CN214520223U

CN214520223U - Robot welding system for inner seam of crown block girder

Info

Publication number: CN214520223U
Application number: CN202120556409.7U
Authority: CN
Inventors: 王臻; 吴远明; 陈军; 彭生; 林闽芳; 赵刚
Original assignee: CHENGDU HANYAN WEIDA TECHNOLOGY CO LTD
Current assignee: CHENGDU HANYAN WEIDA TECHNOLOGY CO LTD
Priority date: 2021-03-15
Filing date: 2021-03-15
Publication date: 2021-10-29
Anticipated expiration: 2031-03-15

Abstract

The utility model discloses a welding system of overhead traveling crane girder inseam robot, include: the robot welding system comprises a robot moving sliding table, a workpiece placing platform, a workpiece conveying roller way, a workpiece moving and shifting mechanism, a robot welding system and a workpiece front end servo adjustable positioning mechanism; the center of the workpiece conveying roller way is connected with the front and back of a girder welding line by taking the workpiece conveying roller way as a reference; the workpiece moving and position changing mechanism is embedded between the conveying roller ways; a workpiece front end servo adjustable positioning mechanism is arranged on the right side of the front end of the outer side of the workpiece transmission roller way, and a workpiece placing platform is arranged on the left side of the workpiece transmission roller way; the robot moving sliding table is arranged on the left side of the workpiece placing platform; the robot welding system is arranged on the robot moving sliding table. The equipment solves the problems of automatic transmission, positioning and displacement of the workpiece. Meanwhile, the problem that common workers are not easy to enter the narrow box body for welding is solved.

Description

Robot welding system for inner seam of crown block girder

Technical Field

The utility model relates to a crown block girder inside seam welding technical field, more specifically the saying so relates to a crown block girder inside seam robot welding system.

Background

Industry 4.0 technology is being spread out in various industries as it is being tried and popularized. The intelligent workshop is popularized to a great extent. The automatic welding of the inner seam of the beam of the crown block is to be finished. The automatic positioning and shifting welding system is an important component. The positioning accuracy is good and bad, and is directly related to the quality of the welded workpiece. The scheme provides a set of automatic welding system for an inner seam of a beam of a crown block.

At present, workpieces are automatically conveyed and positioned, and displacement is complex and mainly depends on manpower; meanwhile, the problem that operators are not easy to enter the narrow box body for welding and the like is solved.

SUMMERY OF THE UTILITY MODEL

An object of the utility model is to provide a welding system of overhead traveling crane girder inseam robot to solve the technical problem who exists among the background art.

In order to achieve the above purpose, the utility model adopts the following technical scheme:

a robot welding system for an inner seam of a crown block girder comprises: the robot welding system comprises a robot moving sliding table, a workpiece placing platform, a workpiece conveying roller way, a workpiece moving and shifting mechanism, a robot welding system and a workpiece front end servo adjustable positioning mechanism; the center of the workpiece conveying roller way is connected with the front and back of a girder welding line by taking the workpiece conveying roller way as a reference; the workpiece moving and position changing mechanism is embedded between the conveying roller ways; a workpiece front end servo adjustable positioning mechanism is arranged on the right side of the front end of the outer side of the workpiece transmission roller way, and a workpiece placing platform is arranged on the left side of the workpiece transmission roller way; the robot moving sliding table is arranged on the left side of the workpiece placing platform; the robot welding system is arranged on the robot moving sliding table.

Further, the robot removes the slip table including removing slip table base, first linear slide rail, first rack, and what first linear slide rail and first rack were respectively the symmetry installs in removing the slip table base and corresponds position tang department.

Further, the workpiece conveying roller way comprises a conveying roller way support, conveying rollers and a conveying driving motor, the conveying driving motor is installed on the conveying roller way support, a driving single-row chain wheel is installed at the output end of the conveying driving motor, the conveying rollers are installed on the conveying roller way support in a rotating mode, driven double-row chain wheels are arranged at the end portions of the conveying rollers, and chains are sleeved between the driving single-row chain wheel and the driven double-row chain wheels and between the adjacent driven double-row chain wheels.

Further, the workpiece moving and position changing mechanism comprises a position changing moving mechanism base, a moving guide slide rail, a moving pushing oil cylinder, a position changing machine base, a position changing machine overturning driving oil cylinder and a position changing machine overturning arm; the shifting mechanism base, the workpiece placing platform and the workpiece conveying roller bed are in a cross arrangement, a movable guide sliding rail is installed on the shifting mechanism base, the shifting machine base is connected to the movable guide sliding rail in a sliding mode, one end of a movable pushing oil cylinder is fixed to the movable guide sliding rail, the other end of the movable pushing oil cylinder is connected with the shifting machine base, a shifting machine overturning driving oil cylinder is installed in the shifting machine base, a shifting machine overturning arm is connected to the shifting machine base in a rotating mode through a fixed fulcrum of the shifting machine overturning arm, and the front end of the shifting machine overturning arm is hinged to the telescopic end of the shifting machine overturning driving oil cylinder.

Further, the robot welding system comprises a lengthened robot welding gun, a welding robot, a robot transverse movement driving motor, a robot transverse movement sliding plate, a robot door-shaped cross beam, a robot movement sliding table and a robot longitudinal movement driving motor; the robot moving sliding table is installed on a first linear sliding rail through a first linear sliding block, a robot longitudinal moving driving motor is installed on the robot moving sliding table, the output end of the robot longitudinal moving driving motor is connected with a first gear matched with a first rack, a robot door-shaped cross beam is installed on the robot moving sliding table, a second linear sliding rail and a second rack are installed on the robot door-shaped cross beam, a robot transverse moving sliding plate is installed on the second linear sliding rail through a second linear sliding block, a robot transverse moving driving motor is installed on the robot transverse moving sliding plate, a second gear matched with the second rack is installed on the robot transverse moving driving motor, a robot is installed on the transverse moving sliding plate in an inverted hanging mode, and a lengthened welding gun of the robot is installed at the tail end of the robot.

Furthermore, the servo adjustable positioning mechanism at the front end of the workpiece comprises a positioning mechanism upright post, a positioning mechanism cross beam, a positioning mechanism linear slide rail, a positioning mechanism slide plate, a positioning slide plate driving servo, a swing arm push-pull cylinder and a positioning swing arm; the positioning mechanism comprises a positioning mechanism upright post, a positioning mechanism linear slide rail and a third rack are mounted on the positioning mechanism upright post, a positioning mechanism slide plate is mounted on the positioning mechanism linear slide rail through a third linear slide block, a positioning slide plate driving servo is mounted on the positioning mechanism slide plate, a third gear matched with the third rack is mounted on the positioning slide plate driving servo, a swing arm push-pull air cylinder is mounted on the positioning mechanism slide plate through a mounting seat, a positioning swing arm is hinged on the mounting seat, the telescopic end of the swing arm push-pull air cylinder is connected with the positioning swing arm, and the positioning swing arm stops or gives out a workpiece after the air cylinder contracts.

Compared with the prior art, the utility model beneficial effect who has is:

the utility model discloses novel structure, the practicality is strong. Through using the utility model discloses a welding system of overhead traveling crane girder inseam robot accomplishes overhead traveling crane girder inseam subassembly from the whole course of action of commodity circulation transportation, automatic positioning, automatic shifting, welding and automatic unloading. The equipment solves the problems of automatic transmission, positioning and displacement of the workpiece. Meanwhile, the problem that common workers are not easy to enter the narrow box body for welding is solved. Is one of the most ideal devices for welding the inner seam component of the beam of the crown block. The method is applied to a crane girder production line developed by our company. And obtain good effect.

Drawings

Fig. 1 is the utility model discloses a welding system of overhead traveling crane girder inseam robot.

Fig. 2 is the utility model discloses a structure schematic diagram of a robot removes slip table of overhead traveling crane girder inseam robot welding system.

Fig. 3 is the structural schematic diagram of the workpiece conveying roller table of the overhead traveling crane girder inner seam robot welding system.

Fig. 4 is a schematic structural diagram of a workpiece moving displacement mechanism of a welding system of a crown block girder inner seam robot of the utility model.

Fig. 5 is a structural section view of a workpiece moving displacement mechanism of a welding system of an overhead traveling crane girder inner seam robot.

Fig. 6 is a structural section view of a robot welding system of the robot welding system for inner seam of crown block girder of the utility model.

Fig. 7 is the utility model discloses a welding system's of overhead traveling crane girder inseam robot removes slip table and second sharp slider's schematic structure.

Fig. 8 is a schematic structural diagram of a workpiece front end servo adjustable positioning mechanism of a crown block girder inner seam robot welding system of the present invention.

Fig. 9 is a schematic structural diagram of the positioning mechanism slide plate and the positioning mechanism linear slide rail connection of the overhead traveling crane girder inner seam robot welding system of the present invention.

The labels in the figure are: 1-a robot moving sliding table, 2-a workpiece placing platform, 3-a workpiece conveying roller way, 4-a workpiece moving deflection mechanism, 5-a robot welding system, 6-a workpiece front end servo adjustable positioning mechanism, 1.1-a moving sliding table base, 1.2-a first linear slide rail, 1.3-a first rack, 1.4-a first gear, 1.5-a first linear slide block, 3.1-a conveying driving motor, 3.2-a conveying roller, 3.3-a conveying roller way bracket, 3.4-a driving single-row chain wheel, 3.5-a chain, 3.6-a driven double-row chain wheel, 4.1-a deflection moving mechanism base, 4.2-a moving guide slide rail, 4.3-a moving pushing oil cylinder, 4.4-a deflection machine base, 4.5-a deflection machine overturning driving oil cylinder and 4.6-a deflection machine overturning arm, 5.1-robot lengthened welding gun, 5.2-welding robot, 5.3-robot transverse movement driving motor, 5.4-robot transverse movement sliding plate, 5.5-robot door-shaped beam, 5.6-second linear sliding block, 5.7-robot movement sliding table, 5.8-robot longitudinal movement driving motor, 5.9-second linear sliding rail, 5.10-second rack, 5.11-second gear, 6.1-positioning mechanism upright post, 6.2-positioning mechanism beam, 6.3-positioning mechanism linear sliding rail, 6.4-positioning mechanism sliding plate, 6.5-positioning sliding plate driving servo, 6.6-swinging arm push-and-pull cylinder, 6.7-positioning swinging arm, 6.8-mounting seat, 6.9-third gear, 6.10-third rack.

Detailed Description

The present invention will be further described with reference to the following examples, which are only some, but not all, of the examples of the present invention. Based on the embodiments in the present invention, other embodiments used by those skilled in the art without creative work belong to the protection scope of the present invention.

Example 1:

as shown in fig. 1-9, a robot welding system 5 for an inner seam of a girder of a crown block comprises: the robot moving sliding table 5.71, the workpiece placing platform 2, the workpiece conveying roller table 3, the workpiece moving displacement mechanism 4, the robot welding system 5 and the workpiece front end servo adjustable positioning mechanism 6; the workpiece conveying roller way 3 is taken as a reference, and the center of the workpiece conveying roller way 3 is connected with the front and back of a girder welding line; the workpiece moving and position changing mechanism 4 is embedded between the conveying roller ways; a workpiece front end servo adjustable positioning mechanism 6 is arranged on the right side of the front end of the outer side of the workpiece transmission roller way 3, and a workpiece placing platform 2 is arranged on the left side of the workpiece transmission roller way 3; the robot moving sliding table 5.71 is arranged on the left side of the workpiece placing platform 2; the robot welding system 5 is mounted on a robot moving slide 5.71.

As shown in fig. 2, in this embodiment, the robot moving sliding table 5.71 includes a moving sliding table base 1.1, a first linear sliding rail 1.2, and a first rack 1.3, where the first linear sliding rail 1.2 and the first rack 1.3 are respectively and symmetrically installed at a seam allowance at a corresponding position of the moving sliding table base 1.1. The workpiece placing platform 2 is a frame main body formed by welding sectional materials and steel plates. The primary purpose is to support the workpiece.

As shown in fig. 6-7, the robot welding system 5 comprises a robot lengthened welding gun 5.1, a welding robot 5.2, a robot transverse movement driving motor 5.3, a robot transverse movement sliding plate 5.4, a robot door-shaped cross beam 5.5, a robot movement sliding table 5.71 and a robot longitudinal movement driving motor 5.8; the robot moving sliding table 5.71 is mounted on a first linear sliding rail 1.2 through a first linear sliding block 1.5, a robot longitudinal moving driving motor 5.8 is mounted on the robot moving sliding table 5.71, the output end of the robot longitudinal moving driving motor 5.8 is connected with a first gear 1.4 matched with a first rack 1.3, a robot door-shaped cross beam 5.5 is mounted on the robot moving sliding table 5.71, a second linear sliding rail 5.9 and a second rack 5.10 are mounted on the robot door-shaped cross beam 5.5, a robot transverse moving sliding plate 5.4 is mounted on the second linear sliding rail 5.9 through a second linear sliding block 5.6, a robot transverse moving driving motor 5.3 is mounted on the robot transverse moving sliding plate 5.4, a second gear 5.11 matched with the second rack 5.10 is mounted on the robot transverse moving driving motor 5.3, a robot is mounted on the transverse moving sliding plate in an inverted hanging manner, and a robot lengthened welding gun is mounted at the tail end of the robot 5.1.

The welding robot 5.2 drives the first gear 1.4 to rotate through the robot longitudinal movement driving motor 5.8, and power is provided for the robot welding system 5 to longitudinally move on the robot moving sliding table 5.71 through the matching of the first gear 1.4 and the first rack 1.3; therefore, the position of the robot welding system 5 on the robot moving sliding table 5.71 can be adjusted according to the length of the workpiece, and the flexibility is improved.

The welding robot 5.2 drives the second gear 5.11 to rotate through the robot transverse movement driving motor 5.3, and power is provided for the robot welding system 5 to transversely move on the robot moving sliding table 5.71 through the matching of the second gear 5.11 and the second rack 5.10; therefore, the position of the robot welding system 5 on the robot moving sliding table 5.71 can be adjusted according to the inner seam welding of the workpiece, and the welding flexibility is improved.

As shown in fig. 3, in this embodiment, the workpiece conveying roller 3 includes a conveying roller support 3.3, conveying rollers 3.2, and a conveying driving motor 3.1, the conveying driving motor 3.1 is installed on the conveying roller support 3.3, a driving single-row sprocket 3.4 is installed at an output end of the conveying driving motor 3.1, a plurality of conveying rollers 3.2 are rotatably installed on the conveying roller support 3.3, a driven double-row sprocket 3.6 is installed at an end of each conveying roller 3.2, and chains 3.5 are respectively sleeved between the driving single-row sprocket 3.4 and the driven double-row sprocket 3.6 and between adjacent driven double-row sprockets 3.6.

The transmission driving motor 3.1 is generally arranged at the tail end of the transmission roller way support 3.3, power is provided by the transmission driving motor 3.1 to drive the driving single-row chain wheel 3.4, and then the power is transmitted to the transmission roller 3.2 through the chain 3.5, so that the transmission of workpieces is realized.

As shown in fig. 4-5, in this embodiment, the workpiece moving and position-changing mechanism 4 includes a position-changing moving mechanism base 4.1, a moving guide slide rail 4.2, a moving pushing cylinder 4.3, a position-changing machine base 4.4, a position-changing machine turning driving cylinder 4.5, and a position-changing machine turning arm 4.6; the shifting moving mechanism base 4.1, the workpiece placing platform 2 and the workpiece conveying roller bed 3 are in a cross layout, a moving guide sliding rail 4.2 is installed on the shifting moving mechanism base 4.1, a shifting machine base 4.4 is connected to the moving guide sliding rail 4.2 in a sliding mode, one end of a moving pushing oil cylinder 4.3 is fixed to the moving guide sliding rail 4.2, the other end of the moving pushing oil cylinder 4.3 is connected with a shifting machine base 4.4, a shifting machine overturning driving oil cylinder 4.5 is installed in the shifting machine base 4.4, a shifting machine overturning arm 4.6 is connected to the shifting machine base 4.4 in a rotating mode through a fixed fulcrum of the shifting machine overturning arm 4.6, and the front end of the shifting machine overturning arm 4.6 is hinged to the telescopic end of the shifting machine overturning driving oil cylinder 4.5.

The workpiece moving and displacing mechanism 4 has two main purposes, one is used for displacing the workpiece, and the other is used for moving the displaced workpiece.

When a workpiece is transmitted to the workpiece transmission roller way 3, the workpiece is transmitted to the positioner overturning arm 4.6, specifically, the positioner overturning arm 4.6 is slightly lower than the workpiece transmission roller way 3 in the initial state, the workpiece is transmitted to a support structure consisting of the long edge and the short edge of the positioner overturning arm 4.6, then the positioner overturning driving oil cylinder 4.5 acts to drive the positioner overturning arm 4.6 to overturn, the workpiece is supported by the short edge of the positioner overturning arm 4.6, and 90-degree overturning is realized, and the workpiece is displaced above. Then the moving pushing oil cylinder 4.3 moves to drive the positioner base 4.4 to move towards the workpiece, and the workpiece is pushed onto the workpiece placing platform 2 on the support structure of the positioner overturning arm 4.6, so that welding positioning is facilitated.

As shown in fig. 8-9, in this embodiment, the workpiece front end servo adjustable positioning mechanism 6 includes a positioning mechanism column 6.1, a positioning mechanism beam 6.2, a positioning mechanism linear slide rail 6.3, a positioning mechanism slide plate 6.4, a positioning slide plate drive servo 6.5, a swing arm push-pull cylinder 6.6, and a positioning swing arm 6.7; a positioning mechanism cross beam 6.2 is arranged on a positioning mechanism upright post 6.1, a positioning mechanism linear slide rail 6.3 and a third rack 6.10 are arranged on the positioning mechanism cross beam 6.2, a positioning mechanism slide plate 6.4 is arranged on the positioning mechanism linear slide rail 6.3 through a third linear slide block, a positioning slide plate driving servo 6.5 is arranged on the positioning mechanism slide plate 6.4, a third gear 6.9 matched with the third rack 6.10 is arranged on the positioning slide plate driving servo 6.5, a swing arm push-pull air cylinder 6.6 is arranged on the positioning mechanism slide plate 6.4 through an installation seat 6.8, a positioning swing arm 6.7 is hinged on the installation seat 6.8, the telescopic end of the swing arm push-pull air cylinder 6.6 is connected with the positioning swing arm 6.7, and the positioning swing arm 6.7 stops a workpiece or yields the workpiece through air cylinder contraction.

The servo adjustable positioning mechanism 6 at the front end of the workpiece is driven by a positioning sliding plate to drive a servo 6.5, guided by a third linear sliding rail and driven by a third gear 6.9 and a third rack 6.10 in a matching way. The third gear 6.9 rotates to drive the positioning mechanism sliding plate 6.4 to move on the positioning mechanism beam 6.2, so that the servo adjustable positioning mechanism 6 at the front end of the workpiece can be accurately controlled to move to a specified position. A positioning swing arm 6.7 of the servo adjustable positioning mechanism 6 at the front end of the workpiece can be turned over through a swing arm push-pull cylinder 6.6, and when the workpiece is conveyed, the swing arm push-pull cylinder 6.6 turns down the positioning swing arm 6.7 to block the workpiece, so that the workpiece is accurately positioned; when the workpiece is conveyed away, the swing arm push-pull cylinder 6.6 turns up the positioning swing arm 6.7, so that the workpiece can be conveyed away. An electric limit switch is installed at the front end of the workpiece front end servo adjustable positioning mechanism 6, and when the workpiece is transmitted, the detection switch detects that the workpiece can be decelerated firstly and slowly hit a mechanical limit device.

The servo adjustable positioning mechanism 6 at the front end of the workpiece blocks the workpiece transmitted on the workpiece transmission roller way 3, the workpiece is overturned and pushed onto the workpiece placing platform 2 through the pushing of the workpiece moving and position changing mechanism 4, and the welding robot 5.2 welds the workpiece by moving from a safe position to a welding position. After welding, the workpiece is transported back to the workpiece conveying roller table 3 through the workpiece moving and shifting mechanism 4 and is conveyed to a subsequent process.

The above description is only exemplary of the present invention and should not be taken as limiting the scope of the present invention, as any modifications, equivalents, improvements and the like made within the spirit and principles of the present invention are intended to be included within the scope of the present invention.

Claims

1. The utility model provides a welding system of overhead traveling crane girder inseam robot which characterized in that includes: the robot welding system comprises a robot moving sliding table (1), a workpiece placing platform (2), a workpiece conveying roller table (3), a workpiece moving displacement mechanism (4), a robot welding system (5) and a workpiece front end servo adjustable positioning mechanism (6); the workpiece conveying roller way (3) is taken as a reference, and the center of the workpiece conveying roller way (3) is connected with the front and the back of a girder welding line; the workpiece moving and position changing mechanism (4) is embedded between the workpiece conveying roller ways (3); a workpiece front end servo adjustable positioning mechanism (6) is arranged on the right side of the front end of the outer side of the workpiece transmission roller way (3), and a workpiece placing platform (2) is arranged on the left side of the workpiece transmission roller way (3); the robot moving sliding table (1) is arranged on the left side of the workpiece placing platform (2); the robot welding system (5) is arranged on the robot moving sliding table (1).

2. The crown block girder inner seam robot welding system according to claim 1, characterized in that the robot moving sliding table (1) comprises a moving sliding table base (1.1), a first linear sliding rail (1.2) and a first rack (1.3), and the first linear sliding rail (1.2) and the first rack (1.3) are respectively and symmetrically installed at a seam allowance at a corresponding position of the moving sliding table base (1.1).

3. The crown block girder inner seam robot welding system according to claim 1, characterized in that the workpiece transmission roller way (3) comprises a transmission roller way support (3.3), transmission rollers (3.2) and a transmission driving motor (3.1), the transmission driving motor (3.1) is installed on the transmission roller way support (3.3), a driving single-row chain wheel (3.4) is installed at the output end of the transmission driving motor (3.1), a plurality of transmission rollers (3.2) are rotatably installed on the transmission roller way support (3.3), a driven double-row chain wheel (3.6) is arranged at the end part of each transmission roller (3.2), and a chain (3.5) is sleeved between the driving single-row chain wheel (3.4) and the driven double-row chain wheel (3.6) and between the adjacent driven double-row chain wheels (3.6).

4. The welding system of the robot for the internal seam of the crown block girder according to claim 1, wherein the workpiece moving and shifting mechanism (4) comprises a shifting moving mechanism base (4.1), a moving guide slide rail (4.2), a moving pushing oil cylinder (4.3), a positioner base (4.4), a positioner overturning driving oil cylinder (4.5) and a positioner overturning arm (4.6); the positioner is characterized in that a displacement moving mechanism base (4.1), a workpiece placing platform (2) and a workpiece conveying roller way (3) are in a cross arrangement, a movable guide sliding rail (4.2) is installed on the displacement moving mechanism base (4.1), the positioner base (4.4) is connected to the movable guide sliding rail (4.2) in a sliding mode, one end of a movable pushing oil cylinder (4.3) is fixed to the movable guide sliding rail (4.2), the other end of the movable pushing oil cylinder (4.3) is connected with the positioner base (4.4), a positioner overturning driving oil cylinder (4.5) is installed in the positioner base (4.4), a positioner overturning arm (4.6) is connected to the positioner base (4.4) in a rotating mode through a fixed fulcrum of the positioner overturning arm (4.6), and the front end of the positioner overturning arm (4.6) is hinged to a telescopic end of the positioner overturning driving oil cylinder (4.5).

5. The crown block girder inner seam robot welding system according to claim 2, characterized in that the robot welding system (5) comprises a robot lengthened welding gun (5.1), a welding robot (5.2), a robot transverse movement driving motor (5.3), a robot transverse movement sliding plate (5.4), a robot door-shaped beam (5.5), a robot movement sliding table (5.7) and a robot longitudinal movement driving motor (5.9); the robot moving sliding table (5.7) is arranged on a first linear sliding rail (1.2) through a first linear sliding block (1.5), a robot longitudinal moving driving motor (5.9) is arranged on the robot moving sliding table (5.7), the output end of the robot longitudinal moving driving motor (5.9) is connected with a first gear (1.4) matched with a first rack (1.3), a robot door-shaped cross beam (5.5) is arranged on the robot moving sliding table (5.7), a second linear sliding rail (5.9) and a second rack (5.10) are arranged on the robot door-shaped cross beam (5.5), a robot transverse moving sliding plate (5.4) is arranged on the second linear sliding rail (5.9) through a second linear sliding block (5.6), a robot transverse moving driving motor (5.3) is arranged on the robot transverse moving sliding plate (5.4), and a second gear (11.11) matched with the second rack (5.10) is arranged on the robot transverse moving driving motor (5.3), a robot (5.2) is hung upside down on the transverse sliding plate (5.4), and a lengthened robot welding gun (5.1) is arranged at the tail end of the robot (5.2).

6. The robot welding system for the inner seam of the crown block girder according to claim 1, characterized in that the servo-adjustable positioning mechanism (6) at the front end of the workpiece comprises a positioning mechanism upright post (6.1), a positioning mechanism cross beam (6.2), a positioning mechanism linear slide rail (6.3), a positioning mechanism sliding plate (6.4), a positioning sliding plate driving servo (6.5), a swinging arm push-pull cylinder (6.6) and a positioning swinging arm (6.7); a positioning mechanism cross beam (6.2) is arranged on a positioning mechanism upright post (6.1), a positioning mechanism linear slide rail (6.3) and a third rack (6.10) are arranged on the positioning mechanism cross beam (6.2), a positioning mechanism slide plate (6.4) is arranged on the positioning mechanism linear slide rail (6.3) through a third linear slide block, a positioning slide plate driving servo (6.5) is arranged on the positioning mechanism slide plate (6.4), a third gear (6.9) matched with the third rack (6.10) is arranged on the positioning slide plate driving servo (6.5), a swing arm push-pull air cylinder (6.6) is arranged on the positioning mechanism slide plate (6.4) through a mounting seat, a positioning swing arm (6.7) is hinged on the mounting seat, the telescopic end of the swing arm push-pull air cylinder (6.6) is connected with the positioning swing arm (6.7), and the positioning swing arm (6.7) stops or gives out a workpiece after the air cylinder contracts.