A welding fixture, welding system and welding method for a T-shaped steel structure component

Abstract

The present invention relates to a welding fixture, a welding system and a welding method for a T-shaped steel structure component. The welding fixture includes a horizontal fixture and a vertical fixture, which respectively position and splice two welding plates of the T-shaped steel structure component. The horizontal fixture includes a fixed plate and a positioning plate slidably mounted on the fixed plate, and the position of the positioning plate is restricted by a first limiting mechanism to adapt to welding plates of different sizes. The vertical fixture includes a support column and a guiding mechanism. The support column is a telescopic support column to adapt to welding plates of different sizes, and a second limiting mechanism is installed on the guiding mechanism for fixing the welding plate. Compared with the prior art, the splicing and positioning of the welding plate by the present invention shortens the splicing and positioning time and improves the welding efficiency. The horizontal fixture and the vertical fixture are applicable to welding plates of various different sizes, with a wide application range, simple structure and convenient use.

Description

Technical Field

[0001] The present invention relates to the field of steel structure welding, and particularly to a welding jig, a welding system and a welding method for T-shaped steel structure components. Background Art

[0002] At present, robots have been increasingly widely used in the manufacturing industry, involving multiple fields, and have unique advantages in customized mass production. In the field of steel structure manufacturing, for conventional part manufacturing, such as the production of BH-shaped steel and the processing of part plates, there are currently mature supporting processing equipment, which can form a semi-automatic, mechanized and automated production situation.

[0003] A T-shaped steel structure component includes a vertical plate and a horizontal plate. When welding, the horizontal plate and the vertical plate need to be perpendicularly welded. In the prior art, it is often necessary for workers to splice and position the horizontal plate and the vertical plate, and then the welder welds them. In order to improve the welding efficiency, a jig can be used to fix the horizontal plate and the vertical plate together, and the splicing and positioning of the horizontal plate and the vertical plate are carried out through the jig. Compared with manual splicing and positioning, the time for splicing and positioning before welding is shortened. However, the uses of the components are diverse and the structures are also different, with the characteristics of diversification. Although the basic styles are roughly the same, there are differences in the cross-section, shape, etc. of each component. Therefore, a welding jig applicable to T-shaped steel structure components of various specifications is needed.

[0004] In addition, in the face of multiple T-shaped steel structure components to be welded, how to improve the welding efficiency has also become the focus of research. Summary of the Invention

[0005] The purpose of the present invention is to overcome the above-mentioned defects existing in the prior art, and provide a welding jig, a welding system and a welding method for T-shaped steel structure components, including a horizontal jig and a vertical jig, which respectively position and splice the two welding plates of the T-shaped steel structure component, shorten the splicing and positioning time, and improve the welding efficiency; the horizontal jig includes a fixed plate and a positioning plate slidably installed on the fixed plate, which is applicable to welding plates of various different sizes, and the vertical jig includes a support column and a guiding mechanism. The support column can be telescopic and is applicable to welding plates of various different sizes, with a wide application range, simple structure and convenient use.

[0006] The purpose of the present invention can be achieved by the following technical solutions:

[0007] A welding jig for T-shaped steel structure components is used to clamp the T-shaped steel structure components to be welded. The T-shaped steel structure components include a first welding plate and a second welding plate with the same length. The welding jig includes a horizontal jig and a vertical jig;

[0008] The horizontal fixture includes a fixed plate and a positioning plate. A sliding groove is provided on the fixed plate, and the positioning plate is slidably connected to the fixed plate through the sliding groove, and the positioning plate is perpendicular to the fixed plate. The horizontal fixture further includes a first limiting mechanism for fixing the positioning plate in the sliding groove; the horizontal fixture positions the first welding plate through the positioning plate and the fixed plate.

[0009] The vertical fixture includes a support column and a guiding mechanism. The top of the support column is perpendicularly connected to the guiding mechanism. A second limiting mechanism is installed on the guiding mechanism for fixing the second welding plate to the guiding mechanism; the vertical fixture positions the second welding plate through the guiding mechanism and the second limiting mechanism.

[0010] The bottom end of the support column is perpendicularly connected to the fixed plate, and the first plane formed by the fixed plate and the positioning plate is perpendicular to the second plane formed by the support column and the guiding mechanism.

[0011] Further, the fixed plate is provided with mounting holes for mounting the welding fixture.

[0012] Furthermore, the number of the mounting holes is at least one.

[0013] Further, the fixed plate, the support column and the guiding mechanism are integrally formed.

[0014] Further, the guiding mechanism is a horizontal plate with a groove, the groove is arranged along the length direction of the horizontal plate, and the groove is perpendicular to the support column; the second limiting mechanism is a sliding clamp, and the sliding clamp includes a sliding mechanism and a locking mechanism. The sliding mechanism is slidably installed on the guiding mechanism through the groove, and the locking mechanism is used for fixing the second welding plate to the guiding mechanism.

[0015] Furthermore, the support column is a telescopic support column, and the height difference between the guiding mechanism and the positioning plate changes with the height change of the telescopic support column.

[0016] Further, the guiding mechanism includes two parallel vertical plates, and a limiting channel is formed between the two vertical plates. The vertical plate close to the positioning plate among the two vertical plates is the first vertical plate, and the vertical plate far from the positioning plate is the second vertical plate; the second limiting mechanism includes an adjusting bolt and a movable block. An opening is provided on the second vertical plate, the adjusting bolt passes through the opening and is connected to the movable block arranged in the limiting channel, and a return spring is sleeved on the adjusting bolt. One end of the return spring abuts against the second vertical plate, and the other end abuts against the movable block.

[0017] Furthermore, a fixed block matched with the movable block is installed on the first vertical plate.

[0018] A welding system for T-shaped steel structure components, based on the welding fixture for T-shaped steel structure components described above, includes N (N>1) welding workbenches and at least 1 welding robot, and m (m>0) welding fixtures for T-shaped steel structure components are respectively installed on each welding workbench.

[0019] A welding method for T-shaped steel structure components, based on the welding system for T-shaped steel structure components described above, includes the following steps:

[0020] S1: Number the N welding workbenches as P1, P2, … P N ;

[0021] S2: Perform the loading operation on P1, and the welding robot starts to weld the welding plates on P1. Perform the loading operation on P2. The loading operation is specifically to use m welding fixtures to splice and position m groups of welding plates. If N<3, then execute step S3; otherwise, execute step S4.

[0022] S3: The welding robot completes the welding on P1, and the welding robot starts to weld the welding plates on P2. Perform the unloading operation on P1. The unloading operation is specifically to remove the welded welding plates from P i-1 upward, and repeat step S2 until the end welding signal is received;

[0023] S4: The welding robot completes the welding on P i-1 (1<i<N), and the welding robot starts to weld the welding plates on P i Perform the unloading operation on P i-1 Perform the loading operation on P i+1 The unloading operation is specifically to remove the welded welding plates from P i-1 upward;

[0024] S4: If the welding of all welding workbenches is completed, then repeat step S2 until the end welding signal is received; otherwise, repeat step S3 until the end welding signal is received.

[0025] Compared with the prior art, the present invention has the following beneficial effects:

[0026] (1) The welding fixture includes a horizontal fixture and a vertical fixture, which respectively position and splice the two welding plates of the T-shaped steel structure component, shortening the splicing and positioning time and improving the welding efficiency.

[0027] (2) The horizontal fixture includes a fixed plate and a positioning plate slidably installed on the fixed plate, which is applicable to welding plates of various different sizes. The vertical fixture includes a support column and a guiding mechanism. The support column can be telescopic and is applicable to welding plates of various different sizes. It has a wide application range, a simple structure and is easy to use.

[0028] (3) The fixed plate, support column, and guiding mechanism are integrally formed, featuring a simple structure and low cost. Moreover, the fixed plate is provided with mounting holes, enabling the welding fixture to be installed at different positions as needed, thus making it more flexible to use.

[0029] (4) The guiding mechanism can be a horizontal plate with grooves. The sliding clamp is installed on the guiding mechanism, and the welding plate slides along the guiding mechanism, with the welding plate fixed by the sliding clamp. The guiding mechanism can also be two vertical plates, and the welding plate slides between the two vertical plates and is then fixed by the second limiting mechanism. The structure is simple and there are various ways.

[0030] (5) The positioning plate has an L-shaped structure. In cooperation with the limiting plate on the guiding mechanism, it can ensure that the welding joints of the two welding plates do not contact the welding fixture, thereby avoiding damage to the welding fixture.

[0031] (6) In cooperation with the welding fixture, automated welding is achieved through a robot, greatly improving the welding efficiency, reducing the labor requirement, and not requiring professional personnel for welding operations. While ensuring the welding quality, the quality requirements for the operators are reduced. Description of the Drawings

[0032] Figure 1 It is an overall schematic diagram of the T-shaped steel structure component for splicing and positioning of the welding fixture;

[0033] Figure 2 It is an overall schematic diagram of the T-shaped steel structure component for splicing and positioning of the welding fixture;

[0034] Figure 3 It is a schematic diagram of the structure of the welding system in the embodiment;

[0035] Figure 4 It is a schematic diagram of the structure of the second limiting mechanism in Embodiment 2;

[0036] Figure 5 It is a top view of the T-shaped steel structure component for splicing and positioning of the welding fixture in Embodiment 2;

[0037] Reference numerals: 1a, fixed plate; 1b, positioning plate; 1c, sliding groove; 1d, mounting hole; 21, support column; 22, guiding mechanism; 221, first vertical plate; 222, second vertical plate; 231, sliding mechanism; 232, locking mechanism; 24, limiting baffle; 251, adjusting bolt; 252, movable block; 253, return spring; 254, fixed block. Detailed Embodiment

[0038] The present invention will be described in detail below with reference to the drawings and specific embodiments. This embodiment is implemented on the premise of the technical solution of the present invention, and detailed implementation manners and specific operation processes are given. However, the protection scope of the present invention is not limited to the following embodiments.

[0039] Example 1:

[0040] A welding fixture for a T-shaped steel structure component, which is used to clamp the T-shaped steel structure component to be welded. As Figure 1 shown, the T-shaped steel structure component includes a first welding plate 31 and a second welding plate 32 with the same length. The welding fixture includes a horizontal fixture and a vertical fixture; by clamping the first welding plate 31 and the second welding plate 32 with the welding fixture, the splicing and positioning of the first welding plate 31 and the second welding plate 32 are completed. Compared with manual splicing and positioning, the time is shorter, and then the first welding plate 31 and the second welding plate 32 are welded.

[0041] The horizontal fixture includes a fixed plate 1a and a positioning plate 1b. A sliding groove 1c is provided on the fixed plate 1a. The positioning plate 1b is slidably connected to the fixed plate 1a through the sliding groove 1c, and the positioning plate 1b is perpendicular to the fixed plate 1a. The horizontal fixture further includes a first limiting mechanism, which is used to fix the positioning plate 1b in the sliding groove 1c; the horizontal fixture positions the first welding plate 31 through the positioning plate 1b and the fixed plate 1a.

[0042] The vertical fixture includes a support column 21 and a guiding mechanism 22. The top end of the support column 21 is perpendicularly connected to the guiding mechanism 22. A second limiting mechanism is installed on the guiding mechanism 22, which is used to fix the second welding plate 32 to the guiding mechanism 22; the vertical fixture positions the second welding plate 32 through the guiding mechanism 22 and the second limiting mechanism.

[0043] The bottom end of the support column 21 is perpendicularly connected to the fixed plate 1a, and the first plane formed by the fixed plate 1a and the positioning plate 1b is perpendicular to the second plane formed by the support column 21 and the guiding mechanism 22. In this way, the first welding plate 31 is positioned in the first plane, and the second welding plate 32 is positioned in the second plane. The two welding plates can be easily aligned and perpendicular, reducing the splicing and positioning time.

[0044] The fixed plate 1a, the support column 21 and the guiding mechanism 22 are integrally formed.

[0045] As Figure 1 and Figure 2 shown, when in use, first fixedly install the welding fixture on the welding workbench, move the first welding plate 31 on the workbench surface along the positioning plate 1b to complete the positioning of the first welding plate 31. For first welding plates 31 of different sizes, the position of the positioning plate 1b in the sliding groove 1c can be adjusted through the first limiting mechanism, so as to be applicable to first welding plates 31 of different widths. Then move the second welding plate 32 along the guiding mechanism 22, and then fix the second welding plate 32 on the guiding mechanism 22 through the second limiting mechanism to complete the positioning of the second welding plate 32. In this way, the first welding plate 31 and the second welding plate 32 are perpendicular to each other and form a T-shaped structure, and then welding can be directly carried out.

[0046] The fixing plate 1a is provided with mounting holes 1d for mounting welding jigs; the number of the mounting holes 1d is at least one. In this embodiment, the fixing plate 1a is provided with two mounting holes 1d, and the welding workbench is provided with corresponding mounting holes. The welding jig can be fixed to the welding workbench through fastening bolts. Compared with directly welding the welding jig to the workbench, the position of the welding jig can be moved or adjusted according to actual needs, and the use is more flexible.

[0047] For the first limiting mechanism, common limiting methods can be adopted, such as limiting blocks and limiting holes, limiting bolts and buffer springs, elastic members, etc.

[0048] In this embodiment, the guiding mechanism 22 is a horizontal plate with a groove, the groove is arranged along the length direction of the horizontal plate, and the groove is perpendicular to the support column 21; the second limiting mechanism is a sliding clamp, and the sliding clamp includes a sliding mechanism 231 and a locking mechanism 232. The sliding mechanism 231 is slidably mounted on the guiding mechanism 22 through the groove, and the locking mechanism 232 is used to fix the second welding plate 32 to the guiding mechanism 22. The guiding mechanism 22 is further provided with an anti-dropping mechanism that cooperates with the sliding mechanism 231 to prevent the sliding mechanism from falling off the guiding mechanism 22.

[0049] In this way, the second welding plate 32 moves along the guiding mechanism 22, moves the sliding mechanism 231 to a suitable position through the groove, and locks the second welding plate 32 to the guiding mechanism 22 through the locking mechanism 232 to prevent the second welding plate 32 from moving during subsequent welding, affecting the welding quality.

[0050] In order to adapt to second welding plates 32 of different heights, in this embodiment, the support column 21 is a telescopic support column, and the height difference between the guiding mechanism 22 and the positioning plate 1b changes with the height of the telescopic support column. In this way, the height of the support column 21 can be adjusted to be suitable for second welding plates 32 of different sizes.

[0051] The positioning plate 1b is an L-shaped structure, including a short plate and a long plate. The short plate is parallel to the fixing plate 1a, the long plate is perpendicular to the fixing plate 1a, the front end of the short plate is slidably mounted in the chute 1c, the rear end of the short plate is connected to the long plate, the first welding plate 31 slides along the long plate and abuts against the rear end of the short plate; the guiding mechanism 22 is provided with a limiting baffle, and the limiting baffle and the rear end of the short plate are in the same plane. The second welding plate 32 slides along the guiding mechanism and abuts against the limiting baffle. In this embodiment, the limiting baffle 24 and the locking mechanism 231 are in the same plane. After the second welding plate 32 abuts against the limiting baffle 24, it is locked through the locking mechanism 231.

[0052] Such as Figure 1 and Figure 2As shown in the figure, by setting the positioning plate 1b and the limiting baffle 24 with an L-shaped structure, the welding joints of the two welding plates are not in contact with the welding fixture, so as to prevent damage to the welding fixture during welding.

[0053] A welding system for T-shaped steel structure components includes N (N>1) welding workbenches and at least 1 welding robot, and m (m>0) welding fixtures for T-shaped steel structure components are respectively installed on each welding workbench. In this embodiment, as Figure 3 shown, the number of welding workbenches is 2, and 10 welding fixtures for T-shaped steel structure components are respectively installed on each welding workbench; the welding system includes some auxiliary devices (not marked in the figure), such as a cooling water tank, a fume hood, a fume collection device, a guardrail, etc., and the welding robot includes a robot body and a robot control cabinet.

[0054] A welding method for T-shaped steel structure components includes the following steps:

[0055] S1: Number the N welding workbenches as P1, P2,... P N ;

[0056] S2: Perform a loading operation on P1, and the welding robot starts to weld the welding plates on P1. Perform a loading operation on P2. The loading operation is specifically to use m welding fixtures to splice and position m groups of welding plates; if N<3, then execute step S3, otherwise, execute step S4;

[0057] S3: The welding robot completes the welding on P1, and the welding robot starts to weld the welding plates on P2. Perform an unloading operation on P1. The unloading operation is specifically to remove the welded welding plates from P i-1 up, and repeat step S2 until a welding end signal is received;

[0058] S4: The welding robot completes the welding on P i-1 (1 < i < N), and the welding robot starts to weld the welding plates on P i ; perform an unloading operation on P i-1 ; perform a loading operation on P i+1 ; the unloading operation is specifically to remove the welded welding plates from P i-1 up;

[0059] S4: If the welding of all welding workbenches is completed, then repeat step S2 until a welding end signal is received; otherwise, repeat step S3 until a welding end signal is received.

[0060] In this embodiment, welding is performed alternately on 2 welding workbenches, and the process is as follows:

[0061] (1) Number the 2 welding workbenches as P1 and P2 respectively;

[0062] (2) Perform the loading operation on P1. The welding robot starts welding the welding plates on P1. Perform the loading operation on P2. The specific loading operation is to splice and position 10 groups of welding plates using 10 welding jigs.

[0063] (3) After the welding robot finishes welding on P1, it starts welding the welding plates on P2. Perform the unloading operation on P1. The specific unloading operation is to remove the welded welding plates from P i-1 and move them away. Repeat step S2 until the end welding signal is received.

[0064] In other embodiments, if the welding speed permits, the number of welding workbenches can be increased, such as welding the T-shaped steel structure components on 3 or 4 welding workbenches in turn.

[0065] This application sets up multiple welding workbenches, and performs manual loading and unloading in turn, which does not affect continuous welding, improves welding efficiency, introduces welding robots to reduce manpower requirements, and does not require professional personnel for welding operations, reducing the quality requirements for operators while ensuring welding quality.

[0066] In addition, in order to further improve the applicability of the welding system, it also includes an auxiliary workbench. There is no welding jig for T-shaped steel structure components installed on the auxiliary workbench, and some H-shaped steel structure components can be directly welded on the auxiliary workbench.

[0067] Embodiment 2:

[0068] In this embodiment, the structures of the guiding mechanism 22 and the second limiting mechanism are different from those in Embodiment 1.

[0069] As Figure 4 and Figure 5 shown, the guiding mechanism 22 includes two vertical plates that are parallel to each other. A limiting channel is formed between the two vertical plates. The vertical plate closer to the positioning plate 1b among the two vertical plates is the first vertical plate 221, and the vertical plate farther from the positioning plate 1b is the second vertical plate 222; the second limiting mechanism includes an adjusting bolt 251 and a movable block 252. There is an opening on the second vertical plate 222. The adjusting bolt 251 passes through the opening and is connected to the movable block 252 arranged in the limiting channel. A return spring 253 is sleeved on the adjusting bolt 251. One end of the return spring 253 abuts against the second vertical plate 222, and the other end abuts against the movable block 252.

[0070] The second welding plate 32 moves along the limiting channel. At this time, the second welding plate 32 is perpendicular to the first welding plate 31. Move the second welding plate 32 to a suitable position. To prevent the second welding plate 32 from moving during the subsequent welding process, rotate the adjusting bolt 251 to push the movable block 252 to move towards the direction of the first vertical plate 221, and the second welding plate 32 is fixed between the movable block 252 and the first vertical plate 221. When the welding is completed, rotate the adjusting bolt 251 to push the movable block 252 to move towards the direction of the second vertical plate 222 to release the second welding plate 32.

[0071] In this embodiment, a fixing block 254 that cooperates with the movable block 252 is further installed on the first vertical plate 221. In this way, the second welding plate 32 is fixed between the movable block 252 and the fixing block 254 on the first vertical plate 221, and the fixing effect is better.

[0072] In order to cooperate with the L-shaped positioning plate 1b, the limiting baffle 24 is arranged between the first vertical plate 221, the second vertical plate 222 and the support column 21. This is equivalent to restricting the length of the limiting channel, that is, the horizontal distance between the limiting channel and the fixing plate 1a is the same as the horizontal distance between the rear end of the short board of the positioning plate 1b and the fixing plate 1a, so that when the second welding plate 32 slides to the end of the limiting channel, it is just aligned with the first welding plate 31.

[0073] Since the second welding plate 32 slides in the limiting channel and is applicable to second welding plates 32 of different heights, therefore, in this embodiment, the height of the support column 21 does not need to be adjusted.

[0074] The rest of this embodiment is the same as that of Embodiment 1.

[0075] The preferred specific embodiments of the present invention have been described in detail above. It should be understood that those of ordinary skill in the art can make many modifications and variations according to the concept of the present invention without creative labor. Therefore, all technical solutions that can be obtained by those skilled in the art in the technical field of the present invention based on the concept of the present invention through logical analysis, reasoning or limited experiments on the basis of the prior art should be within the protection scope determined by the claims.

Claims

1. A welding fixture for a T-shaped steel structure component, which is used to clamp the T-shaped steel structure component to be welded. The T-shaped steel structure component includes a first welding plate (31) and a second welding plate (32) with the same length. It is characterized in that, The welding fixture includes a horizontal fixture and a vertical fixture; The horizontal fixture includes a fixed plate (1a) and a positioning plate (1b). A sliding groove (1c) is provided on the fixed plate (1a). The positioning plate (1b) is slidably connected to the fixed plate (1a) through the sliding groove (1c), and the positioning plate (1b) is perpendicular to the fixed plate (1a). The horizontal fixture further includes a first limiting mechanism for fixing the positioning plate (1b) in the sliding groove (1c); the first welding plate (31) is positioned by the positioning plate (1b) and the fixed plate (1a) of the horizontal fixture; The vertical fixture includes a support column (21) and a guiding mechanism (22). The top of the support column (21) is perpendicularly connected to the guiding mechanism (22). A second limiting mechanism is installed on the guiding mechanism (22) for fixing the second welding plate (32) to the guiding mechanism (22); the second welding plate (32) is positioned by the guiding mechanism (22) and the second limiting mechanism of the vertical fixture; The bottom end of the support column (21) is perpendicularly connected to the fixed plate (1a), and the first plane formed by the fixed plate (1a) and the positioning plate (1b) is perpendicular to the second plane formed by the support column (21) and the guiding mechanism (22); The fixed plate (1a) is provided with mounting holes (1d) for mounting the welding fixture; The fixed plate (1a), the support column (21) and the guiding mechanism are integrally formed.

2. The welding jig for a T-shaped steel structure component according to claim 1, characterized in that, The number of the mounting holes (1d) is at least one.

3. The welding jig for a T-shaped steel structure component according to claim 1, characterized in that The guiding mechanism (22) is a horizontal plate with a groove. The groove is arranged along the length direction of the horizontal plate and is perpendicular to the support column (21); the second limiting mechanism is a sliding clamp, which includes a sliding mechanism (231) and a locking mechanism (232). The sliding mechanism (231) is slidably mounted on the guiding mechanism (22) through the groove, and the locking mechanism (232) is used for fixing the second welding plate (32) to the guiding mechanism (22).

4. The welding fixture for a T-shaped steel structure component according to claim 3, characterized in that The support column (21) is a telescopic support column, and the height difference between the guiding mechanism (22) and the positioning plate (1b) changes with the height change of the telescopic support column.

5. The welding jig for a T-shaped steel structure component according to claim 1, characterized in that, The guiding mechanism (22) includes two parallel vertical plates. A limiting channel is formed between the two vertical plates. The vertical plate close to the positioning plate (1b) among the two vertical plates is the first vertical plate (221), and the vertical plate far from the positioning plate (1b) is the second vertical plate (222); the second limiting mechanism includes an adjusting bolt (251) and a movable block (252). An opening is provided on the second vertical plate (222). The adjusting bolt (251) passes through the opening and is connected to the movable block (252) arranged in the limiting channel. A return spring (253) is sleeved on the adjusting bolt (251). One end of the return spring (253) abuts against the second vertical plate (222), and the other end abuts against the movable block (252).

6. The welding jig for a T-shaped steel structure component according to claim 5, characterized in that, A fixed block (254) matched with the movable block (252) is installed on the first vertical plate (221).

7. A welding system for T-shaped steel structure components, characterized in that, The welding fixture for a T-shaped steel structure component as described in any one of claims 1-6 includes N (N>1) welding workbenches and at least 1 welding robot, and m (m>0) welding fixtures for T-shaped steel structure components are respectively installed on each welding workbench.

8. A welding method for a T-shaped steel structure component, characterized in that, The welding system for a T-shaped steel structure component based on claim 7 includes the following steps: S1: Number the N welding workbenches as P1, P2, … P N ; S2: Perform a loading operation on P1, and the welding robot starts welding the welding plates on P1. Perform a loading operation on P2. The loading operation specifically involves using m welding fixtures to splice and position m groups of welding plates. If N<3, then execute step S3; otherwise, execute step S4. S3: The welding robot completes the welding on P1, starts welding the welding plate on P2, and performs a discharging operation on P1. The discharging operation specifically involves removing the welded welding plate from P i-1 upward, repeating step S2 until an end-welding signal is received; S4: The welding robot completes the welding on P i-1 (1 < i < N), the welding robot starts welding the welding plate on P i and performs a discharging operation on P i-1 and a loading operation on P i+1 The discharging operation specifically means removing the welded welding plate from P i-1 upward; S4: If the welding of all welding workbenches is completed, repeat step S2 until an end welding signal is received; otherwise, repeat step S3 until an end welding signal is received.

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