Automatic gun changing structure, gun changing system and gun changing method

Abstract

The invention belongs to the technical field of welding equipment, and discloses an automatic gun changing structure, an automatic gun changing system and a gun changing method. The automatic gun changing structure comprises a gun changing connector, a positioning connector and a gun changing station. The gun changing connector is arranged at the end of the cable, the gun changing connector comprises a gun changing seat and a locking buckle, the gun changing seat is provided with a through connecting channel, and the end of the cable can extend into the connecting channel; the positioning connector is arranged at the input end of the welding gun, the positioning connector comprises a gun changing connector, the gun changing connector comprises a gun changing seat, a locking buckle and a first driving mechanism, the positioning seat is provided with an input interface, the input interface can be connected to the cable in the connecting channel, and the locking buckle can extend into the connecting channel and lock the input interface in the connecting channel; the gun changing station comprises a bearing plate, a plurality of limiting holes are formed in the bearing plate, each limiting hole is a gun changing position, and when the input interface is unlocked to the connecting channel, the positioning plate can abut against the bearing plate. The automation degree is high, the operation efficiency is high, and the error rate is low.

Description

Technical Field

[0001] The present invention relates to the technical field of welding equipment, and in particular to an automatic gun changing structure, a gun changing system and a gun changing method. Background Art

[0002] With the rapid development of industrial automation, production lines have higher and higher requirements for welding efficiency. On a production line, different products or workpieces have different welding requirements. When performing welding operations, different types of welding guns need to be quickly switched, such as welding guns with different loads, and welding guns with different angles or lengths.

[0003] In the welding process of the prior art, the degree of automation is insufficient and a large amount of manual labor is required to replace the welding gun, which makes it difficult to meet the diversified and efficient production requirements. At the same time, the manual operation has low precision and is prone to errors. Summary of the invention

[0004] The object of the present invention is to provide an automatic gun changing structure, an automatic gun changing system and a gun changing method, which have high gun changing efficiency, save labor and have low error rate.

[0005] To achieve this object, the present invention adopts the following technical solutions:

[0006] Automatic gun changing structure, including:

[0007] A gun-changing connector is arranged at the end of the cable, and the gun-changing connector comprises: a gun-changing seat, a locking buckle and a first driving mechanism. The gun-changing seat is provided with a through connection channel, and the end can extend into the connection channel;

[0008] A positioning joint, arranged at the input end of the welding gun, the positioning joint comprising a positioning seat and a positioning plate, the positioning seat being provided with an input interface, when the gun changing seat is sleeved on the outer peripheral side of the input interface under the drive of the robot, the input interface can be connected to the cable in the connecting channel, and the locking buckle can extend into the connecting channel under the drive of the first driving mechanism and lock the input interface in the connecting channel;

[0009] The gun changing station includes a bearing plate, a plurality of limiting holes are formed on the bearing plate, each limiting hole is a gun changing position, and when the welding gun is extended into the limiting hole under the drive of the robot, the positioning plate can be pressed against the bearing plate.

[0010] Preferably, the gun changing joint also includes a seesaw, a push plate is provided at the output end of the first driving mechanism, the middle position of the seesaw is rotatably connected to the gun changing seat, and the two ends of the seesaw in the length direction, one end is rotatably connected to the push plate, and the other end is rotatably connected to the locking buckle, and the gun changing seat is provided with a through slot connected to the connecting channel, and the locking buckle can extend into the through slot.

[0011] Preferably, a first locking groove is provided on the outer side of the input interface, and a second locking groove is provided on the locking buckle. When the input interface extends into the connecting channel, the bottom of the second locking groove can be pressed against the outer side of the input interface, and the locking buckle can be pressed against the inner wall of the first locking groove.

[0012] Preferably, the gun-changing joint comprises a reinforcement frame, wherein the reinforcement frame is fixedly disposed between the gun-changing seat and the first driving mechanism, and the rocker plate can pass through the reinforcement frame.

[0013] Preferably, the gun changing station comprises:

[0014] A vertical plate, wherein the bearing plate is fixedly arranged on one side of the vertical plate;

[0015] The clamping assembly includes a second driving mechanism, a pressing block and a mounting seat, wherein the second driving mechanism is arranged on the side of the vertical plate facing away from the supporting plate, the pressing block is connected to the output end of the second driving mechanism, the mounting seat is buried in the vertical plate and has a through hole, the positioning plate is provided with a first pressing inclined surface, and the pressing block is provided with a second pressing inclined surface, and when the pressing block passes through the through hole under the drive of the second driving mechanism, the first pressing inclined surface can press against the second pressing inclined surface.

[0016] Preferably, a first positioning pin is provided on the supporting plate, and a positioning hole is formed on the positioning plate. When the positioning plate is pressed against the supporting plate, the first positioning pin passes through the positioning hole.

[0017] Preferably, a second positioning pin is provided on the positioning seat, and a positioning groove is provided on the gun changing seat, so that when the input interface extends into the connecting channel, the second positioning pin can extend into the positioning groove.

[0018] The automatic gun changing system is characterized by comprising:

[0019] Multiple welding guns;

[0020] robot;

[0021] In the above-mentioned automatic gun-changing structure, the robot is communicatively connected to the first driving mechanism.

[0022] Preferably, it further includes a first monitoring mechanism, wherein a transmitting end is arranged at a fixed end of the first driving mechanism, a receiving end is arranged at an output end of the first driving mechanism, the first monitoring mechanism is configured to monitor the distance between the fixed end and the output end, and the first monitoring mechanism is communicatively connected to the robot.

[0023] The gun changing method, using the above automatic gun changing system, comprises the following steps:

[0024] S1. The robot moves the gun-changing joint to the gun-changing position, and the positioning plate presses against the bearing plate;

[0025] S2, the input interface is unlocked in the connection channel;

[0026] S3, the robot moves the gun-changing joint to another gun-changing position;

[0027] S4. The input interface of another welding gun is locked in the connection channel.

[0028] Beneficial effects of the present invention:

[0029] The gun changing connector and the positioning connector cooperate with each other to realize the connection and separation of the welding gun and the cable. The setting of the locking buckle can realize the locking and unlocking of the input interface and the connection channel. The gun changing station can accommodate multiple welding guns of different models to meet the operation requirements. When the welding gun needs to be replaced, the robot moves the welding gun to the gun changing position, so that the welding gun extends into the limiting hole and the positioning plate is pressed against the carrier plate. The first driving mechanism drives the locking buckle to separate from the connection channel, so that the input interface is unlocked in the connection channel. The robot moves the gun changing seat to another gun changing position, and makes the gun changing seat sleeve on the outer peripheral side of the input interface. The first driving mechanism drives the locking buckle to extend into the connection channel, so that the input interface is locked in the connection channel. The replacement of the welding gun can be completed, with high automation, high operation efficiency and low error rate. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] Figure 1 It is a structural schematic diagram of the automatic gun changing system of the present invention;

[0031] Figure 2 It is a structural schematic diagram of the welding gun and the positioning joint of the present invention;

[0032] Figure 3 It is a schematic diagram of the structure of the gun-changing connector and the cable of the present invention;

[0033] Figure 4 This is an exploded view of the structure of the gun-changing joint of the present invention;

[0034] Figure 5 is a schematic structural diagram of the positioning plate of the present invention;

[0035] Figure 6It is a structural schematic diagram of the gun changing station of the present invention;

[0036] Figure 7 is a schematic diagram of the structure of the locking buckle of the present invention;

[0037] Figure 8 It is a structural schematic diagram of the gun changing seat of the present invention;

[0038] Fig. 9 It is a structural explosion diagram of the clamping assembly described in the present invention.

[0039] In the figure:

[0040] 100. Cables;

[0041] 200. Welding gun;

[0042] 300. Robots;

[0043] 1. Gun changing joint; 11. Gun changing seat; 110. Connection channel; 111. Through slot; 112. Positioning slot; 12. Locking buckle; 120. Second locking slot; 13. First driving mechanism; 131. Push plate; 14. Rocker; 15. Reinforcement frame; 16. Base; 17. Dust cover;

[0044] 2. Positioning joint; 210. Input interface; 2101. First locking groove; 21. Positioning seat; 211. Second positioning pin; 22. Positioning plate; 220. First pressing inclined surface; 221. Positioning hole; 222. Positioning notch;

[0045] 3. Gun changing station; 310. Limiting hole; 31. Carrying plate; 311. First positioning pin; 32. Vertical plate; 33. Pressing assembly; 331. Second driving mechanism; 332. Pressing block; 333. Mounting seat; 3320. Second pressing inclined surface;

[0046] 4. The first monitoring agency;

[0047] 5. The second monitoring agency. DETAILED DESCRIPTION

[0048] The embodiments of the present invention are described in detail below, and examples of the embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar parts or parts having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are intended to be used to explain the present invention, and should not be construed as limiting the present invention.

[0049] In the description of the present invention, unless otherwise clearly specified and limited, the terms "connected", "connected", and "fixed" should be understood in a broad sense, for example, it can be a fixed connection or a detachable connection, it can be a mechanical connection or an electrical connection, it can be a direct connection or an indirect connection through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0050] In the description of the present invention, unless otherwise clearly specified and limited, a first feature being "above" or "below" a second feature may include the first feature being in direct contact with the second feature, or may include the first feature being in contact with the second feature through another feature between them instead of being in direct contact. Moreover, a first feature being "above", "above" and "above" a second feature includes the first feature being directly above and obliquely above the second feature, or simply indicates that the first feature is higher in level than the second feature. A first feature being "below", "below" and "below" a second feature includes the first feature being directly below and obliquely below the second feature, or simply indicates that the first feature is lower in level than the second feature.

[0051] The technical solution of the present invention is further described below with reference to the accompanying drawings and through specific implementation methods.

[0052] like Figure 1-Figure 9 As shown, the present invention provides an automatic gun changing structure for automatic replacement between multiple welding guns 200. The automatic gun changing structure includes a gun changing joint 1, a positioning joint 2 and a gun changing station 3. Among them, the gun changing joint 1 is arranged at the end of the cable 100, and the gun changing joint 1 includes a gun changing seat 11, a locking buckle 12 and a first driving mechanism 13. The gun changing seat 11 is provided with a through connecting channel 110, and the end of the cable 100 can be extended into the connecting channel 110; the positioning joint 2 is arranged at the input end of the welding gun 200, and the positioning joint 2 includes a positioning seat 21 and a positioning plate 22. The positioning seat 21 is provided with an input interface 210, and the gun changing seat 11 is sleeved on the periphery of the input interface 210 under the drive of the robot 300. side, the input interface 210 can be connected to the cable 100 in the connecting channel 110, and the locking buckle 12 can extend into the connecting channel 110 under the drive of the first driving mechanism 13, and lock the input interface 210 in the connecting channel 110; the gun changing station 3 includes a supporting plate 31, and a plurality of limiting holes 310 are opened on the supporting plate 31, each limiting hole 310 is a gun changing position, and when the welding gun 200 extends into the limiting hole 310 under the drive of the robot 300, the positioning plate 22 can be pressed against the supporting plate 31.

[0053] The gun changing connector 1 and the positioning connector 2 cooperate with each other to realize the connection and separation of the welding gun 200 and the cable 100. The setting of the locking buckle 12 can realize the locking and unlocking of the input interface 210 and the connection channel 110; the gun changing station 3 can store a plurality of welding guns 200 of different models to meet the operation requirements; when the welding gun 200 needs to be replaced, the robot 300 moves the welding gun 200 to the gun changing position, so that the welding gun 200 extends into the limiting hole 310 and the positioning plate 22 is pressed against the bearing plate 31, and the first driving The mechanism 13 drives the locking buckle 12 to separate from the connecting channel 110, so that the input interface 210 is unlocked from the connecting channel 110. The robot 300 moves the gun changing seat 11 to another gun changing position, and makes the gun changing seat 11 sleeved on the outer peripheral side of the input interface 210. The first driving mechanism 13 drives the locking buckle 12 to extend into the connecting channel 110, so that the input interface 210 is locked in the connecting channel 110. The replacement of the welding gun 200 can be completed, with a high degree of automation, high operating efficiency and low error rate.

[0054] It can be understood that the positioning joint 2 is connected to the input end of the welding gun 200 through the input interface 210, and positioning joints of different sizes can be provided for different models of welding guns 200 to ensure its universality.

[0055] It should be noted that the first driving mechanism 13 is a linear driving mechanism commonly used in the art, such as a pneumatic cylinder or an oil cylinder, etc., and its specific principle and structure are not described in detail here.

[0056] Specifically, the gun changing joint 1 also includes a seesaw 14, and a push plate 131 is provided at the output end of the first driving mechanism 13. The middle position of the seesaw 14 is rotatably connected to the gun changing seat 11. At both ends of the seesaw 14 in the length direction, one end is rotatably connected to the push plate 131, and the other end is rotatably connected to the locking buckle 12. The gun changing seat 11 is provided with a through groove 111 connected to the connecting channel 110, and the locking buckle 12 can extend into the through groove 111.

[0057] Specifically, the outer circumference of the input interface 210 is provided with a first locking groove 2101, and the locking buckle 12 is provided with a second locking groove 120. When the input interface 210 extends into the connecting channel 110, the bottom of the second locking groove 120 can press against the outer circumference of the input interface 210, and the locking buckle 12 can press against the inner wall of the first locking groove 2101. The above arrangement can increase the contact area between the locking buckle 12 and the input interface 210, so that the input interface 210 can be more stably locked in the connecting channel 110. The arrangement of the above-mentioned gun changing seat 11 can improve the stability of the push plate 131 during movement and reduce vibration.

[0058] Specifically, the gun changing joint 1 includes a reinforcement frame 15, which is fixedly arranged between the gun changing seat 11 and the first driving mechanism 13, and the rocker plate 14 can pass through the reinforcement frame 15. The arrangement of the reinforcement frame 15 can improve the stability of the push plate 131 during movement and reduce vibration.

[0059] Exemplarily, in this embodiment, the reinforcement frame 15 is connected to the gun changing seat 11 by bolts, the fixed end of the first driving mechanism 13 is fixedly connected to one side of the reinforcement frame 15, and the rocker 14 can be abutted against the other side of the reinforcement frame 15 to offset the inertia of the rocker 14 during movement and further improve stability.

[0060] Exemplarily, in this embodiment, two seesaw plates 14 are arranged at intervals, and the push plates 131 correspond one to one with the seesaw plates 14. In the above arrangement, the two seesaw plates 14 are arranged one to one on both sides of the locking buckle 12, so that the locking buckle 12 is subjected to more uniform force.

[0061] More specifically, the positioning seat 21 is provided with a second positioning pin 211, and the gun changing seat 11 is provided with a positioning groove 112. When the input interface 210 is inserted into the connecting channel 110, the second positioning pin 211 can be inserted into the positioning groove 112. With the above arrangement, the second positioning pin 211 and the positioning groove 112 cooperate with each other to prevent the input interface 210 from rotating relative to the connecting channel 110 when the input interface 210 is inserted into the connecting channel 110, thereby improving stability.

[0062] Preferably, in this embodiment, two positioning grooves 112 are arranged at intervals and distributed in a triangle with the opening of the connecting channel 110 , and the second positioning pins 211 correspond to the positioning grooves 112 one by one, so as to further improve stability.

[0063] Specifically, the gun-changing joint 1 further includes a base 16, one side of which is detachably connected to the robot 300, and the other side of which is detachably connected to the gun-changing seat 11. The arrangement of the base 16 enables the gun-changing joint 1 to be adapted to robots 300 of different models.

[0064] Specifically, the gun changing joint 1 also includes a dust cover 17, one end of the dust cover 17 is rotatably connected to the gun changing seat 11, and the other end is detachably connected to the gun changing seat 11 through a snap. The dust cover 17 is arranged on the fixed end of the first driving mechanism 13 to enhance the durability of the first driving mechanism 13.

[0065] Specifically, the gun-changing station 3 includes a vertical plate 32 and a clamping assembly 33. Among them, the supporting plate 31 is fixedly arranged on one side of the vertical plate 32; the clamping assembly 33 includes a second driving mechanism 331, a pressing block 332 and a mounting seat 333, the second driving mechanism 331 is arranged on the side of the vertical plate 32 facing away from the supporting plate 31, the pressing block 332 is connected to the output end of the second driving mechanism 331, the mounting seat 333 is buried in the vertical plate 32, and a through hole is opened, the positioning plate 22 is provided with a first pressing inclined surface 220, the pressing block 332 is provided with a second pressing inclined surface 3320, and when the pressing block 332 passes through the through hole under the drive of the second driving mechanism 331, the first pressing inclined surface 220 can press against the second pressing inclined surface 3320. The arrangement of the above-mentioned clamping assembly 33 can improve the connection strength between the positioning plate 22 and the supporting plate 31 and improve stability.

[0066] It should be noted that the second driving mechanism 331 is a linear driving mechanism commonly used in the art, such as a pneumatic cylinder or an oil cylinder, etc., and its specific principle and structure are not described in detail here.

[0067] Specifically, a first positioning pin 311 is disposed on the carrying plate 31 , and a positioning hole 221 is opened on the positioning plate 22 . When the positioning plate 22 is pressed against the carrying plate 31 , the first positioning pin 311 passes through the positioning hole 221 .

[0068] More specifically, a plurality of first positioning pins 311 are provided, and a positioning notch 222 is provided on the positioning plate 22 . One first positioning pin 311 passes through the positioning hole 221 , and the remaining first positioning pins 311 can pass through the positioning notch 222 , thereby further improving the stability of the positioning plate 22 .

[0069] Preferably, in this embodiment, two positioning notches 222 are provided, which are distributed in a triangle with the positioning hole 221 .

[0070] The present invention further provides an automatic gun changing system, which includes a robot 300 , a plurality of welding guns 200 and the automatic gun changing structure. The robot 300 is communicatively connected to the first driving mechanism 13 .

[0071] It can be understood that the automatic gun changing system has all the beneficial effects of the above-mentioned automatic gun changing structure, which will not be described in detail here.

[0072] Specifically, the automatic gun-changing system further includes a first monitoring mechanism 4, a transmitting end is arranged at the fixed end of the first driving mechanism 13, a receiving end is arranged at the output end of the first driving mechanism 13, the first monitoring mechanism 4 is configured to monitor the distance between its own fixed end and its own output end, and the first monitoring mechanism 4 is communicatively connected to the robot 300. With the arrangement of the above-mentioned first monitoring mechanism 4, the first monitoring mechanism 4 and the robot 300 cooperate with each other, and the first monitoring mechanism 4 determines whether the locking buckle 12 extends into the connecting channel 110 by measuring the distance between its own fixed end and its own output end.

[0073] It can be understood that when the distance between the fixed end and the output end is less than a preset threshold value, the locking buckle 12 extends into the connecting channel 110. At this time, the input interface 210 is locked in the connecting channel 110, and the robot 300 can drive the welding gun 200 to perform welding operations; conversely, when the distance between the fixed end and the output end is greater than a preset threshold value, the locking buckle 12 is separated from the connecting channel 110. At this time, the input interface 210 is unlocked in the connecting channel 110, and the robot 300 can drive the gun changing connector 1 to move to another gun changing position, so that the gun changing seat 11 is sleeved on the outer peripheral side of the input interface 210 of the welding gun 200 corresponding to the gun changing position.

[0074] Specifically, the automatic gun-changing system further includes a second monitoring mechanism 5, the transmitting end is arranged at the fixed end of the second driving mechanism 331, the receiving end is arranged on the pressing block 332, the second monitoring mechanism 5 is configured to monitor the distance between the fixed end and the output end, and the second monitoring mechanism 5 is communicatively connected to the robot 300. With the arrangement of the above-mentioned second monitoring mechanism 5, the second monitoring mechanism 5 cooperates with the robot 300, and the second monitoring mechanism 5 determines whether the first pressing inclined surface 220 presses against the second pressing inclined surface 3320 by measuring the distance between its own fixed end and its own output end.

[0075] It can be understood that when the distance between the fixed end and the output end of the second monitoring mechanism 5 is greater than a preset threshold value, the first pressing slope 220 is separated from the second pressing slope 3320. At this time, the positioning plate 22 can be separated from the supporting plate 31, and the robot 300 can drive the welding gun 200 to perform welding operations; conversely, when the distance between the fixed end and the output end of the second monitoring mechanism 5 is less than or equal to the above threshold value, the first pressing slope 220 is pressed against the second pressing slope 3320. At this time, the robot 300 can drive the gun changing connector 1 to move to another gun changing position, so that the gun changing seat 11 is mounted on the outer peripheral side of the input interface 210 of the welding gun 200 corresponding to the gun changing position.

[0076] It should be noted that both the first monitoring mechanism 4 and the second monitoring mechanism 5 are position sensors or distance sensors commonly used in the art, and their structures and principles are not described in detail herein.

[0077] The present invention also provides a gun changing method, using the above automatic gun changing system, comprising the following steps:

[0078] S1, the robot 300 moves the gun-changing joint 1 to the gun-changing position, and the positioning plate 22 presses against the bearing plate 31;

[0079] In this step, the robot 300 moves the gun-changing connector 1 connected to the welding gun 200 to the gun-changing position, so that the welding gun 200 extends into the limiting hole 310 corresponding to the gun-changing position until the positioning plate 22 is pressed against the supporting plate 31, and the first positioning pin 311 extends into the positioning hole 221 and the positioning notch 222 one by one; the second driving mechanism 331 drives the pressing block 332 to extend into the through hole of the mounting seat 333 until the second pressing bevel 3320 is pressed against the first pressing bevel 220.

[0080] S2 . The input interface 210 is unlocked on the connection channel 110 .

[0081] In this step, the first driving mechanism 13 drives the push plate 131 to move, and drives the locking buckle 12 to separate from the connecting channel 110 through the rocker 14, so that the input interface 210 is unlocked from the connecting channel 110; the first monitoring mechanism 4 sends a control signal to the robot 300, and the robot 300 drives the gun changing seat 11 to move, so that the connecting channel 110 is separated from the input interface 210.

[0082] S3. The robot 300 moves the gun-changing joint 1 to another gun-changing position.

[0083] In this step, the robot 300 moves the gun changing seat 11 that is not connected to the welding gun 200 to another gun changing position where the welding gun 200 is installed according to the actual needs of the operation.

[0084] S4 . The input interface 210 of another welding gun 200 is locked to the connecting channel 110 .

[0085] In this step, the first driving mechanism 13 drives the push plate 131 to move, and drives the locking buckle 12 to extend into the connecting channel 110 through the rocker plate 14, so that the bottom of the second locking groove 120 is pressed against the outer peripheral side of the input interface 210, and the locking buckle 12 is pressed against the inner wall of the first locking groove 2101; the first monitoring mechanism 4 sends a control signal to the robot 300 to complete the gun changing operation, and the robot 300 can drive the gun changing seat 11 to perform other welding operations.

[0086] Obviously, the above embodiments of the present invention are merely examples for clearly illustrating the present invention, and are not intended to limit the embodiments of the present invention. For those skilled in the art, other different forms of changes or modifications can be made based on the above description. It is not necessary and impossible to list all the embodiments here. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present invention should be included in the protection scope of the claims of the present invention.

Claims

1. Automatic gun changing structure, characterized in that: include: A gun-changing connector (1) is arranged at the end of a cable (100), the gun-changing connector (1) comprising: a gun-changing seat (11), a locking buckle (12) and a first driving mechanism (13); the gun-changing seat (11) is provided with a through connection channel (110), and the end can extend into the connection channel (110); A positioning joint (2) is arranged at the input end of the welding gun (200), the positioning joint (2) comprising a positioning seat (21) and a positioning plate (22), the positioning seat (21) being provided with an input interface (210), when the gun changing seat (11) is sleeved on the outer peripheral side of the input interface (210) under the drive of the robot (300), the input interface (210) can be connected to the cable (100) in the connecting channel (110), and the locking buckle (12) can extend into the connecting channel (110) under the drive of the first driving mechanism (13) and lock the input interface (210) in the connecting channel (110); A gun changing station (3), the gun changing station (3) comprising a bearing plate (31), a plurality of limiting holes (310) being provided on the bearing plate (31), each of the limiting holes (310) being a gun changing position, and when the welding gun (200) is driven by the robot (300) to extend into the limiting hole (310), the positioning plate (22) can be pressed against the bearing plate (31).

2. The automatic gun changing structure according to claim 1, characterized in that: The gun-changing joint (1) further comprises a seesaw (14); a push plate (131) is provided at the output end of the first driving mechanism (13); the middle position of the seesaw (14) is rotatably connected to the gun-changing seat (11); one end of the seesaw (14) in the length direction is rotatably connected to the push plate (131), and the other end is rotatably connected to the locking buckle (12); the gun-changing seat (11) is provided with a through slot (111) connected to the connecting channel (110), and the locking buckle (12) can extend into the through slot (111).

3. The automatic gun changing structure according to claim 2, characterized in that: The outer peripheral side of the input interface (210) is provided with a first locking groove (2101), and the locking buckle (12) is provided with a second locking groove (120); when the input interface (210) extends into the connecting channel (110), the bottom of the second locking groove (120) can be pressed against the outer peripheral side of the input interface (210), and the locking buckle (12) can be pressed against the inner wall of the first locking groove (2101).

4. The automatic gun changing structure according to claim 2, characterized in that: The gun-changing joint (1) comprises a reinforcement frame (15), the reinforcement frame (15) being fixedly arranged between the gun-changing seat (11) and the first driving mechanism (13), and the seesaw (14) being able to pass through the reinforcement frame (15).

5. The automatic gun changing structure according to claim 1, characterized in that: The gun changing station (3) comprises: A vertical plate (32), wherein the bearing plate (31) is fixedly arranged on one side of the vertical plate (32); The clamping assembly (33) comprises a second driving mechanism (331), a pressing block (332) and a mounting seat (333); the second driving mechanism (331) is arranged on the side of the vertical plate (32) facing away from the supporting plate (31); the pressing block (332) is connected to the output end of the second driving mechanism (331); the mounting seat (333) is buried in the vertical plate (32) and is provided with a through hole; the positioning plate (22) is provided with a first pressing inclined surface (220); the pressing block (332) is provided with a second pressing inclined surface (3320); when the pressing block (332) passes through the through hole under the drive of the second driving mechanism (331), the first pressing inclined surface (220) can press against the second pressing inclined surface (3320).

6. The automatic gun changing structure according to claim 5, characterized in that: The bearing plate (31) is provided with a first positioning pin (311), and the positioning plate (22) is provided with a positioning hole (221). When the positioning plate (22) is pressed against the bearing plate (31), the first positioning pin (311) passes through the positioning hole (221).

7. The automatic gun changing structure according to claim 1, characterized in that: The positioning seat (21) is provided with a second positioning pin (211), the gun changing seat (11) is provided with a positioning groove (112), and when the input interface (210) extends into the connecting channel (110), the second positioning pin (211) can extend into the positioning groove (112).

8. Automatic gun changing system, characterized in that: include: a plurality of welding guns (200); Robot (300); In the automatic gun changing structure described in any of claims 1 to 7 above, the robot (300) is communicatively connected to the first driving mechanism (13).

9. The automatic gun changing system according to claim 8, characterized in that: It also includes a first monitoring mechanism (4), a transmitting end is arranged at the fixed end of the first driving mechanism (13), and a receiving end is arranged at the output end of the first driving mechanism (13), the first monitoring mechanism (4) is configured to monitor the distance between the fixed end and the output end, and the first monitoring mechanism (4) is communicatively connected to the robot (300).

10. A gun changing method, characterized in that: The automatic gun changing system according to any one of claims 8 to 9 comprises the following steps: S1, the robot (300) moves the gun-changing joint (1) to the gun-changing position, and the positioning plate (22) presses against the bearing plate (31); S2, the input interface (210) is unlocked on the connection channel (110); S3, the robot (300) moves the gun-changing joint (1) to another gun-changing position; S4. The input interface (210) of another welding gun (200) is locked to the connecting channel (110).

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