 44 at the same time. Push the movable positioning shaft 41 gradually toward the fixed shaft 42 through the first cylinder 44, and use the positioning cone blocks 43 between them and the hollow of the pipe to clamp and position it. At the same time, the laser locator 45 emits laser rays, which pass through the positioning ring 47 and are accurately received by the receiver 46, completing the initial positioning of the pipe;

Step 2: According to the positional relationship between the middle pipe and the initial pipe, the middle positioning assembly 5 is slid relative to the first upper support plate 88 to adjust its longitudinal position. After reaching the appropriate position, the first tightening stud 510 is rotated to complete the longitudinal positioning. At the same time, the fourth cylinder 87 is used to push the first upper support plate 88 upward or downward as a whole to complete the vertical positioning. Then, the servo motor 86 is used to drive the lead screw 85 to rotate, so that the crossbeam 83 slides between the inner rails 81 to complete the lateral positioning.

Step 3, then the clamping support 54 is rotated by cooperating with the rotary platform 52 through the rotary driver 53, so as to adjust the angle of the clamping groove 55 compared with the initial pipe fitting, and then the middle pipe fitting is placed in the clamping groove 55, and the position of the pressing plate 6 is adjusted compared with the pressing rod 67 according to the position of the clamping groove 55, and then the second cylinder 63 is used to link the support rod 65, the movable tongue 66 and the pressing rod 67 to press the pressing plate 6 down to press it on the middle pipe fitting, so as to cooperate with the clamping groove 55 to position and fix the pipe fitting, and at the same time, the pneumatic driver is used to drive the pneumatic clamping pin 57 through the air port 58 to perform secondary reinforcement on both sides of the pipe fitting to make it accurately positioned;

Step 4: According to the positional relationship between the tail pipe and the middle pipe, the third longitudinal slide 97 and the fourth longitudinal slide 98 are slid relative to the second upper support plate 95. After reaching the appropriate position, the longitudinal positioning of the end positioning assembly 7 is completed by rotating the second tightening stud 99. At the same time, the fifth cylinder 94 is used to push the second upper support plate 95 upward or downward as a whole to complete the vertical positioning. Then, the linear driving member 91 can be used to drive the workbench 92 to move horizontally, thereby driving the movable support 93 to move horizontally to complete the horizontal positioning;

Step 5: According to the welding angle of the tail pipe compared with the middle pipe, the arc groove 73 on the fixed support 71 is rotated and adjusted, and it is positioned by the tightening bolt 717 threadedly connected in the fixed support 71, and then the tail pipe is placed between the two groups of arc clamps 74 and the extension 75, and at the same time, the third cylinder 711 is used to push the movable support 72 gradually close to the fixed support 71 through the linkage of the triangular connector 713, the movable push rod 714 and the slide rod 715, and at the same time, the arc clamp 74 on the movable support 72 will rotate to an angle that fits the surface of the pipe under the interaction force with the pipe, so that the tail pipe is clamped at a fixed angle by the two groups of arc clamps 74 and the extension 75;

Step 6: Using the automatic welding robot 1 under the control of a computer program, weld the joints between the initial pipe fitting, the middle pipe fitting and the tail pipe fitting in sequence.

The above are only preferred embodiments of the present invention. It should be noted that, for those skilled in the art, several improvements and modifications can be made without departing from the principles of the present invention, and these improvements and modifications should also be considered as the protection scope of the present invention. The structures, devices and operating methods not specifically described and explained in the present invention shall be implemented according to conventional means in the art unless otherwise specified and limited.

Claims (10)

1. A variable adaptability sports equipment welding device, characterized in that it comprises: Automatic welding robot (1); A gantry (2) is placed side by side with the automatic welding robot (1), comprising a base (21), a tilt adjustment motor (22) fixedly mounted on the base (21), and a connecting seat (23) fixedly mounted on a power output end of the tilt adjustment motor (22); A machine tool frame (3) is fixedly installed between the two groups of connecting seats (23); A reference positioning assembly (4) is installed on the machine tool frame (3), comprising a movable positioning shaft (41), a fixed shaft (42) coaxially opposite to the movable positioning shaft (41), and a first cylinder (44); a positioning cone block (43) is fixedly installed on both the movable positioning shaft (41) and the fixed shaft (42); the first cylinder (44) is fixedly installed on the machine tool frame (3); the movable positioning shaft (41) is fixedly installed on the power output end of the first cylinder (44); and a positioning mechanism is provided between the movable positioning shaft (41) and the fixed shaft (42); A middle positioning assembly (5) is mounted on the machine tool frame (3), comprising a support (51), a rotary platform (52) integrally formed with the support (51), a rotary driver (53) arranged on one side of the rotary platform (52), and a clamping support (54) rotatably mounted on the top surface of the rotary platform (52), wherein a clamping groove (55) is provided at the center of the clamping support (54), and a multi-directional clamping mechanism is provided on the clamping groove (55); A pressing plate (6) is arranged in combination with the middle positioning assembly (5), and a pressing mechanism for driving the pressing plate (6) is arranged between the pressing plate (6) and the machine tool frame (3); An end positioning assembly (7) is mounted on the machine tool frame (3), comprising a fixed support (71) and a movable support (72) slidably mounted on the fixed support (71), wherein an arc-shaped groove (73) is symmetrically provided on one side opposite to the movable support (72), wherein an arc-shaped clamping block (74) is slidably connected inside the arc-shaped groove (73), an extension portion (75) is fixedly mounted at the clamping mouth of the arc-shaped clamping block (74), and a pushing mechanism for driving the movable support (72) to move is provided on the movable support (72); The vertical pipe is initially positioned by referring to the positioning assembly (4), and then the middle positioning assembly (5) is used to adjust the clamping angles of the remaining pipes according to the welding angle and clamp and position them, while the end positioning assembly (7) is used to position and clamp each branch pipe. 2. A variable adaptable sports equipment welding device according to claim 1, characterized in that: the positioning mechanism includes a laser locator (45) and a receiver (46) coaxially opposite to the laser locator (45), a positioning ring (47) is arranged between the receiver (46) and the laser locator (45), and the positioning ring (47) has a conical hole on the axis of the receiver (46). 3. A variable adaptable sports equipment welding device according to claim 1, characterized in that: the multi-directional clamping mechanism includes positioning grooves (56) symmetrically opened on both sides of the clamping groove (55), a pneumatic clamping pin (57) is slidably installed in the positioning groove (56), and the rotary drive (53) is provided with an air port (58) for driving the pneumatic clamping pin (57) at one end away from the rotary platform (52). 4. A variable adaptability sports equipment welding device according to claim 1, characterized in that: it also includes a first adjustment component (8), which is arranged between the middle positioning component (5), the pressure plate (6) and the machine tool frame (3), and is used to adjust the position of the middle positioning component (5) and the pressure plate (6) compared to the machine tool frame (3); The first adjustment assembly (8) comprises an inner rail (81) fixedly mounted on the inner wall of the machine tool frame (3), an inner slide seat (82) slidably mounted on the inner rail (81), a crossbeam (83) fixedly mounted between the inner slide seats (82), and a fourth cylinder (87) fixedly mounted on both ends of the bottom surface of the crossbeam (83), the power output end of the fourth cylinder (87) passes through the crossbeam (83) and extends to its top surface, a first upper support plate (88) is fixedly mounted between the power output ends of the fourth cylinder (87), a mounting groove (89) is provided on the top surface of the first upper support plate (88), a first longitudinal rail (810) is fixedly mounted in the mounting groove (89), and a first longitudinal slide seat (811) is slidably mounted on the first longitudinal rail (810). 5. A variable adaptable sports equipment welding device according to claim 4, characterized in that: the first adjustment component (8) also includes a servo motor (86) fixedly mounted on the connecting seat (23), a nut (84) fixedly mounted at the center of the inner sliding seat (82), and a screw (85) threadedly connected to the nut (84), the screw (85) being rotatably connected between the two groups of the connecting seats (23), and the power output end of the servo motor (86) is transmission-connected to one end of the screw (85) through a reducer. 6. A variable adaptable sports equipment welding device according to claim 4, characterized in that: the support (51) is fixedly installed on the first longitudinal slide (811), a positioning support plate (59) is fixedly installed on one side of the top surface of the support (51), and a first tightening stud (510) is threadedly connected to the positioning support plate (59). 7. A variable adaptable sports equipment welding device according to claim 4, characterized in that: the pressing mechanism includes a tripod (61) fixedly mounted on the top surface of the first upper support plate (88) through a pad, one end of the tripod (61) is fixedly connected to an H-shaped bracket (62), and the other end is rotatably connected to a second cylinder (63), a connecting buckle (64) is fixedly mounted on the power output end of the second cylinder (63), the connecting buckle (64) is coaxially rotatably connected to a support rod (65) and a movable tongue (66), the movable tongue (66) is rotatably connected to the H-shaped bracket (62) at one end away from the connecting buckle (64), the support rod (65) is nested in the top of the H-shaped bracket (62) at one end away from the connecting buckle (64), and is rotatably connected to a pressure rod (67), the pressure rod (67) is adjustably fixedly connected to a bolt seat (68), and the pressure plate (6) is fixedly mounted on the bottom end of the bolt seat (68). 8. The variable adaptability sports equipment welding device according to claim 1, characterized in that: it also includes a second adjustment component (9), which is arranged between the end positioning component (7) and the machine tool frame (3), and is used to adjust the position of the end positioning component (7) compared to the machine tool frame (3); The second adjustment assembly (9) comprises a linear drive component (91) fixedly mounted on the outer wall of the machine tool frame (3), a workbench (92) slidably mounted on the linear drive component (91), and a movable support (93) fixedly mounted between two groups of the workbench (92); fifth cylinders (94) are symmetrically mounted at both ends of the bottom surface of the movable support (93); a power output end of the fifth cylinder (94) passes through the movable support (93); a second upper support plate (95) is fixedly mounted on the power output ends of the two groups of the fifth cylinders (94); a second longitudinal track (96) is fixedly mounted on the top surface of the second upper support plate (95); a third longitudinal slide seat (97) and a fourth longitudinal slide seat (98) are slidably connected to the second longitudinal track (96); and a second tightening stud (99) is threadedly connected to the third longitudinal slide seat (97). 9. A variable adaptable sports equipment welding device according to claim 8, characterized in that: the pushing mechanism includes a positioning cross plate (710) fixedly mounted on the top surface of the fourth longitudinal slide (98), a third cylinder (711) rotatably connected to the positioning cross plate (710), and a slide rod seat (712) fixedly mounted on the positioning cross plate (710), the slide rod seat (712) being slidably connected with a slide rod (715) at one end away from the third cylinder (711), a triangular connecting piece (713) being rotatably connected between the power output end of the third cylinder (711) and the slide rod seat (712), a movable push rod (714) being rotatably connected between the triangular connecting piece (713) and the slide rod (715), a push seat (716) being fixedly mounted on one end of the slide rod (715) away from the movable push rod (714), and the push seat (716) being fixedly mounted on the movable support (72). 10. A variable adaptability sports equipment welding method, applied to a variable adaptability sports equipment welding device according to any one of claims 1 to 9, characterized in that it comprises the following steps: Step 1: Place the vertical pipe between the movable positioning shaft (41) and the fixed shaft (42), and start the first cylinder (44) at the same time. Push the movable positioning shaft (41) gradually toward the fixed shaft (42) through the first cylinder (44), and use the positioning cone blocks (43) between them and the hollow of the pipe to clamp and position it. At the same time, the laser locator (45) emits laser rays, which pass through the positioning ring (47) and are accurately received by the receiver (46), completing the initial positioning of the pipe; Step 2: According to the positional relationship between the middle pipe and the initial pipe, the middle positioning assembly (5) is slid relative to the first upper support plate (88) to adjust its longitudinal position. After reaching a suitable position, the first tightening stud (510) is rotated to complete the longitudinal positioning. At the same time, the fourth cylinder (87) is used to push the first upper support plate (88) upward or downward as a whole to complete the vertical positioning. Then, the servo motor (86) is used to drive the lead screw (85) to rotate, so that the crossbeam (83) slides between the inner rails (81) to complete the lateral positioning. Step 3, the clamping support (54) is then rotated by cooperating with the rotary platform (52) through the rotary driver (53), so as to adjust the angle of the clamping groove (55) compared to the initial pipe fitting, and then the middle pipe fitting is placed in the clamping groove (55), and the position of the pressure plate (6) is adjusted compared to the pressure rod (67) according to the position of the clamping groove (55), and then the second cylinder (63) is used to press the pressure plate (6) downward through the support rod (65), the movable tongue (66) and the pressure rod (67) so that it is pressed on the middle pipe fitting, thereby cooperating with the clamping groove (55) to position and fix the pipe fitting, and at the same time, the pneumatic driver is used to drive the pneumatic clamping pin (57) through the air port (58) to perform secondary reinforcement on both sides of the pipe fitting so that it is accurately positioned; Step 4: According to the positional relationship between the tail pipe and the middle pipe, the third longitudinal slide (97) and the fourth longitudinal slide (98) are slid relative to the second upper support plate (95). After reaching the appropriate position, the longitudinal positioning of the end positioning assembly (7) is completed by rotating the second tightening stud (99). At the same time, the fifth cylinder (94) is used to push the second upper support plate (95) to move up or down as a whole to complete the vertical positioning. Then, the workbench (92) can be driven by the linear drive member (91) to move horizontally, thereby driving the movable support (93) to move horizontally to complete the horizontal positioning; Step 5: According to the welding angle of the tail pipe compared with the middle pipe, the arc groove (73) on the fixed support (71) is rotated and adjusted, and the fixed support (71) is positioned by a tightening bolt (717) threadedly connected in the fixed support (71), and then the tail pipe is placed between the two groups of arc clamps (74) and the extension (75). At the same time, the movable support (72) is pushed gradually close to the fixed support (71) by the third cylinder (711) through the linkage of the triangular connector (713), the movable push rod (714) and the slide rod (715). At the same time, the arc clamp (74) on the movable support (72) will rotate to an angle that fits the surface of the pipe under the interaction force with the pipe, so that the tail pipe is clamped at a fixed angle by the two groups of arc clamps (74) and the extension (75); Step 6: Using an automatic welding robot (1) under the control of a computer program, weld the joints between the initial pipe fitting, the middle pipe fitting and the tail pipe fitting in sequence.