Workpiece group welding workstation and control method thereof

Abstract

The present invention relates to the field of industrial intelligent manufacturing welding technology, and specifically to a workpiece assembly welding workstation and a control method thereof, wherein the workpiece assembly welding workstation comprises: a frame; a handling truss robot, comprising a first moving part and a mechanical gripper, wherein the first moving part is arranged on the frame, and the first moving part is connected to the mechanical gripper in a transmission manner to drive the mechanical gripper to move along the x-axis, the y-axis and the z-axis; a bearing platform, suitable for carrying workpieces; an assembly welding platform, suitable for receiving workpieces grasped by the mechanical gripper; an inverted welding robot, movably mounted on the frame, suitable for welding assembled workpieces; a 3D visual scanning system, connected to the first moving part in a transmission manner to scan and obtain the shape and position information of the workpiece on the bearing platform and feed it back to the handling truss robot; and a distance sensor, arranged on the inverted welding robot to perform error correction on the workpiece on the mechanical gripper. The present invention has a high degree of automation and assembly welding accuracy.

Description

Technical Field

[0001] The present invention relates to the technical field of industrial intelligent manufacturing welding, and in particular to a workpiece group welding workstation and a control method thereof. Background Art

[0002] With the rapid development of industrial intelligent manufacturing, all industries are moving towards Industry 4.0. At present, the degree of automation and intelligence in the domestic engineering machinery industry is relatively low. For complex welded structural parts, most of them still use manual drawing for group welding.

[0003] Specifically, the manual assembly is done by drawing lines, using a steel ruler and an angle ruler to ensure the accuracy of the product assembly. For parts weighing more than 10KG, KBK (Kombiniert Kran, modular crane) is required for auxiliary transportation, relying on manual experience and auxiliary tools to ensure the accuracy of workpiece assembly and welding.

[0004] The above method has the following defects: all parts need to be measured, marked, assembled, transported and welded manually one by one, which has high labor intensity and low production efficiency; the accuracy of manual assembly and welding is difficult to guarantee; during the manual assisted assembly process, it is easy for workpieces to fall and injure workers and other safety accidents occur, which has a high risk factor. Summary of the invention

[0005] Therefore, the technical problem to be solved by the present invention is to overcome the defects of the workpiece group welding workstation in the prior art, such as high labor intensity, low production efficiency and safety, and difficulty in ensuring the group welding accuracy, thereby providing a workpiece group welding workstation with high degree of automation, good safety and high precision and a control method thereof.

[0006] In order to solve the above problems, the present invention provides a workpiece assembly welding workstation, comprising: a frame with a working station arranged at the bottom; a handling truss robot, comprising a first moving part and a mechanical gripper, wherein the first moving part is arranged on the frame, and the first moving part is connected to the mechanical gripper in a transmission manner to drive the mechanical gripper to move along the x-axis, the y-axis and the z-axis; a carrying platform, which is arranged in the working station and is suitable for carrying the workpiece; an assembly welding platform, which is arranged in the working station and is suitable for receiving the workpiece grasped by the mechanical gripper; an inverted welding robot, which is movably installed on the frame and is suitable for completing assembly on the assembly welding platform workpiece for welding; a 3D vision scanning system, which is transmission-connected to the first moving part, to scan and obtain the shape and position information of the workpiece on the carrying platform and feed it back to the transport truss robot; a ranging sensor, which is arranged on the inverted welding robot, to perform a reference measurement of the workpiece on the mechanical gripper, and feed back the measured actual position data of the workpiece to the control system, the control system calculates and obtains the deviation value between the actual position data of the workpiece and the theoretical data, and feeds back the deviation value to the transport truss robot, and the transport truss robot controls the movement of the mechanical gripper according to the feedback deviation value to complete error correction.

[0007] Optionally, the bearing platform includes: a support; a floating frame, which is arranged on the support, and a support plate is provided on the side of the floating frame, which is suitable for side support of the workpiece, and the floating frame can move laterally relative to the support.

[0008] Optionally, the bearing platform further comprises a sliding mechanism laterally arranged between the support and the floating frame, and the floating frame is slidably connected to the support via the sliding mechanism.

[0009] Optionally, the sliding mechanism includes: a linear guide rail, which is arranged on the support; a slider, which is slidably installed on the linear guide rail, and the slider is connected to the floating frame.

[0010] Optionally, the bearing platform further includes an elastic reset mechanism, which is connected to both the support and the floating frame, and the elastic reset mechanism can be elastically retracted along the moving direction of the floating frame.

[0011] Optionally, the elastic reset mechanism includes: an elastic member connected to both the support and the floating frame; a guide rod arranged parallel to the moving direction of the floating frame, the guide rod being fixedly connected to one of the support and the floating frame, and the guide rod being slidably connected to the other of the support and the floating frame.

[0012] Optionally, the bearing platform further includes a plurality of rolling support parts, and the rolling support parts are arranged between the support and the floating frame to provide rolling support for the floating frame.

[0013] Optionally, the mechanical gripper is a magnetic fixed gripper.

[0014] Optionally, the truss handling robot further includes a rotating mechanism connected to the first moving part, and the rotating mechanism is transmission-connected to the mechanical gripper to drive the mechanical gripper to rotate around its own center.

[0015] Optionally, the truss handling robot further comprises a flipping mechanism transmission-connected to the rotating mechanism, the flipping mechanism is hinged to the mechanical gripper, and the flipping mechanism can drive the mechanical gripper to flip around a hinge point.

[0016] Optionally, the workpiece assembly welding workstation further includes a second movable portion disposed on the frame, and the second movable portion is transmission-connected to the inverted welding robot to drive the inverted welding robot to move along the x-axis, the y-axis and the z-axis.

[0017] Optionally, the pair welding platform includes: a flat plate pair welding table, suitable for pair welding of flat plate workpieces; a heavy-load rotary welding table, which can rotate around itself and is suitable for receiving the workpiece grasped by the mechanical gripper and driving it to rotate.

[0018] Optionally, the flat plate assembly welding table includes: a welding seat; a clamping mechanism, which is arranged on the welding seat at circumferential intervals along the welding seat; a magnetic fixing part, which is arranged on the welding seat; a cooling pad, which is arranged in the middle of the welding seat, and the cooling pad is arranged corresponding to the welding seam formed by the workpiece assembly.

[0019] Optionally, the heavy-load rotary welding table includes: a rotary seat, a tooling platform rotatably disposed on the rotary seat; a driving mechanism disposed on the rotary seat, the driving mechanism being transmission-connected to the tooling platform to drive the tooling platform to rotate around its own center.

[0020] Optionally, the driving mechanism includes: an external driving shaft; a reducer fixedly connected to the rotating seat, the reducer being transmission-connected to the external driving shaft, the output end of the reducer being connected to a driving gear; a driven gear rotatably disposed on the rotating seat, the driven gear meshing with the driving gear, and the driven gear being transmission-connected to the tooling platform.

[0021] Optionally, the workpiece pair welding workstation further includes a ground welding robot, and the ground welding robot can selectively weld the workpieces on the welding platform.

[0022] Optionally, the control system is signal-connected to the transport truss robot, the inverted welding robot, the second moving part, the 3D vision scanning system, the ground welding robot, the ranging sensor and the external drive shaft.

[0023] Optionally, the workpiece assembly welding workstation further comprises a gravity centering platform, and the gravity centering platform is suitable for gravity centering the workpiece grasped by the mechanical gripper.

[0024] Optionally, the gravity centering platform includes: a base; an inclined plane arranged on the base, on which a plurality of spaced-apart universal balls are provided; and a centering baffle plate arranged on the base and opposite to the lower end of the inclined plane.

[0025] Optionally, the ranging sensor includes a line scanning laser sensor and / or a point laser sensor.

[0026] The present invention also provides a method for controlling a welding workstation by a workpiece group as described above, comprising the following steps:

[0027] The 3D visual scanning system scans and obtains the shape and position information of the workpiece on the carrying platform and feeds it back to the handling truss robot;

[0028] The handling truss robot drives the mechanical gripper to move and grasp the workpiece according to the acquired information;

[0029] The distance measuring sensor performs a reference measurement on the workpiece, and feeds back the measured actual position data of the workpiece to the control system, the control system calculates and obtains the deviation value between the actual position data of the workpiece and the theoretical data, and feeds back the deviation value to the transport truss robot, and the transport truss robot controls the movement of the mechanical gripper according to the feedback deviation value to complete error correction;

[0030] The transport truss robot transfers the workpiece to the assembly welding platform for assembly;

[0031] The inverted welding robot welds the assembled workpieces on the assembly welding platform.

[0032] The present invention has the following advantages:

[0033] 1. In the workpiece pair welding workstation of the present invention, when operating, the 3D visual scanning system first scans and obtains the shape and position information of the workpiece on the carrying platform and feeds it back to the transport truss robot. The transport truss robot is started according to the obtained information. The mechanical gripper moves along the frame to the workpiece under the drive of the first moving part and grabs the workpiece and transports it to the group welding platform. The ranging sensor follows the movement of the inverted welding robot and performs a reference measurement on the workpiece on the mechanical gripper, and feeds back the measured actual position data of the workpiece to the control system. The control system calculates and obtains the deviation value between the actual position data of the workpiece and the theoretical data, and feeds back the deviation value to the transport truss robot. The transport truss robot calculates the deviation value based on the feedback. The deviation value controls the movement of the mechanical gripper to complete the error correction. The mechanical gripper is released to place the workpiece on the assembly welding platform. When the workpiece forms an assembly butt joint on the assembly welding platform, the inverted welding robot starts welding the workpiece butt joint, thereby completing the automated assembly welding operation of the entire workpiece, improving the automation level, operation safety and production efficiency of the entire operation, and reducing labor intensity. In the whole process, the 3D visual scanning system is used to perform initial positioning of the workpiece to improve the accuracy of workpiece grasping, and then the ranging sensor is used to perform benchmark measurement of the workpiece to realize error correction of the workpiece position, so that it can be accurately placed on the assembly welding platform, thereby improving the assembly and welding accuracy.

[0034] 2. The workpiece assembly welding workstation of the present invention has a bearing platform including a support and a floating frame. The floating frame is arranged on the support. The side of the floating frame is provided with a support plate suitable for supporting the side of the workpiece. The floating frame can move laterally relative to the support. When the mechanical gripper approaches and grabs the workpiece, a lateral collision force will be generated on the workpiece. The force acts on the floating frame to push the floating frame to move laterally along the support, so that the mechanical gripper can flexibly contact with the workpiece, avoiding damage to the workpiece during the mechanical gripper grabbing process and ensuring the quality of the workpiece.

[0035] 3. The workpiece assembly welding workstation of the present invention includes a bearing platform which further includes a sliding mechanism disposed transversely between the support and the floating frame, and the floating frame is slidably connected to the support through the sliding mechanism. The floating frame can slide transversely on the support by disposing the sliding mechanism, and the structure is simple and the arrangement is convenient.

[0036] 4. The workpiece assembly welding workstation of the present invention, the bearing platform also includes an elastic reset mechanism, the elastic reset mechanism is connected to both the support and the floating frame, and the elastic reset mechanism can be elastically extended and retracted along the moving direction of the floating frame. When the mechanical gripper grabs the workpiece, the floating frame is forced to move laterally along the sliding mechanism and compress the elastic reset mechanism. At the same time, the elastic reset mechanism provides a reverse support force to the workpiece, which is convenient for the mechanical gripper to better grab the workpiece. When the mechanical gripper grabs the workpiece and leaves, the elastic reset mechanism drives the floating frame to slide along the sliding mechanism under its own elastic force to achieve automatic reset, which plays the role of automatic reset of the floating frame and elastic shock absorption.

[0037] 5. The workpiece assembly welding workstation of the present invention has an elastic reset mechanism including an elastic member and a guide rod, the elastic member is connected to both the support and the floating frame, the guide rod is arranged parallel to the moving direction of the floating frame, the guide rod is fixedly connected to one of the support and the floating frame, and the guide rod is slidably connected to the other of the support and the floating frame. The elastic member elastically expands and contracts during the process of the mechanical gripper grasping the workpiece, and the guide rod limits the moving direction of the floating frame, so that the floating frame can only slide back and forth along the axial direction of the guide rod, thereby improving the accuracy and controllability of the movement of the floating frame.

[0038] 6. In the workpiece assembly welding workstation of the present invention, the bearing platform also includes a plurality of rolling support parts, which are arranged between the support and the floating frame to provide rolling support for the floating frame. The plurality of rolling support parts can improve the support stability of the floating frame, and the friction force can also drive the rolling support parts to roll during the movement of the floating frame, thereby reducing the movement resistance of the floating frame.

[0039] 7. The mechanical gripper of the workpiece assembly welding workstation of the present invention is a magnetic fixed gripper, which can improve the stability of workpiece grasping and has a high safety factor. The magnetic fixed gripper makes the workpiece and the gripper fit tightly, ensuring that the workpiece does not shake during the grasping and assembly process, thereby improving the overall accuracy of the product after assembly.

[0040] 8. The workpiece assembly welding workstation of the present invention, the handling truss robot also includes a rotating mechanism connected to the first moving part, the rotating mechanism is connected to the mechanical gripper by transmission, so as to drive the mechanical gripper to rotate around its own center; and also includes a flipping mechanism connected to the rotating mechanism by transmission, the flipping mechanism is hinged to the mechanical gripper, and the flipping mechanism can drive the mechanical gripper to flip around the hinge point. The mechanical gripper can move along the X-axis, Y-axis and Z-axis with the first moving part, and the flipping mechanism can drive the mechanical gripper to flip around the hinge point, and the rotating mechanism can drive the flipping mechanism and the mechanical gripper thereon to rotate around their own center together. Therefore, the handling truss robot of the present invention retains the heavy-load characteristics of the truss, and its mechanical gripper can realize five degrees of freedom of movement, namely, movement along the X-axis, Y-axis and Z-axis, rotation around its own center and flipping along the hinge point, which improves the overall flexibility of the multi-axis truss robot, and has high flexibility and freedom.

[0041] 9. The workpiece assembly welding workstation of the present invention comprises an assembly welding platform including a flat plate assembly welding table and a heavy-load rotary welding table. The flat plate assembly welding table is suitable for assembly welding of flat plate workpieces. The heavy-load rotary welding table can rotate around itself and is suitable for receiving the workpiece grasped by the mechanical gripper and driving it to rotate. The mechanical gripper grasps the flat plate workpiece to the flat plate assembly welding table for assembly. The inverted welding robot welds the assembled flat plate workpiece. Then the mechanical gripper grasps the preliminarily welded flat plate workpiece and moves it to the heavy-load rotary welding table. The heavy-load rotary welding table drives the flat plate workpiece to rotate to a preset position. The mechanical gripper grasps other workpieces and assembles them with the flat plate workpiece. The inverted welding robot welds the assembled workpiece. This cycle is repeated until the workpieces are welded. The welding position is continuously adjusted through the rotation of the heavy-load rotary welding table during the whole process. The efficiency is high and the welding precision is high. The heavy-load rotary welding table can bear workpieces weighing more than 3 tons except for the tooling and has a high bearing capacity.

[0042] 10. The workpiece assembly welding workstation of the present invention, the flat plate assembly welding table includes a welding seat, a clamping mechanism, a magnetic fixing part and a cooling pad. The clamping mechanism is arranged on the welding seat at intervals along the circumference of the welding seat, the magnetic fixing part is arranged on the welding seat, and the cooling pad is arranged in the middle of the welding seat. The cooling pad is arranged corresponding to the welding seam formed by the workpiece assembly. When the workpiece is placed on the welding seat, the clamping mechanism presses down to clamp the workpiece and the magnetic fixing part magnetically fixes the workpiece to prevent the workpiece from deforming during the welding process and causing the welding seam to be misaligned. The cooling pad cools the welding seam during welding to ensure that the back of the welding seam is well formed and prevents the workpiece from sticking to the welding seat.

[0043] 11. The workpiece assembly welding workstation of the present invention, the heavy-load rotary welding table includes a rotary seat, a tooling platform and a driving mechanism, the tooling platform is rotatably arranged on the rotary seat, the driving mechanism is arranged on the rotary seat, and the driving mechanism is connected to the tooling platform in a transmission manner to drive the tooling platform to rotate around its own center. The driving mechanism drives the tooling platform to rotate relative to the rotary seat, thereby driving the workpiece on the tooling platform to rotate to realize the adjustment of the welding position, which is convenient and simple.

[0044] 12. The workpiece group welding workstation of the present invention has a control system that is signal-connected to the handling truss robot, the inverted welding robot, the second moving part, the 3D visual scanning system, the ground welding robot, the distance sensor, and the external drive shaft. By controlling the startup and operation of the above-mentioned mechanisms through the same control system, the overall operation area can be uniformly set to ensure that there is no collision or interference when the various parts are working at the same time. The various axis components can work in coordination with each other, the data between the axis groups is accurately transmitted, and the group welding work is accurately and quickly coordinated to avoid the situation of interactive waiting, which greatly improves the work efficiency.

[0045] 13. The workpiece assembly and welding workstation of the present invention also includes a gravity centering platform, which is suitable for gravity centering the workpiece grasped by the mechanical gripper. The workpiece grasped by the mechanical gripper can be secondary-centered on the gravity centering platform to better ensure the grasping accuracy of the workpiece, eliminate the workpiece grasping accuracy deviation caused by the mechanical gripper due to system errors, and further improve the assembly and welding accuracy.

[0046] 14. The control method of the workpiece pair welding workstation of the present invention comprises the following steps: the 3D visual scanning system scans and obtains the shape and position information of the workpiece on the carrying platform and feeds back to the transport truss robot; the transport truss robot drives the mechanical gripper to move and grab the workpiece according to the information obtained; the distance sensor performs a reference measurement on the workpiece, and feeds back the measured actual position data of the workpiece to the control system, the control system calculates and obtains the deviation value between the actual position data of the workpiece and the theoretical data, and feeds back the deviation value to the transport truss robot, the transport truss robot controls the movement of the mechanical gripper according to the feedback deviation value to complete the error correction; the transport truss robot transfers the workpiece to the pair welding platform for pairing; the inverted welding robot welds the workpiece that has been paired on the pair welding platform. The entire workpiece pair welding operation has a high degree of automation, good operation safety, high production efficiency, and low labor intensity, and the entire process uses the cooperation of the 3D visual scanning system and the distance sensor to accurately position the workpiece, thereby improving the pairing and welding accuracy. BRIEF DESCRIPTION OF THE DRAWINGS

[0047] In order to more clearly illustrate the specific implementation methods of the present invention or the technical solutions in the prior art, the drawings required for use in the specific implementation methods or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are some implementation methods of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0048] Figure 1 A schematic diagram of the top view of the welding workstation of a workpiece assembly according to an embodiment of the present invention is shown;

[0049] Figure 2 A schematic diagram of the front view structure of a workpiece assembly welding workstation according to an embodiment of the present invention is shown;

[0050] Figure 3 A front view structural diagram showing the cooperation of a frame, a handling truss robot and an inverted welding robot in a workpiece assembly welding workstation according to an embodiment of the present invention is shown;

[0051] Figure 4 A schematic diagram of a top view of the structure of the workpiece assembly in the welding workstation according to an embodiment of the present invention, showing the cooperation of a frame, a handling truss robot and an inverted welding robot;

[0052] Figure 5 A side view structural diagram showing the cooperation of a frame, a handling truss robot and an inverted welding robot in a workpiece assembly welding workstation according to an embodiment of the present invention is shown;

[0053] Figure 6 It shows a partially enlarged structural schematic diagram of a truss handling robot in a workpiece assembly welding workstation according to an embodiment of the present invention;

[0054] Figure 7 It shows a partial side structural schematic diagram of a truss handling robot in a workpiece assembly welding workstation according to an embodiment of the present invention;

[0055] Figure 8 A schematic diagram showing the calculation of the flip angle of the mechanical gripper in the workpiece group welding workstation according to an embodiment of the present invention is shown;

[0056] Fig. 9 A schematic diagram of the structure of a bearing platform in a workpiece assembly welding workstation according to an embodiment of the present invention is shown;

[0057] Fig.10 Shows Fig. 9 A schematic diagram of the enlarged structure at A in the middle;

[0058] Fig.11 It shows a schematic structural diagram of a flat plate pair welding table in a workpiece pair welding workstation according to an embodiment of the present invention;

[0059] Fig.12 It shows a schematic structural diagram of a heavy-load rotary welding table in a workpiece assembly welding workstation according to an embodiment of the present invention;

[0060] Fig.13 A schematic structural diagram of a gravity centering platform in a workpiece assembly welding workstation according to an embodiment of the present invention is shown.

[0061] Description of reference numerals:

[0062] 1. Frame; 2. Handling truss robot; 21. First moving part; 22. Rotating mechanism; 23. Turning mechanism; 231. Fixed seat; 232. Turning drive part; 2321. Turning electric cylinder; 23211. Telescopic rod; 233. Turning seat; 24. Mechanical gripper; 241. Electro-permanent magnet; 242. Electro-permanent magnet control box; 25. Quick-change plate; 3. Inverted welding robot; 31. Second moving part; 4. Carrying platform; 41. Support; 42. Floating frame; 421. Support plate; 43. Sliding mechanism; 431. Linear guide rail; 432. Sliding block; 44. Elastic reset mechanism; 441. Elastic member; 442. Guide rod; 45. Rolling support part; 5. Flat plate group welding table; 51. Welding seat; 52. Clamping mechanism; 53. Magnetic fixings; 54. Cooling pad; 6. Heavy-load rotary welding table; 61. Rotating seat; 62. Tooling platform; 63. Driving mechanism; 631. External driving shaft; 632. Reducer; 633. Driving gear; 634. Driven gear; 64. Tooling fixture; 7. 3D visual scanning system; 8. Gravity centering table; 81. Base; 82. Inclined surface; 821. Universal ball; 83. Centering baffle; 9. Ground welding robot; 10. Fence; 20. Unloading platform; 100. Workpiece. DETAILED DESCRIPTION

[0063] The technical solution of the present invention will be described clearly and completely below in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of them. 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.

[0064] In the description of the present invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc., indicating the orientation or positional relationship, are based on the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as limiting the present invention. In addition, the terms "first", "second", and "third" are used for descriptive purposes only, and cannot be understood as indicating or implying relative importance.

[0065] In the description of the present invention, it should be noted that, unless otherwise clearly specified and limited, the terms "installed", "connected", and "connected" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0066] In addition, the technical features involved in the different embodiments of the present invention described below can be combined with each other as long as they do not conflict with each other.

[0067] like Figures 1 to 5 As shown, this embodiment discloses a workpiece assembly welding workstation, a frame 1, a handling truss robot 2, a carrying platform 4, an assembly welding platform, an inverted welding robot 3, a 3D visual scanning system 7 and a ranging sensor, wherein a work station is provided below the frame 1, the handling truss robot 2 comprises a first moving part 21 and a mechanical gripper 24, the first moving part 21 is arranged on the frame 1, and the first moving part 21 is connected to the mechanical gripper 24 to drive the mechanical gripper 24 along the x-axis and y-axis. The support platform 4 is arranged in the working station and is suitable for supporting the workpiece 100. The pair welding platform is arranged in the working station and is suitable for receiving the workpiece 100 grasped by the mechanical gripper 24. The inverted welding robot 3 is movably installed on the frame 1 and is suitable for welding the workpiece 100 assembled on the pair welding platform. The 3D visual scanning system 7 is connected to the first moving part 21 in transmission to scan and obtain the shape and position information of the workpiece 100 on the support platform 4 and feed it back to the handling truss robot 2. The ranging sensor is arranged on the inverted welding robot 3 to perform a reference measurement on the workpiece 100 on the mechanical gripper 24, and feed back the measured actual position data of the workpiece 100 to the control system. The control system calculates and obtains the deviation value between the actual position data of the workpiece 100 and the theoretical data, and feeds back the deviation value to the handling truss robot 2. The handling truss robot 2 controls the movement of the mechanical gripper 24 according to the feedback deviation value to complete the error correction.

[0068] During operation, the 3D vision scanning system 7 first scans and obtains the shape and position information of the workpiece 100 on the carrying platform 4 and feeds it back to the transport truss robot 2. The transport truss robot 2 starts according to the obtained information. The mechanical gripper 24 moves along the frame 1 to the workpiece 100 under the drive of the first moving part 21 and grabs the workpiece 100 and transports it to the assembly welding platform. The ranging sensor follows the inverted welding robot 3 to move and perform a reference measurement on the workpiece 100 on the mechanical gripper 24, and the measured workpiece 100 is sent to the welding platform. The actual position data is fed back to the control system, which calculates and obtains the deviation value between the actual position data of the workpiece 100 and the theoretical data, and feeds back the deviation value to the transport truss robot 2. The transport truss robot 2 controls the movement of the mechanical gripper 24 according to the feedback deviation value to complete the error correction. The mechanical gripper 24 is released to place the workpiece 100 on the assembly welding platform. When the workpiece 100 forms an assembly connection on the assembly welding platform, the inverted welding robot 3 starts welding the joint of the workpiece 100, thereby completing the automated assembly welding operation of the entire workpiece 100, improving the automation level, operation safety and production efficiency of the entire operation, and reducing labor intensity. In the whole process, the 3D visual scanning system 7 is used to perform initial positioning of the workpiece 100 to improve the grasping accuracy of the workpiece 100, and then the distance measuring sensor is used to perform reference measurement on the workpiece 100 to realize error correction of the position of the workpiece 100, so that it can be accurately placed on the assembly welding platform, thereby improving the assembly and welding accuracy.

[0069] The structure of the workpiece assembly welding workstation is described in detail below in conjunction with the accompanying drawings of the specification.

[0070] In this embodiment, the frame 1 supports the first moving part 21 and the structure thereon. Specifically, the frame 1 includes a support frame and a plurality of support legs arranged at intervals in the horizontal and vertical directions along the support frame at the bottom of the support frame to provide good stable support.

[0071] The first moving part 21 can move along the X-axis, Y-axis and Z-axis on the frame 1. In this embodiment, the first moving part 21 includes an X-axis linear drive mechanism, a Y-axis linear drive mechanism and a Z-axis linear drive mechanism (not shown in the figure), wherein the Z-axis linear drive mechanism is transmission-connected with the mechanical gripper 24 to drive the mechanical gripper 24 to move along the Z-axis, the Y-axis linear drive mechanism is transmission-connected with the Z-axis linear drive mechanism to drive the Z-axis linear drive mechanism to move along the Y-axis, and the X-axis linear drive mechanism is transmission-connected with the Y-axis linear drive mechanism to drive the Y-axis linear drive mechanism to move along the X-axis, thereby driving the mechanical gripper 24 to move along the X-axis, the Y-axis and the Z-axis.

[0072] Specifically, the X-axis linear drive mechanism, the Y-axis linear drive mechanism and the Z-axis linear drive mechanism can be set as a linear cylinder or a motor and a lead screw combination drive form, which can be specifically set according to needs and will not be elaborated in this embodiment.

[0073] like Figure 5 and Figure 6 As shown, in this embodiment, the mechanical gripper 24 is a magnetic fixed gripper, which can improve the stability of the workpiece 100 in grasping, and has a high safety factor. The magnetic fixed gripper makes the workpiece 100 fit tightly with the gripper, ensuring that the workpiece 100 does not shake during the grasping and assembly process, thereby improving the overall accuracy of the product after assembly. More specifically, the magnetic fixed gripper is an electric permanent magnet magnetic gripper. When the power is suddenly cut off during the grasping and transportation of the workpiece 100, the electric permanent magnet magnetic gripper can ensure that the workpiece 100 does not fall off, and has a high safety factor. In this embodiment, the mechanical gripper 24 is set as an electric permanent magnet magnetic gripper, which includes a plurality of evenly distributed electric permanent magnets 241 to improve the stability of the adsorption of the workpiece 100. Furthermore, the mechanical gripper 24 also includes an electric permanent magnet control box 242 to control the plurality of electric permanent magnets 241.

[0074] The truss handling robot 2 further includes a rotating mechanism 22 connected to the first moving part 21, and the rotating mechanism 22 is connected to the mechanical gripper 24 in a transmission manner to drive the mechanical gripper 24 to rotate around its own center. Specifically, the rotating mechanism 22 is connected to the Z-direction linear drive mechanism in the first moving part 21, so that the rotating mechanism 22 can be driven by the Z-direction linear drive mechanism to move along the Z axis and move along the X axis and the Y axis with the Z-direction linear drive mechanism. Optionally, the rotating mechanism 22 can be in the form of a rotating cylinder or a rotating motor in conjunction with a rotating shaft, etc.

[0075] Furthermore, the handling truss robot 2 also includes a flipping mechanism 23 that is transmission-connected to the rotating mechanism 22, the flipping mechanism 23 is hinged to the mechanical gripper 24, and the flipping mechanism 23 can drive the mechanical gripper 24 to flip around the hinge point. Therefore, the mechanical gripper 24 of this embodiment can move along the X-axis, Y-axis and Z-axis with the first moving part 21, and the flipping mechanism 23 can drive the mechanical gripper 24 to flip around the hinge point, the rotating mechanism 22 can drive the flipping mechanism 23 and the mechanical gripper 24 thereon to rotate around their own center together, and the mechanical gripper 24 can realize five degrees of freedom, namely, movement along the X-axis, Y-axis and Z-axis, rotation around its own center and flipping along the hinge point, which improves the overall flexibility of the multi-axis truss robot, and has high flexibility and freedom.

[0076] In this embodiment, the flipping mechanism 23 includes a fixed seat 231 and a flipping drive unit 232, wherein the fixed seat 231 is transmission connected to the rotating mechanism 22, and the fixed seat 231 is hinged to the mechanical gripper 24, and the flipping drive unit 232 is arranged on the fixed seat 231, and the flipping drive unit 232 is transmission connected to the mechanical gripper 24 to drive the mechanical gripper 24 to flip around the hinge point between the fixed seat 231 and the mechanical gripper 24.

[0077] The above arrangement hinges the fixing seat 231 with the mechanical gripper 24, and drives the mechanical gripper 24 to flip around the hinge point through the flip driving unit 232, thereby forming a lever principle to achieve the flipping movement of the mechanical gripper 24, with a high safety factor and good reliability.

[0078] Specifically, the fixing seat 231 is a fixing plate, which can be connected to the rotating mechanism 22 by bolts, screws and other parts to facilitate assembly and disassembly.

[0079] The flip mechanism 23 also includes a flip seat 233, which is hinged to the fixed seat 231, and the mechanical gripper 24 is connected to the flip seat 233, and the flip driving unit 232 is in transmission connection with the flip seat 233. The mechanical gripper 24 is hinged to the fixed seat 231 through the flip seat 233, and the flip driving unit 232 drives the flip seat 233 and the mechanical gripper 24 thereon to rotate around the hinge point together to achieve flipping movement, and the overall control is reliable. The flip seat 233 is a flip plate, which is arranged below the fixed seat 231, and one end of the flip seat 233 is hinged to the fixed seat 231 through a pin shaft.

[0080] The flip driving unit 232 specifically includes a servo motor and a flip electric cylinder 2321, wherein the flip electric cylinder 2321 is hinged on the fixed seat 231, the flip electric cylinder 2321 is electrically connected to the servo motor, and the flip seat 233 is hinged to the telescopic rod 23211 of the flip electric cylinder 2321. The servo motor is provided to control the movement of the flip electric cylinder 2321, thereby controlling the flip seat 233 and the mechanical gripper 24 thereon to flip together. The flip electric cylinder 2321 can be adaptively tilted relative to the fixed seat 231 as the flip angle of the mechanical gripper 24 changes, ensuring that the mechanical gripper 24 is flipped and reset normally. The servo motor can realize accurate control of the flip angle, with good controllability and high precision.

[0081] Specifically, the flip cylinder 2321 is inverted and hinged on the fixing seat 231 , the telescopic rod 23211 of the flip cylinder 2321 passes through the fixing seat 231 and is hinged on the top of the flip seat 233 , and the servo motor is fixedly connected to the flip cylinder 2321 and can tilt with the flip cylinder 2321 .

[0082] The mechanical gripper 24 can rotate around the hinge point in an angle range of 0° to 95°, so that the mechanical gripper 24 can grasp the workpiece 100 with different tilt angles and drive the workpiece 100 to perform multi-angle flipping, such as flipping or flipping upright.

[0083] The flipping angle of the mechanical gripper 24 is positively correlated with the extended length of the telescopic rod 23211 of the flipping electric cylinder 2321. The longer the extended length of the telescopic rod 23211, the larger the flipping angle of the mechanical gripper 24; the shorter the extended length of the telescopic rod 23211, the smaller the flipping angle of the mechanical gripper 24. Therefore, the flipping angle can be precisely controlled by controlling the extended length of the telescopic rod 23211.

[0084] like Figures 6 to 8 As shown, specifically, when the flip angle of the mechanical gripper 24 is 0°, the extended length of the telescopic rod 23211 of the flip electric cylinder 2321 is 0 mm. When the flip angle of the mechanical gripper 24 is between 0° and 95°, the relationship between the extended length of the telescopic rod 23211 of the flip electric cylinder 2321 and the flip angle can be calculated by the following calculation formula:

[0085] L 2 =a 2 +b 2 -2abcscα

[0086] Among them, L is the extended length of the flip electric cylinder 2321; a is the length from the hinge point of the fixed seat 231 and the flip seat 233 to the hinge point of the flip electric cylinder 2321 and the fixed seat 231; b is the length from the hinge point of the fixed seat 231 and the flip seat 233 to the hinge point of the telescopic rod 23211 and the flip seat 233, and α is the flip angle, that is, the angle between a and b.

[0087] In addition, to facilitate the assembly or replacement of the mechanical gripper 24, the handling truss robot 2 also includes a quick-change disk 25, through which the mechanical gripper 24 is connected to the flip seat 233, so as to achieve fast and high-precision switching of the mechanical gripper 24, and facilitate installation. Specifically, the quick-change disk 25 is a quick-change disk commonly used in the field of robots, which facilitates the replacement and disassembly of the gripper. Since the structure of the quick-change disk is a prior art, it will not be described here.

[0088] The inverted welding robot 3 may specifically be a six-axis industrial robot, which is invertedly mounted on the frame 1 to perform welding operations on the workpiece 100, thereby integrating the handling and welding operations of the frame 1, with a compact structure and high operating efficiency.

[0089] Furthermore, the workpiece assembly welding workstation further includes a second moving part 31 connected to the frame 1, and the second moving part 31 is transmission-connected to the inverted welding robot 3 to drive the inverted welding robot 3 to move along the X-axis, the Y-axis, and the Z-axis. The second moving part 31 can drive the inverted welding robot 3 to move along the X-axis, the Y-axis, and the Z-axis, thereby improving the operational flexibility of the inverted welding robot 3 and adapting to different operational scenarios.

[0090] It should be noted here that since the specific structure of the second moving part 31 is the same as the structural setting of the first moving part 21, it can be composed of three linear drive mechanisms along the X direction, the Y direction and the Z direction, which will not be repeated in this embodiment.

[0091] like Figure 2 , Fig. 9 and Fig.10 As shown, the carrying platform 4 is used to carry the workpiece 100 , and the carrying platform 4 is driven by the AGV to move to the working station below the rack 1 , and the AGV can descend to unload the carrying platform 4 .

[0092] Specifically, the bearing platform 4 includes a support 41 and a floating frame 42. The floating frame 42 is arranged on the support 41. The side of the floating frame 42 is provided with a support plate 421, which is suitable for supporting the side of the workpiece 100. The floating frame 42 can move laterally relative to the support 41. When the mechanical gripper 24 approaches and grasps the workpiece 100, a lateral collision force will be generated on the workpiece 100. This force acts on the floating frame 42 to push the floating frame 42 to move laterally along the support 41, so that the mechanical gripper 24 is in flexible contact with the workpiece 100, avoiding damage to the workpiece 100 during the grasping process of the mechanical gripper 24, and ensuring the quality of the workpiece 100.

[0093] The carrying platform 4 also includes a sliding mechanism 43 disposed transversely between the support 41 and the floating frame 42, and the floating frame 42 is slidably connected to the support 41 through the sliding mechanism 43. By providing the sliding mechanism 43, the floating frame 42 can slide transversely on the support 41, which has a simple structure and is convenient to set up.

[0094] In this embodiment, the sliding mechanism 43 includes a linear guide rail 431 and a slider 432, wherein the linear guide rail 431 is arranged on the support 41, the slider 432 is slidably mounted on the linear guide rail 431, and the slider 432 is connected to the floating frame 42. During the process of the mechanical gripper 24 grasping the workpiece 100, the floating frame 42 is forced to drive the slider 432 to slide along the linear guide rail 431, thereby realizing the flexible contact between the mechanical gripper 24 and the workpiece 100. In order to improve the stability of the sliding process, in this embodiment, two sliding mechanisms 43 are provided and arranged in parallel.

[0095] The bearing platform 4 also includes an elastic reset mechanism 44, which is connected to both the support 41 and the floating frame 42, and can be elastically retracted along the moving direction of the floating frame 42. When the mechanical gripper 24 grasps the workpiece 100, the floating frame 42 is forced to move laterally along the sliding mechanism 43 and compress the elastic reset mechanism 44. At the same time, the elastic reset mechanism 44 provides a reverse support force to the workpiece 100, so that the mechanical gripper 24 can grasp the workpiece 100 better. When the mechanical gripper 24 grasps the workpiece 100 and leaves, the elastic reset mechanism 44 drives the floating frame 42 to slide along the sliding mechanism 43 under its own elastic force to achieve automatic reset, which plays the role of automatic reset of the floating frame 42 and elastic shock absorption.

[0096] Specifically, the elastic reset mechanism 44 includes an elastic member 441 and a guide rod 442, wherein the elastic member 441 is connected to both the support 41 and the floating frame 42, the guide rod 442 is arranged parallel to the moving direction of the floating frame 42, the guide rod 442 is fixedly connected to one of the support 41 and the floating frame 42, and the guide rod 442 is slidably connected to the other of the support 41 and the floating frame 42. The elastic member 441 elastically expands and contracts during the process of the mechanical gripper 24 grasping the workpiece 100, and the guide rod 442 limits the moving direction of the floating frame 42, so that the floating frame 42 can only slide back and forth along the axial direction of the guide rod 442, thereby improving the accuracy and controllability of the movement of the floating frame 42.

[0097] In this embodiment, the elastic reset mechanism 44 is disposed on both sides of the floating frame 42 , and the sliding mechanism 43 is disposed in the middle of the floating frame 42 , so that the floating frame 42 can be elastically reset by the elastic reset mechanism 44 when moving in any direction on both sides.

[0098] The bearing platform 4 further includes a plurality of rolling support parts 45, which are arranged between the support 41 and the floating frame 42 to provide rolling support for the floating frame 42. The plurality of rolling support parts 45 can improve the support stability of the floating frame 42, and the friction force can also drive the rolling support parts 45 to roll during the movement of the floating frame 42, thereby reducing the movement resistance of the floating frame 42.

[0099] like Figure 1 , Fig.11 and Fig.12As shown, in this embodiment, the assembly welding platform includes a flat plate assembly welding table 5 and a heavy-load rotary welding table 6, wherein the flat plate assembly welding table 5 is suitable for assembly welding of flat plate-type workpieces 100, and the heavy-load rotary welding table 6 can rotate around itself, and is suitable for receiving the workpiece 100 grasped by the mechanical gripper 24 and driving it to rotate. The mechanical gripper 24 grabs the flat-plate workpiece 100 and assembles it to the flat-plate assembly welding table 5. The inverted welding robots 3 weld the assembled flat-plate workpieces 100. Then the mechanical gripper 24 grabs the preliminarily welded flat-plate workpiece 100 and moves it to the heavy-load rotary welding table 6. The heavy-load rotary welding table 6 drives the flat-plate workpiece 100 to rotate to a preset position. The mechanical gripper 24 grabs other workpieces 100 and assembles them with the flat-plate workpiece 100. The inverted welding robots 3 weld the assembled workpieces 100. This cycle is repeated until the welding of the workpieces 100 is completed. The welding position is continuously adjusted through the rotation of the heavy-load rotary welding table 6 during the whole process. The efficiency and welding accuracy are high. The heavy-load rotary welding table 6 can bear workpieces 100 of more than 3T except for tooling and has a high bearing capacity.

[0100] The flat plate assembly welding table 5 includes a welding seat 51, a clamping mechanism 52, a magnetic fixing member 53 and a cooling pad 54. The clamping mechanism 52 is arranged on the welding seat 51 at intervals along the circumference of the welding seat 51, the magnetic fixing member 53 is arranged on the welding seat 51, and the cooling pad 54 is arranged in the middle of the welding seat 51. The cooling pad 54 is arranged corresponding to the welding seam formed by the workpiece 100. After the workpiece 100 is placed on the welding seat 51, the clamping mechanism 52 presses down to clamp the workpiece 100 and the magnetic fixing member 53 magnetically fixes the workpiece 100 to prevent the workpiece 100 from deforming during the welding process and causing the welding seam to be misaligned. The cooling pad 54 cools the welding seam during welding to ensure that the back of the welding seam is well formed and prevents the workpiece 100 from sticking to the welding seat 51.

[0101] Exemplarily, the welding seat 51 is a welding plate, the clamping mechanism 52 is a hydraulic clamping mechanism, the magnetic fixing member 53 is an electromagnet, and the cooling pad 54 is a water-cooled copper pad.

[0102] The heavy-load rotary welding table 6 includes a rotary seat 61, a tooling platform 62 and a driving mechanism 63. The tooling platform 62 is rotatably arranged on the rotary seat 61. The driving mechanism 63 is arranged on the rotary seat 61. The driving mechanism 63 is connected to the tooling platform 62 in a transmission manner to drive the tooling platform 62 to rotate around its own center. The driving mechanism 63 drives the tooling platform 62 to rotate relative to the rotary seat 61, thereby driving the workpiece 100 on the tooling platform 62 to rotate to achieve the adjustment of the welding position, which is convenient and simple.

[0103] The rotary seat 61 is fixed in the working station, and the tooling platform 62 is used to carry the workpiece 100. A plurality of tooling fixtures 64 are provided on the tooling platform 62 at intervals along the circumference thereof to clamp the workpiece 100 to prevent the workpiece 100 from moving and deforming during the welding process.

[0104] The driving mechanism 63 specifically includes an external driving shaft 631, a speed reducer 632 and a driven gear 634, wherein the speed reducer 632 is fixedly connected to the swivel seat 61, the speed reducer 632 is in transmission connection with the external driving shaft 631, the output end of the speed reducer 632 is connected with a driving gear 633, the driven gear 634 is rotatably arranged on the swivel seat 61, the driven gear 634 is meshed with the driving gear 633, and the driven gear 634 is in transmission connection with the tooling platform 62. The external driving shaft 631 drives the speed reducer 632 to rotate to achieve deceleration, the speed reducer 632 drives the driving gear 633 to rotate, thereby driving the driven gear 634 to rotate, and finally drives the tooling platform 62 and the workpiece 100 thereon to rotate together, so as to adjust the position of the workpiece 100, and facilitate the operation of the mechanical gripper 24 and the inverted welding robot 3.

[0105] The 3D vision scanning system 7 can be specifically a 3D vision scanning camera, which can simultaneously shoot and scan the shape of the workpiece 100 and obtain the position coordinates of the workpiece 100 and transmit them to the execution components such as the handling truss robot 2 and the inverted welding robot 3, so that the execution components can operate according to the shape and position information of the workpiece 100, thereby improving the operation accuracy. For example, if the shape of the workpiece 100 obtained by the handling truss robot 2 is a flat workpiece 100 placed on the floating frame 42 at an angle of 45°, the mechanical gripper 24 can be turned 45° along the hinge point through the turning mechanism 23, and then rotated through the rotating mechanism 22 to make the gripping surface of the mechanical gripper 24 parallel to the workpiece 100, and the first moving part 21 then drives the mechanical gripper 24 to move close to the workpiece 100 according to the obtained position coordinates of the workpiece 100 and complete the gripping of the workpiece 100, and the whole process is automated, with high precision and good controllability.

[0106] The distance measuring sensor includes a line scanning laser sensor and / or a point laser sensor. The line scanning laser sensor can scan the boundary of the workpiece 100, and the point laser sensor can scan the reference hole on the workpiece 100. The actual position of the workpiece 100 can be obtained by scanning the position of the boundary or reference hole of the workpiece 100, and the control system analyzes the deviation value between the actual position of the workpiece 100 and the theoretical position (system preset position coordinates). The handling truss robot 2 can control the movement of the mechanical gripper 24 according to the feedback deviation value to complete the error correction, so that the actual position of the workpiece 100 is consistent with the theoretical position. Since the placement position of the workpiece 100 on the assembly welding platform is fixed, the mechanical gripper 24 will place the workpiece 100 on the assembly welding platform according to the preset trajectory, so as to achieve accurate placement of the workpiece 100 and improve the accuracy of assembly and later welding operations.

[0107] like Figure 1 , Figure 2 and Fig.13 As shown, in addition, the workpiece assembly and welding workstation further includes a gravity centering platform 8, which is suitable for gravity centering the workpiece 100 grasped by the mechanical gripper 24. The workpiece 100 grasped by the mechanical gripper 24 can be secondary-centered on the gravity centering platform 8, so as to better ensure the grasping accuracy of the workpiece 100, eliminate the grasping accuracy deviation of the workpiece 100 caused by the system error of the mechanical gripper 24, and further improve the assembly and welding accuracy.

[0108] Specifically, the gravity centering platform 8 includes a base 81, an inclined surface 82 and a centering baffle 83, wherein the inclined surface 82 is arranged on the base 81, and a plurality of spaced universal balls 821 are arranged on the inclined surface 82, and the centering baffle 83 is arranged on the base 81 and is arranged opposite to the lower end of the inclined surface 82. The plate-shaped workpiece 100 is placed on the inclined surface 82 and supported by the plurality of universal balls 821 at the bottom. Under the action of gravity, the workpiece 100 moves downward along the inclined surface 82 and makes one side of the workpiece 100 abut against the centering baffle 83, thereby realizing the gravity centering of the workpiece 100, with a simple structure and convenient operation.

[0109] In addition, the workpiece assembly welding workstation of this embodiment further comprises a ground welding robot 9, which can selectively weld the workpieces 100 on the assembly welding platform. The ground welding robot 9 is used to assist the inverted welding robot 3 in welding operations, thereby improving the flexibility and efficiency of welding operations.

[0110] Furthermore, the control system is signal-connected with the handling truss robot 2, the inverted welding robot 3, the second moving part 31, the 3D visual scanning system 7, the ground welding robot 9, the distance sensor and the external driving shaft 631. By controlling the startup and operation of the above-mentioned mechanisms through the same control system, the overall operation area can be uniformly set to ensure that there is no collision or interference when the various parts are working at the same time, and the various axis components can work in coordination with each other, the data between the axis groups is accurately transmitted, and the group welding work is accurately and quickly coordinated to avoid the situation of interactive waiting, which greatly improves the work efficiency.

[0111] The entire workpiece pair welding workstation is completed by an automated system, without the need for manual intervention, and performs data measurement, calculation and transmission between devices quickly and accurately. The overall system has a total of 21 axis groups, and the data between the axis groups is accurately transmitted, and the work of welding the workpiece 100 pairs is performed accurately and at high speed. Therefore, this embodiment uses precise measurement tools such as vision and laser, which can accurately measure the deviation of the workpiece 100 and its reference position, and through the cooperation of the robot axis group, the pairing accuracy is guaranteed to be ≤2mm.

[0112] In addition to the above settings, Figure 1As shown, in this embodiment, a fence 10 is provided around the work station to play a protective role and prevent people from entering by mistake, which greatly improves the safety factor of the personnel. A material unloading platform 20 is also provided in the work station to receive the welded workpiece 100 and realize the unloading of the workpiece 100.

[0113] To facilitate understanding of the workpiece assembly welding workstation of this embodiment, the operation process is described as follows:

[0114] The workpiece 100 carried by the carrying platform 4 is transported to the working station under the rack 1 by the AGV;

[0115] The 3D visual scanning system 7 scans and obtains the shape and position information of the workpiece 100 on the carrying platform 4 and feeds it back to the control system. The control system controls the transport truss robot 2 to start according to the obtained information. The mechanical gripper 24 moves along the frame 1 to the workpiece 100 under the drive of the first moving part 21 and grabs the workpiece 100 for transport.

[0116] If the size of the workpiece 100 is too large (as determined by the 3D vision scanning system 7), the workpiece 100 is transported to the gravity centering platform for secondary centering. The workpiece 100 is placed on the inclined surface 82. Under the action of gravity, the workpiece 100 moves downward along the inclined surface 82 and makes one side of the workpiece 100 contact the centering baffle 83. The gravity centering of the workpiece 100 is completed. The mechanical gripper 24 grabs the workpiece 100 again and carries it.

[0117] If the workpiece 100 is a flat plate (determined by the 3D vision scanning system 7 ), the workpiece 100 is transported to the flat plate assembly welding station 5 ;

[0118] The distance measuring sensor moves with the inverted welding robot 3 and performs a reference measurement on the workpiece 100 on the mechanical gripper 24, and feeds back the measured actual position data of the workpiece 100 to the control system, which calculates and obtains the deviation value between the actual position data of the workpiece 100 and the theoretical data, and feeds back the deviation value to the transport truss robot 2, which controls the movement of the mechanical gripper 24 according to the feedback deviation value to complete the error correction;

[0119] The mechanical gripper 24 moves the workpiece 100 and places it on the flat plate assembly welding table 5, the clamping mechanism 52 clamps the workpiece 100, and the magnetic fixing member 53 magnetically fixes the workpiece 100. When the workpiece 100 is assembled and butted on the flat plate assembly welding table 5, the inverted welding robot 3 starts to weld the joint of the workpiece 100, and the cooling pad 54 cools the welding point.

[0120] The mechanical gripper 24 grabs the workpiece 100 that has been preliminarily welded and moves it to the heavy-load rotary welding table 6. During this process, the distance sensor is used to perform error correction (the process is as above and will not be repeated);

[0121] The heavy-load rotary welding table 6 drives the workpiece 100 thereon to rotate according to the rotation of the welding point, and the mechanical gripper 24 then reciprocates to grab other workpieces 100 and move them to the heavy-load rotary welding table 6 to dock with the workpiece 100 thereon;

[0122] The inverted welding robot 3 cooperates with the ground welding robot 9 to weld the butted workpieces 100 on the heavy-load rotary welding table 6, and this cycle is repeated until all the workpieces 100 are welded.

[0123] The present embodiment also discloses a control method for a workpiece group welding workstation, comprising the following steps: a 3D visual scanning system 7 scans and obtains the shape and position information of a workpiece 100 on a carrying platform 4 and feeds it back to a transport truss robot 2; the transport truss robot 2 drives a mechanical gripper 24 to move and grab the workpiece 100 according to the obtained information; a ranging sensor performs a reference measurement on the workpiece 100, and feeds back the measured actual position data of the workpiece 100 to a control system, the control system calculates and obtains a deviation value between the actual position data of the workpiece 100 and the theoretical data, and feeds back the deviation value to the transport truss robot 2, the transport truss robot 2 controls the movement of the mechanical gripper 24 according to the fed-back deviation value to complete error correction; the transport truss robot 2 transfers the workpiece 100 to the group welding platform for grouping; the inverted welding robot 3 welds the workpiece 100 that has been grouped on the group welding platform.

[0124] The assembly and welding operation of the entire workpiece 100 has a high degree of automation, good operational safety, high production efficiency, and low labor intensity. The entire process utilizes the cooperation of the 3D visual scanning system 7 and the ranging sensor to accurately position the workpiece 100, thereby improving the assembly and welding accuracy.

[0125] In summary, the advantages of the present invention are: through the cooperation between the 3D visual scanning system 7, the ranging sensor, and the handling and welding robots, the automatic group welding of complex welding workpieces 100 can be achieved, with high automation, high group welding accuracy, high production efficiency and high safety factor.

[0126] Obviously, the above embodiments are merely examples for the purpose of clear explanation, and are not intended to limit the implementation methods. 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 implementation methods here. The obvious changes or modifications derived therefrom are still within the scope of protection of the invention.

Claims

1. A workpiece welding workstation, characterized in that: include: A machine frame (1) with a working station arranged below; A truss handling robot (2) comprises a first moving part (21) and a mechanical gripper (24), wherein the first moving part (21) is arranged on the frame (1), and the first moving part (21) is transmission-connected to the mechanical gripper (24) to drive the mechanical gripper (24) to move along the x-axis, y-axis and z-axis; A carrying platform (4), arranged in the working station, suitable for carrying a workpiece (100); A welding platform is arranged in the working station and is suitable for receiving the workpiece (100) grasped by the mechanical gripper (24); An inverted welding robot (3) is movably mounted on the frame (1) and is suitable for welding the workpieces (100) assembled on the assembly welding platform. The inverted welding robot (3) is mounted inverted on the frame (1); a 3D visual scanning system (7) which is in driving connection with the first moving part (21) so as to scan and obtain the shape and position information of the workpiece (100) on the carrying platform (4) and feed it back to the transport truss robot (2); A distance measuring sensor is arranged on the inverted welding robot (3) to perform a reference measurement on the workpiece (100) on the mechanical gripper (24), and feeds back the measured actual position data of the workpiece (100) to the control system, the control system calculates and obtains a deviation value between the actual position data of the workpiece (100) and the theoretical data, and feeds back the deviation value to the transport truss robot (2), and the transport truss robot (2) controls the movement of the mechanical gripper (24) according to the fed-back deviation value to complete error correction; The pair welding platform comprises a flat plate pair welding platform (5) and a heavy-load rotary welding platform (6); the flat plate pair welding platform (5) is suitable for pair welding of flat plate-type workpieces (100); the heavy-load rotary welding platform (6) can rotate around itself and is suitable for receiving the workpiece (100) grasped by the mechanical gripper (24) and driving it to rotate; The flat plate assembly welding table (5) comprises a welding seat (51), a clamping mechanism (52), a magnetic fixing member (53) and a cooling pad (54); the clamping mechanism (52) is arranged on the welding seat (51) at intervals along the circumference of the welding seat (51); the magnetic fixing member (53) is arranged on the welding seat (51); the cooling pad (54) is arranged in the middle of the welding seat (51); and the cooling pad (54) is arranged corresponding to the welding seam formed by the assembly of the workpiece (100).

2. The workpiece assembly welding workstation according to claim 1, characterized in that: The carrying platform (4) comprises: Support (41); A floating frame (42) is arranged on the support (41), and a support plate (421) is arranged on the side of the floating frame (42) so as to support the side of the workpiece (100). The floating frame (42) can move laterally relative to the support (41).

3. The workpiece assembly welding workstation according to claim 2, characterized in that: The bearing platform (4) further comprises a sliding mechanism (43) arranged transversely between the support (41) and the floating frame (42); the floating frame (42) is slidably connected to the support (41) via the sliding mechanism (43).

4. The workpiece assembly welding workstation according to claim 3, characterized in that: The sliding mechanism (43) comprises: A linear guide rail (431) is arranged on the support (41); A slider (432) is slidably mounted on the linear guide rail (431), and the slider (432) is connected to the floating frame (42).

5. The workpiece assembly welding workstation according to claim 2, characterized in that: The bearing platform (4) further comprises an elastic reset mechanism (44), wherein the elastic reset mechanism (44) is connected to both the support (41) and the floating frame (42), and the elastic reset mechanism (44) can be elastically retracted along the moving direction of the floating frame (42).

6. The workpiece assembly welding workstation according to claim 5, characterized in that: The elastic reset mechanism (44) comprises: An elastic member (441) connected to both the support (41) and the floating frame (42); A guide rod (442) is arranged parallel to the moving direction of the floating frame (42); the guide rod (442) is fixedly connected to one of the support (41) and the floating frame (42); and the guide rod (442) is slidably connected to the other of the support (41) and the floating frame (42).

7. The workpiece assembly welding workstation according to claim 2, characterized in that: The bearing platform (4) further comprises a plurality of rolling support parts (45), wherein the rolling support parts (45) are arranged between the support seat (41) and the floating frame (42) to provide rolling support for the floating frame (42).

8. The workpiece assembly welding workstation according to any one of claims 2 to 7, characterized in that: The mechanical gripper (24) is a magnetic fixed gripper.

9. The workpiece assembly welding workstation according to any one of claims 1 to 7, characterized in that: The truss handling robot (2) further comprises a rotating mechanism (22) connected to the first moving part (21), and the rotating mechanism (22) is transmission-connected to the mechanical gripper (24) to drive the mechanical gripper (24) to rotate around its own center.

10. The workpiece assembly welding workstation according to claim 9, characterized in that: The truss handling robot (2) further comprises a flipping mechanism (23) which is transmission-connected to the rotating mechanism (22); the flipping mechanism (23) is hinged to the mechanical gripper (24); and the flipping mechanism (23) can drive the mechanical gripper (24) to flip around a hinge point.

11. The workpiece assembly welding workstation according to claim 10, characterized in that: It also includes a second moving part (31) arranged on the frame (1), and the second moving part (31) is transmission-connected to the inverted welding robot (3) to drive the inverted welding robot (3) to move along the x-axis, y-axis and z-axis.

12. The workpiece assembly welding workstation according to claim 11, characterized in that: The heavy-load rotary welding table (6) comprises: A swivel seat (61), a tooling platform (62), rotatably disposed on the swivel seat (61); The driving mechanism (63) is arranged on the rotating seat (61), and the driving mechanism (63) is transmission-connected with the tooling platform (62) to drive the tooling platform (62) to rotate around its own center.

13. The workpiece assembly welding workstation according to claim 12, characterized in that: The driving mechanism (63) comprises: External drive shaft (631); A reducer (632) is fixedly connected to the slewing seat (61), the reducer (632) is transmission-connected to the external drive shaft (631), and the output end of the reducer (632) is connected to a driving gear (633); The driven gear (634) is rotatably disposed on the swivel seat (61), the driven gear (634) is meshed with the driving gear (633), and the driven gear (634) is transmission-connected to the tooling platform (62).

14. The workpiece assembly welding workstation according to claim 13, characterized in that: It also includes a ground welding robot (9), which can selectively weld the workpieces (100) on the welding platform.

15. The workpiece assembly welding workstation according to claim 14, characterized in that: The control system is signal-connected to the transport truss robot (2), the inverted welding robot (3), the second moving part (31), the 3D visual scanning system (7), the ground welding robot (9), the distance measuring sensor and the external drive shaft (631).

16. The workpiece assembly welding workstation according to any one of claims 1 to 7, characterized in that: It also includes a gravity centering platform (8), which is suitable for gravity centering the workpiece (100) grasped by the mechanical gripper (24).

17. The workpiece assembly welding workstation according to claim 16, characterized in that: The gravity centering platform (8) comprises: Base (81); An inclined surface (82) is arranged on the base (81), and a plurality of spaced-apart universal balls (821) are arranged on the inclined surface (82); A centering baffle (83) is disposed on the base (81) and is arranged opposite to the lower end of the inclined surface (82).

18. The workpiece assembly welding workstation according to any one of claims 1 to 7, characterized in that: The distance measuring sensor includes a line scanning laser sensor and / or a point laser sensor.

19. A method for controlling a welding workstation by a workpiece group according to any one of claims 1 to 18, characterized in that: The steps include: The 3D visual scanning system (7) scans and obtains the shape and position information of the workpiece (100) on the carrying platform (4) and feeds back the information to the transport truss robot (2); The transport truss robot (2) drives the mechanical gripper (24) to move and grasp the workpiece (100) according to the acquired information; The distance measuring sensor performs a reference measurement on the workpiece (100), and feeds back the measured actual position data of the workpiece (100) to the control system, the control system calculates and obtains the deviation value between the actual position data of the workpiece (100) and the theoretical data, and feeds back the deviation value to the transport truss robot (2), and the transport truss robot (2) controls the movement of the mechanical gripper (24) according to the fed-back deviation value to complete error correction; The truss transport robot (2) transfers the workpiece (100) to the assembly welding platform for assembly; The inverted welding robot (3) welds the assembled workpieces (100) on the assembled welding platform.

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