Welding systems and processing methods for various structural parts

Abstract

The present invention discloses a multi-type structural component welding system and processing method. The multi-type structural component welding system includes a welding robot, an assembly robot, a positioner, a rotating frame, and a system control cabinet. The positioner, visual inspection device, force detection device, fixture, transmission device, and positioning clamping device in the multi-type structural component welding system are all connected to the system control cabinet. A programmable logic controller (PLC) controls all devices to achieve the assembly and welding of the multi-type structural components. The present invention uses "visual" and "tactile" perception to achieve assembly and welding quality inspection of the multi-type structural components and shaft hole assembly. It can also automatically adjust the clamping position of the multi-type structural component tooling, thereby improving welding efficiency.

Description

Technical Field

[0001] The present invention relates to the field of industrial robot automated welding, and in particular to a welding system and processing method for various structural parts. Background Art

[0002] Currently, the assembly and welding of various structural components primarily relies on manual welding after being secured with numerous formwork frames. During assembly and welding, the workpieces must be manually flipped to weld the other sides, and the welding process cannot accommodate workpieces of varying sizes. This requires a high level of welding experience, is prone to welding deformation, and results in inconsistent quality and difficulty in inspection. This leads to low welding efficiency and a harsh welding environment that can negatively impact worker health. Summary of the Invention

[0003] The various structural parts welding workstations provided by the present invention can realize rapid positioning and clamping, automatic assembly, assembly accuracy detection, automatic welding, post-weld deformation detection, and shaft hole assembly of various structural parts of different sizes. It is easy to operate and saves time, effort and trouble.

[0004] To achieve the above object, the present invention provides the following solutions:

[0005] The present invention provides a welding workstation for various structural parts, which includes a welding robot A, an assembly robot B, a positioner C, a rotating frame D and a system control cabinet E;

[0006] The welding robot A is connected to a first visual inspection device A1 and a welding gun A2;

[0007] The assembly robot B is connected to the second visual detection device B1, the force detection device B2 and the clamp B3;

[0008] The positioner C carries a rotating frame D for clamping parts;

[0009] The rotating frame D is welded from four hollow square tubes and is equipped with an upper transmission device D1 and a lower transmission device D2. The upper transmission device D1 and the lower transmission device D2 drive the upper sliding assembly D4 and the lower sliding assembly D3 to move respectively. An axial positioning device D5 is fixed to the right end of the rotating frame D.

[0010] The first visual detection device A1, the second visual detection device B1, the force detection device B2, the fixture B3, the positioner C, the upper transmission device D1, and the lower transmission device D2 are all connected to the system control cabinet E and controlled by the PLC;

[0011] The first visual detection device A1, the second visual detection device B1, and the force detection device B2 send the collected information to the industrial computer in the system control cabinet E, and the industrial computer performs real-time communication and coordination processing on the welding robot and the assembly robot.

[0012] Furthermore, the first visual inspection device A1 includes a protective device A4, a binocular camera A11, and a projector A12, wherein the binocular camera A11 and the projector A12 are arranged inside the protective device A4, the first visual inspection device A1 and the welding gun A2 are connected through a first connecting plate A3, and the protective device A4 includes a cylinder A40, a protective device opening and closing plate A41, and a first linear guide module A42.

[0013] Furthermore, the force detection device B2 is a six-dimensional force sensor.

[0014] Furthermore, the clamp B3 includes a connecting rod B30, an electromagnet B31, and an air claw B32.

[0015] Furthermore, the positioner C has a rotating frame D suitable for carrying part tooling and clamping. The active end of the positioner C includes a first drive motor C1, a motor support seat C2, a reducer C3, and a reducer support seat C4. The first drive motor C1 is installed on the motor support seat C2, and the reducer C3 is installed on the reducer support seat C4. The first drive motor C1 is connected to the connecting flange C5 of the active end through the reducer C3, and the connecting flange C5 of the driven end of the positioner is fixed on the bearing seat C7 through the rotating shaft C6. The active and driven ends of the positioner C are connected to the rotating frame D through the flange C5.

[0016] Furthermore, the upper transmission device D1 and the lower transmission device D2 both include a second drive motor D10, a motor base D11, a screw module D12, a second linear guide module D13, and a connecting block D14; the second drive motor D10 is installed on the motor base D11 and connected to the screw module D12 through a coupling, and the screw module D12 and the second linear guide module D13 are fixed on the rotating frame D.

[0017] Furthermore, the upper sliding assembly D4 and the lower sliding assembly D3 are connected to the upper transmission device D1 and the lower transmission device D2 respectively through the connecting block D14, and are connected to the slider of the second linear guide module D13 through the side connecting plate D15;

[0018] The sliding assembly D4 includes a side connecting plate D15, a connecting channel steel D16, a support block 1, a support block 2, and an electromagnet 2 3; the connecting channel steel D16 is fixedly connected to the side connecting plate D15 by bolts, the support block 1 and the support block 2 are fixedly mounted on the connecting channel steel D16 by bolts, and the electromagnet 2 3 is fixedly mounted in the groove of the support block 1;

[0019] The upper sliding assembly D3 includes a second connecting plate D40, a side connecting plate D15, and an axial pushing cylinder D41; the second connecting plate D40 is connected to the side connecting plate D15 by bolts, and the axial pushing cylinder D41 is fixedly mounted on the second connecting plate D40.

[0020] Furthermore, the fixed axial positioning device D5 at the right end of the rotating frame D includes a rib D50, a second fixed plate D51, a slide cylinder D52, a short positioning rod D53, a short positioning rod fixing block D54, and a long positioning rod D55; wherein,

[0021] The rib D50 is welded to the second fixed plate D51 and welded to the rotating frame. The slide cylinder D52 is fixedly connected to the second fixed plate D51 by bolts. The short positioning rod fixing block D53 is fixedly installed on the slide cylinder D52 by bolts. The short positioning rod D54 is threadedly connected to the short positioning rod fixing block D53, and the long positioning rod D55 is threadedly connected to the second fixed plate D51.

[0022] A method for welding various structural parts, using the aforementioned various structural parts welding system, includes the following steps:

[0023] (1) According to the different sizes of the base materials of various structural parts to be welded, the lower transmission device D2 fixed on the rotating frame D drives the longitudinal positioning clamping device connected to the lower sliding component D3 to move to the positioning clamping position of the base material to be welded;

[0024] (2) The assembly robot B drives the connected fixture B3 to move the base material to be welded to the longitudinal positioning clamping device, and then the upper transmission device D1 drives the axial push cylinder connected to the upper sliding component D4 to move to the push position, and the axial positioning device D5 is fixed on the right end of the rotating frame D to axially position and clamp the base material to be welded;

[0025] (3) The second visual inspection device B1 connected to the assembly robot B identifies the bolt hole on the base material to be welded, obtains the approximate position information of the bolt hole in space, completes the initial positioning of the hole, and then uses the admittance control strategy to control the assembly robot B to drive the bolt grabbed by the air gripper B3 to assemble the shaft hole; the admittance control strategy uses force as input and the robot position as output, and obtains the x, y, z, 、 、 The six directional force information is used to control the movement position and speed of the clamping bolts at the end of the robot for assembly according to the changes in the six directional force information. After the assembly is completed, the welding robot performs welding.

[0026] (4) The electromagnet B31 connected to the assembly robot B grabs the workpiece to be welded and the positioned and clamped base material to be welded for assembly; the projector A12 projects multiple images with different feature information onto the surface of the workpiece to be welded, and uses the binocular camera A11 that has been calibrated with the hand and eye to collect images of the projected surface of the workpiece to be welded respectively, extracts the feature information of the projection pattern through the image processing algorithm, and calculates the three-dimensional normal vector and three-dimensional coordinates of the projected surface in the camera coordinate system; finally, the spatial position information in the camera coordinate system is converted to the base material coordinate system of the workpiece to be welded through the coordinate system, and compared with the standard normal vector and three-dimensional coordinates of the measured surface of the workpiece to be welded. For the assembly position of the workpiece to be welded that cannot meet the assembly accuracy requirements, the assembly robot is guided to adjust the workpiece to the correct assembly position for welding; after welding is completed, the same method as above is used to detect the post-weld deformation and determine whether it meets the welding processing quality requirements.

[0027] By adopting the above technical solution, the welding workstation for various structural parts of the present invention is characterized in that the transmission device fixed on the rotating frame drives the longitudinal positioning and clamping device connected to the sliding component to move to the positioning and clamping position of structural parts of different sizes; the assembly robot drives the connected clamp to transport various structural parts to the longitudinal positioning and clamping device; then the transmission device drives the axial pushing cylinder connected to the sliding component to move to the pushing position, and combines with the fixed positioning device at the right end of the rotating frame to axially position and clamp the structural parts; further, the visual inspection device, force detection device and clamp connected to the transport robot are used to perform rough positioning and assembly of various structural part holes; then the welding robot drives the connected visual inspection device The device and welding gun are used to detect the assembly position information and the deformation after welding; after assembly, welding and testing are completed, the welding robot returns to the origin, the positioning and clamping device is released, and the assembly robot transports the workpiece to the storage place; the present invention is a fully automatic device, which is suitable for enterprises to adopt a fully automatic production line method according to the characteristics of the workpiece, without manual positioning, clamping, and rotation of the workpiece for quality inspection; it is directly coordinated through the transmission device, sliding assembly, positioning and clamping device, fixed positioning device, and cylinder to clamp and position various types of structural parts of different sizes; the workpiece is transferred to the required welding position through the positioner; in addition, the assembly welding is inspected by the visual inspection device; no manual intervention is required, which is very convenient; the present invention has a simple structure, high production efficiency, and saves time, effort and labor. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] The present invention will be further described below with reference to the accompanying drawings.

[0029] Figure 1 This is a schematic diagram of the structure of a welding workstation for various structural parts according to the present invention.

[0030] Figure 2This is a schematic diagram of the visual inspection device and welding gun structure connected to the welding robot of the welding workstation for various structural parts of the present invention.

[0031] Figure 3 This is a side structural diagram of the protective device of the visual inspection device connected to the welding robot of the multi-type structural component welding workstation of the present invention.

[0032] Figure 4 This is a schematic diagram of the visual detection device, force detection device, and fixture structure connected to the assembly robot of the various structural parts welding workstation of the present invention.

[0033] Figure 5 This is a schematic diagram of the structure of the positioner for welding workstations of various structural parts according to the present invention.

[0034] Figure 6 It is a structural schematic diagram of the rotating frame, transmission device, sliding assembly, longitudinal positioning clamping device, and axial positioning device of the various structural parts welding workstation of the present invention.

[0035] Figure 7 The invention supports the installation of the electromagnet of the clamping device.

[0036] Figure 8 This is the axial positioning device D5 of the present invention.

[0037] Among them: welding robot A, first visual inspection device A1, binocular camera A11, projector A12, welding gun A2, first connecting plate A3, protective device A4, cylinder A40, protective device opening and closing plate A41, first linear guide module A42, assembly robot B, second visual inspection device B1, force detection device B2, fixture B3, first fixing plate B10, monocular camera B11, connecting rod B30, electromagnet B31, air claw B32, positioner C, first drive motor C1, motor support seat C2, reducer C3, reducer support seat C4, connecting flange C5, rotating shaft C6, bearing Seat C7, rotating frame D, upper transmission device D1, lower transmission device D2, second drive motor D10, motor seat D11, screw module D12, second linear guide module D13, second connecting block D14, lower sliding assembly D3, upper sliding assembly D4, side connecting plate D15, connecting channel steel D16, second connecting plate D40, axial pushing cylinder D41, support block 1, support block 2, electromagnet 2, axial positioning device D5, rib D50, second fixed plate D51, slide cylinder D52, short positioning rod D53, short positioning rod fixing block D54, long positioning rod D55, system control cabinet E. DETAILED DESCRIPTION

[0038] The following will be combined with the accompanying drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the embodiments described are part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0039] In order to make the contents of the present invention more clearly understood, the present invention is further described in detail below based on specific embodiments in conjunction with the accompanying drawings.

[0040] like Figures 1-8 As shown: The various structural parts welding workstations provided by the present invention include a welding robot A, an assembly robot B, a positioner C, a rotating frame D and a system control cabinet E; wherein,

[0041] The welding robot A is connected to a first visual inspection device A1 and a welding gun A2. The first visual inspection device A1 includes a protective device A4, a binocular camera A11, and a projector A12. The protective device A4 includes a cylinder A40, a protective device opening and closing plate A41, and a first linear guide module A42.

[0042] The assembly robot B is connected to the second visual detection device B1, the force detection device B2 and the clamp B3, and the clamp B3 includes a connecting rod B30, an electromagnet B31 and an air gripper B32.

[0043] The positioner C has a rotating frame D suitable for carrying part fixtures for clamping. The active end of the positioner C includes a first drive motor C1, a motor support base C2, a reducer C3, and a reducer support base C4. The first drive motor C1 is mounted on the motor support base C2, and the reducer C3 is mounted on the reducer support base C4. The first drive motor C1 is connected to the connecting flange C5 of the active end via the reducer C3. The connecting flange C5 of the driven end of the positioner is fixed to the bearing base C7 via a rotating shaft C6.

[0044] The rotating frame D is welded from four hollow square tubes, the interior of which houses the drive motor circuitry and cylinder air pipes. Mounted on the rotating frame D are an upper transmission device D1 and a lower transmission device D2, each with a corresponding upper sliding assembly D4 and lower sliding assembly D3. An axial positioning device D5 is secured to the right end of the rotating frame D.

[0045] In this embodiment, preferably, Figure 2 As shown, the first visual inspection device A1 is connected to the welding gun A2 through the first connecting plate A3 and connected to the end of the welding robot A. The binocular camera A11 and the projector A12 are installed in the protective device A4. Figure 3As shown, the protective device opening and closing plate A41 is mounted on the first linear guide module A42 and can be moved on the first linear guide module A42 by a cylinder A40 to close or open the protective device opening and closing plate A41. During operation, when the protective device opening and closing plate A41 is opened, the first visual inspection device A1 detects the workpiece assembly position and post-weld deformation.

[0046] In this embodiment, preferably, Figure 4 As shown, the second visual inspection device B1 is installed on the connecting rod B30, the force detection device B2 is installed on the end of the assembly robot B, the connecting rod B30 is connected to the force detection device B2, and the electromagnet B31 and the air gripper B32 are installed on the connecting rod B30. When working, the electromagnet B31 on the clamp B3 places the workpiece on the longitudinal positioning clamping device (support block 1, support block 2, electromagnet 2, as shown in FIG. Figure 7 As shown in the figure, the second visual inspection device B1 roughly positions the bolt hole on the side of the workpiece, the air gripper B32 grabs the bolt, and the force detection device B2 is combined to complete the shaft hole assembly.

[0047] In this embodiment, preferably, Figure 5 As shown, the positioner C is connected to the rotating frame D through the flange C5, and the first driving motor C1 of the driving end transmission device of the positioner C is connected to the reducer C3 to drive the rotating frame D to rotate to any welding position. Figure 6 As shown, the upper transmission device D1 and the lower transmission device D2 are both fixed on the rotating frame D. The second drive motor D10 in the upper transmission device D1 and the lower transmission device D2 is fixedly mounted on the motor base D11, and the second drive motor D10 is connected to the screw module D12 through a coupling. The upper transmission device D1 and the lower transmission device D2 are both connected to the upper sliding assembly D4 and the lower sliding assembly D3 through a connecting block D14. The upper sliding assembly D4 and the lower sliding assembly D3 are connected to the slider of the second linear guide module D13 installed on the rotating frame through a side connecting plate D15. Among them, the side connecting plate D15 of the lower sliding assembly D3 is connected to the connecting channel steel D16, and a longitudinal positioning clamping device is fixed on the connecting channel steel D16. The side connecting plate D15 of the upper sliding assembly D4 is connected to the second connecting plate D40, and an axial push cylinder D41 is fixed on the second connecting plate D40.

[0048] like Figure 7 As shown, the longitudinal positioning clamping device includes a support block 1, a support block 2 and an electromagnet 2 3. The support block 1 and the support block 2 are relatively arranged in the middle to form a groove for placing the workpiece, and an electromagnet 2 3 is arranged in one side wall of the groove.

[0049] like Figure 6 、 8As shown, the axial positioning device D5 fixed to the right end of the rotating frame D includes a rib plate D50, a second fixed plate D51, a slide cylinder D52, a short positioning rod D53, a short positioning rod fixing block D54, and a long positioning rod D55. The rib plate D50 is welded to the second fixed plate D51 and welded to the rotating frame. The slide cylinder D52 is bolted to the second fixed plate D51, the short positioning rod fixing block D53 is bolted to the slide cylinder D52, the short positioning rod D54 is threadedly connected to the short positioning rod fixing block D53, and the long positioning rod D55 is threadedly connected to the second fixed plate D51. During operation, depending on the size of the workpiece to be welded, the lower transmission device D2 drives the lower sliding assembly D3 to the longitudinal positioning and clamping position, while the upper transmission device D1 drives the upper sliding assembly D4 to the axial positioning and clamping position.

[0050] This embodiment also provides a method for welding various structural parts, using the aforementioned welding system for various structural parts, including the following steps:

[0051] (1) According to the different sizes of the base materials of various structural parts to be welded, the lower transmission device D2 fixed on the rotating frame D drives the longitudinal positioning clamping device connected to the lower sliding component D3 to move to the positioning clamping position of the base material to be welded;

[0052] (2) The assembly robot B drives the connected fixture B3 to move the base material to be welded to the longitudinal positioning clamping device, and then the upper transmission device D1 drives the axial push cylinder connected to the upper sliding component D4 to move to the push position, and the axial positioning device D5 is fixed on the right end of the rotating frame D to axially position and clamp the base material to be welded;

[0053] (3) The second visual inspection device B1 connected to the assembly robot B identifies the bolt hole on the base material to be welded, obtains the approximate position information of the bolt hole in space, completes the initial positioning of the hole, and then uses the admittance control strategy to control the assembly robot B to drive the bolt grabbed by the air gripper B3 to assemble the shaft hole; the admittance control strategy uses force as input and the robot position as output, and obtains the x, y, z, 、 、 The six directional force information is used to control the movement position and speed of the clamping bolts at the end of the robot for assembly according to the changes in the six directional force information. After the assembly is completed, the welding robot performs welding.

[0054] (4) The electromagnet B31 connected to the assembly robot B grabs the workpiece to be welded and the positioned and clamped base material to be welded for assembly; the projector A12 projects multiple images with different feature information onto the surface of the workpiece to be welded, and uses the binocular camera A11 that has been calibrated with the hand and eye to collect images of the projected surface of the workpiece to be welded respectively, extracts the feature information of the projection pattern through the image processing algorithm, and calculates the three-dimensional normal vector and three-dimensional coordinates of the projected surface in the camera coordinate system; finally, the spatial position information in the camera coordinate system is converted to the base material coordinate system of the workpiece to be welded through the coordinate system, and compared with the standard normal vector and three-dimensional coordinates of the measured surface of the workpiece to be welded. For the assembly position of the workpiece to be welded that cannot meet the assembly accuracy requirements, the assembly robot is guided to adjust the workpiece to the correct assembly position for welding; after welding is completed, the same method as above is used to detect the post-weld deformation and determine whether it meets the welding processing quality requirements.

[0055] The working principle of the multi-type structural component welding workstation of the present invention is as follows: the lower transmission device D2 fixed on the rotating frame D drives the longitudinal positioning and clamping device of the sliding assembly D3 to move to the positioning and clamping position of structural components of different sizes; the assembly robot B drives the clamp B3 connected to the end flange to transport various structural components to the longitudinal positioning and clamping device for longitudinal positioning; then the upper transmission device D1 drives the axial pushing cylinder D41 connected to the upper sliding assembly D4 to move to the pushing position, and cooperates with the axial positioning device D5 fixed on the right end of the rotating frame D to axially position and clamp the structural components; Furthermore, the second visual inspection device B1, force detection device B2 and fixture B3 connected to the handling robot B perform rough positioning and assembly of bolt holes of various types of structural parts; the welding robot A drives the first visual inspection device A1 connected to the end flange to detect the assembly position information, and then the welding gun A2 performs welding, and the post-welding deformation is detected by the first visual inspection device A1; after welding and inspection are completed, the welding robot A returns to the origin, the positioning and clamping device is released, and the assembly robot B transports the workpiece to the storage place; at this point, the entire process of assembly, welding and inspection is completed.

[0056] The above is only a description of a specific embodiment of the present invention and is not intended to limit the scope of protection of the present invention. Modifications, variations and substitutions made to the above embodiment by those skilled in the art based on their understanding of the invention are all within the scope of protection of the present invention. The scope of protection of the present invention is defined by the appended claims.

Claims

1. A welding workstation for various structural parts, comprising a welding robot (A), an assembly robot (B), a positioner (C), a rotating frame (D), and a system control cabinet (E); characterized in that: The welding robot (A) is connected to a first visual inspection device (A1) and a welding gun (A2); The assembly robot (B) is connected to the second visual detection device (B1), the force detection device (B2) and the clamp (B3); The positioner (C) carries a rotating frame (D) for clamping the parts tooling; The rotating frame (D) is welded from four hollow square tubes. The rotating frame (D) is equipped with an upper transmission device (D1) and a lower transmission device (D2). The upper transmission device (D1) and the lower transmission device (D2) respectively drive the upper sliding component (D4) and the lower sliding component (D3) to move. An axial positioning device (D5) is fixed to the right end of the rotating frame (D). The first visual detection device (A1), the second visual detection device (B1), the force detection device (B2), the clamp (B3), the positioner (C), the upper transmission device (D1), and the lower transmission device (D2) are all connected to the system control cabinet (E) and are controlled by the PLC; The first visual detection device (A1), the second visual detection device (B1), and the force detection device (B2) send the collected information to the industrial computer in the system control cabinet (E), and the industrial computer performs real-time communication and coordination processing on the welding robot and the assembly robot; The upper transmission device (D1) and the lower transmission device (D2) both comprise a second drive motor (D10), a motor base (D11), a screw module (D12), a second linear guide module (D13), and a connecting block (D14); the second drive motor (D10) is mounted on the motor base (D11) and connected to the screw module (D12) via a coupling; the screw module (D12) and the second linear guide module (D13) are fixed on the rotating frame (D); The upper sliding assembly (D4) and the lower sliding assembly (D3) are respectively connected to the upper transmission device (D1) and the lower transmission device (D2) via a connecting block (D14), and are connected to the slider of the second linear guide module (D13) via a side connecting plate (D15); The lower sliding assembly (D4) includes a side connecting plate (D15), a connecting channel steel (D16), a support block 1 (1), a support block 2 (2), and an electromagnet 2 (3); the connecting channel steel (D16) is fixedly connected to the side connecting plate (D15) by bolts, the support block 1 (1) and the support block 2 (2) are fixedly mounted on the connecting channel steel (D16) by bolts, and the electromagnet 2 (3) is fixedly mounted in the groove of the support block 1 (1); The upper sliding assembly (D3) includes a second connecting plate (D40), a side connecting plate (D15), and an axial pushing cylinder (D41); the second connecting plate (D40) and the side connecting plate (D15) are connected by bolts, and the axial pushing cylinder (D41) is fixedly mounted on the second connecting plate (D40); The fixed axial positioning device (D5) at the right end of the rotating frame (D) comprises a rib plate (D50), a second fixed plate (D51), a slide cylinder (D52), a short positioning rod (D53), a short positioning rod fixing block (D54), and a long positioning rod (D55); wherein, The rib plate (D50) is welded to the second fixed plate (D51) and is also welded to the rotating frame. The slide cylinder (D52) is fixedly connected to the second fixed plate (D51) by bolts. The short positioning rod fixing block (D53) is fixedly installed on the slide cylinder (D52) by bolts. The short positioning rod (D54) is connected to the short positioning rod fixing block (D53) by threads. The long positioning rod (D55) is connected to the second fixed plate (D51) by threads.

2. The multi-type structural component welding workstation according to claim 1, characterized in that: The first visual inspection device (A1) includes a protective device (A4), a binocular camera (A11), and a projector (A12), wherein the binocular camera (A11) and the projector (A12) are arranged inside the protective device (A4), the first visual inspection device (A1) and the welding gun (A2) are connected via a first connecting plate (A3), and the protective device (A4) includes a cylinder (A40), a protective device opening and closing plate (A41), and a first linear guide module (A42).

3. The multi-type structural component welding workstation according to claim 1, characterized in that: The force sensing device (B2) is a six-dimensional force sensor.

4. The multi-type structural component welding workstation according to claim 1, characterized in that: The clamp (B3) includes a connecting rod (B30), an electromagnet (B31), and an air claw (B32).

5. The multi-type structural component welding workstation according to claim 1, characterized in that: The positioner (C) has a rotating frame (D) suitable for carrying part tooling for clamping. The active end of the positioner (C) includes a first drive motor (C1), a motor support base (C2), a reducer (C3), and a reducer support base (C4). The first drive motor (C1) is installed on the motor support base (C2), and the reducer (C3) is installed on the reducer support base (C4). The first drive motor (C1) is connected to the connecting flange (C5) of the active end through the reducer (C3). The connecting flange (C5) of the driven end of the positioner is fixed to the bearing base (C7) through a rotating shaft (C6). The active and driven ends of the positioner (C) are connected to the rotating frame (D) through the flange (C5).

6. A method for welding various structural parts, using a welding workstation for various structural parts according to any one of claims 1 to 5, characterized in that: The following steps are involved: (1) According to the different sizes of the base materials of various structural parts to be welded, the lower transmission device (D2) fixed on the rotating frame (D) drives the longitudinal positioning clamping device connected to the lower sliding component (D3) to move to the positioning clamping position of the base material to be welded; (2) The assembly robot (B) drives the connected fixture (B3) to move the base material to be welded to the longitudinal positioning clamping device, and then the upper transmission device (D1) drives the axial push cylinder connected to the upper sliding component (D4) to move to the push position, and the axial positioning device (D5) is fixed at the right end of the joint rotating frame (D) to axially position and clamp the base material to be welded; (3) The second visual inspection device (B1) connected to the assembly robot (B) identifies the bolt hole on the base material to be welded, obtains the approximate position information of the bolt hole in space, completes the initial positioning of the hole, and then uses the admittance control strategy to control the assembly robot (B) to drive the bolts grasped by the air gripper (B3) to assemble the shaft hole; the admittance control strategy uses force as input and the robot position as output, and obtains the x, y, z, 、 、 The six directional force information is used to control the movement position and speed of the clamping bolts at the end of the robot for assembly according to the changes in the six directional force information. After the assembly is completed, the welding robot performs welding. (4) The electromagnet (B31) connected to the assembly robot (B) grabs the workpiece to be welded and the positioned and clamped base material to be welded for assembly; the projector (A12) projects multiple images with different feature information onto the surface of the workpiece to be welded, and uses the binocular camera (A11) that has been calibrated with the hand and eye to collect images of the projected surface of the workpiece to be welded respectively, extracts the feature information of the projection pattern through the image processing algorithm, and calculates the three-dimensional normal vector and three-dimensional coordinates of the projected surface in the camera coordinate system; finally, the spatial position information in the camera coordinate system is converted to the coordinate system of the base material to be welded, and compared with the standard normal vector and three-dimensional coordinates of the measured surface of the workpiece to be welded. For the assembly position of the workpiece to be welded that cannot meet the assembly accuracy requirements, the assembly robot is guided to adjust the workpiece to the correct assembly position for welding.

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