An elevator cage top and bottom frame welding tool and a linkage welding method of a robot

Abstract

The application discloses a linkage welding method of an elevator cage top and bottom frame welding tool and a robot, and comprises the following steps: installing a positioning table on a rotating chuck of a welding positioner, and then installing a to-be-welded cage top and bottom frame on the positioning table of each group of welding positioners; setting welding control parameters of the welding positioner and the welding robot through a welding control cabinet, driving the positioning table to ascend and run through the welding positioner controlled by the welding control cabinet, and lifting the cage top and bottom frame to a predetermined height through the positioning table; welding welding points of a first angle position of each group of cage top and bottom frames in sequence until the welding points of a last angle of the cage top and bottom frame are completed, stopping the welding positioner from running after rotating to the original position, and returning the welding robot to the original position of the first end of a welding running track, hoisting the welded cage top and bottom frame from the positioning table and transferring the cage top and bottom frame to a specified position.

Description

Technical Field

[0001] This invention belongs to the field of construction hoist processing technology, and particularly relates to a welding method for the linkage between a welding fixture for the top and bottom frames of a hoist cage and a robot. Background Technology

[0002] Construction hoists are cage-like components frequently used in construction to transport personnel or materials. They primarily function to transport construction workers and materials to high altitudes. The cage structure is the most complex structural component of a construction hoist, accounting for a very large proportion of its material usage, sometimes up to 1 / 5 of the total weight. The welding workload is also the largest. Therefore, the production efficiency of the cage largely determines the delivery date of the entire construction hoist. The top and bottom frames of the cage require the most welding, with over 200 welds (welding points) that often need to be welded from different angles. The top and bottom frames of a typical construction hoist cage are large in size and heavy; their dimensions are approximately 3.2 meters high and 1.5 meters wide, and their weight exceeds 300 kg to 400 kg. Traditional welding processes require cranes to lift and rotate the cage for welding at different angles. Using ordinary tooling makes it difficult to achieve precise positioning after vertical movement or rotation, and there are also safety hazards associated with lifting. This results in extremely low production efficiency, high labor costs, and difficulty in guaranteeing weld quality. Summary of the Invention

[0003] The purpose of this invention is to provide a welding method that integrates a welding fixture for the top and bottom frames of a hoist cage with a robot. This invention enables the workpiece to be welded to be rotated at different angles to achieve welding at different angles, reduces welding deviation, ensures weld quality, and increases welding speed. To achieve the above objectives, this invention employs the following technical effects:

[0004] According to one aspect of the present invention, a method for linkage welding of a welding fixture for the top and bottom frames of an elevator cage and a robot is provided, the linkage welding method comprising the following steps:

[0005] Step 1: Set up multiple sets of welding positioners with lifting and rotating functions that are parallel and symmetrical to each other along the extension direction of the welding track on both sides of the welding track. Install the positioning table on the rotating chuck of the welding positioner, and then install the top and bottom frames of the cage to be welded on the positioning table of each set of welding positioners.

[0006] Step 2: Set welding control parameters for the welding positioner and welding robot through the welding control cabinet to achieve linkage between the welding robot and the positioner and welding path planning; control each group of welding positioners to start running through the welding control cabinet, so that the top and bottom frames of the cage rotate to the position of the first welding point for pre-welding; then control the welding positioner through the welding control cabinet to drive the positioning platform to rise and move, and lift the top and bottom frames of the cage to the predetermined height through the positioning platform.

[0007] Step 3: The welding control cabinet controls the welding robot to move from the first end to the last end of the welding track. Then, using the welding gun at the end of the welding arm of the welding robot, the robot sequentially welds the welding points at the first angle position of the top and bottom frames of each cage. After the welding points at the first angle position of each cage top and bottom frame are welded, the welding positioner of each cage is controlled to rotate and drive the top and bottom frames of the cage to the second angle welding point position. The welding robot then moves from the last end to the first end of the welding track to weld the second angle welding points on the top and bottom frames of the cage.

[0008] Step 4: Repeat step 3 until the welding point of the last angle of the top and bottom frame of the cage is completed. After the welding positioner rotates to its original position, it stops running. The welding robot returns to the original position at the beginning of the welding track. The welding control cabinet controls the welding positioner to drive the positioning table to descend. The top and bottom frame of the cage is lowered to the lowest position through the positioning table. The welded top and bottom frame of the cage is lifted from the positioning table and transferred to the specified position.

[0009] In a further preferred embodiment of the above scheme, a plurality of proximity switches for detecting the moving position of the welding robot are provided on one or both side walls of the welding track and along the direction from the beginning to the end of the welding track. The proximity switches are electrically connected to the welding control cabinet.

[0010] In a further preferred embodiment of the above scheme, a sensing block is provided on the circumferential edge of the back of the rotary chuck, and a proximity measuring head is provided on the support head frame of the welding positioner, wherein the proximity measuring head is electrically connected to the welding control cabinet.

[0011] In a further preferred embodiment of the above scheme, a PLC controller, a frequency converter, and a touch screen are installed inside the welding control cabinet. The output of the PLC controller is electrically connected to the welding positioner via the frequency converter. The controller is connected to the welding robot via an RS485 signal line and a 24V voltage signal line. When the welding robot sequentially completes welding at the same angle position on the top and bottom frames of each cage, the welding robot sends an angle end switch signal to the PLC controller. After receiving the angle end switch signal, the PLC controller sends a pulse servo control signal to the frequency converter, which controls the welding positioner to rotate at a predetermined speed. Once the position is rotated to the predetermined angle, the PLC controller uses the proximity measuring head to detect and determine whether the angle position of the sensing block on the rotating chuck matches the predetermined angle position. If they match, the sensing block and the proximity measuring head are aligned on the same horizontal line, and the PLC controller sends a rotation positioning signal to the welding robot for welding operation. If they do not match, the sensing block and the proximity measuring head are not aligned on the same horizontal line, and the welding positioner feeds back the rotation amount to the PLC controller for comparison with the pulse servo control amount until the predetermined angle position of the welding positioner is adjusted to match the angle of the sensing block, so that the sensing block and the proximity measuring head are aligned on the same horizontal line.

[0012] In a further preferred embodiment of the above scheme, the proximity switches on the side wall of the welding track have an adjustable spacing. When the welding robot moves to a proximity switch, the welding robot stops running and sends a movement position signal to the welding control cabinet to determine whether there is a welding point at the current position of the welding robot. If there is a welding point that needs to be welded, a welding start signal is sent to the welding robot, and the welding robot begins to enter the welding preparation stage. If there is no welding point that needs to be welded, the robot continues to move to the next position to perform the welding operation.

[0013] In a further preferred embodiment of the above scheme, a laser radar detector for detecting and locating welding points is installed near the end of the welding arm of the welding robot. The welding robot compares the welding point location information obtained by the laser radar detector with the pre-stored welding point location information stored in the welding robot to identify the spatial location information of the welding point on the positioning table. If the spatial location of the welding point exceeds the spatial location of the pre-stored welding point, the welding robot controls the welding torch at the end of the welding arm to swing to the welding point location.

[0014] In a further preferred embodiment of the above scheme, a charge-coupled camera is installed at the end of the welding arm of the welding robot and on both sides of the welding torch. The laser radar detector emits a laser beam to the area where the welding point is located. The charge-coupled camera scans the light signal and welding image on the surface of the welding point and converts the light signal into an electrical signal, which is then sent to the PLC controller of the welding control cabinet. The center position of the weld is determined based on the welding image. If the center position of the weld cannot be determined, the PLC controller of the welding control cabinet outputs a pulse servo control quantity to control the welding positioner to rotate forward and backward by an angle position at a predetermined speed, scan the welding point again, and continue to determine the center position of the weld.

[0015] In a further preferred embodiment of the above scheme, when the center position of the weld cannot be determined after multiple scans of the welding point, the welding robot swings its welding arm to adjust the position of the lidar detector and charge-coupled camera relative to the welding point and continues to scan the welding point.

[0016] A further preferred embodiment of the above scheme is that the touch screen display includes a start button, an emergency stop button, an automatic return-to-zero button, an automatic flip button, a manual control button, an up and down button, a low-speed and high-speed operation button, and a parameter setting key.

[0017] In summary, the present invention adopts the above technical solution, and the present invention has the following technical effects:

[0018] This invention achieves linkage welding control between a welding robot (manipulator) and a flipping welding fixture through a welding positioner. It can flip the workpiece to be welded at different angles to achieve welding at different angles, reduce welding deviation, ensure weld quality, and increase welding speed. It achieves a breakthrough in welding technology by "replacing humans with machines". It can reduce the frequency of crane use and effectively reduce the safety hazards caused by hoisting. It solves the cost and efficiency problems of manual welding and increases production efficiency by 50%. Attached Figure Description

[0019] Figure 1 This is a schematic diagram of a linkage structure based on welding fixtures for the top and bottom frames of a robot and a hoist cage according to the present invention;

[0020] Figure 2 This is a side view of the welding positioner of the present invention;

[0021] Figure 3 This is a schematic diagram of the linkage control principle of the present invention based on the welding fixture for the top and bottom frames of the robot and the hoist cage;

[0022] In the attached diagram, there is a welding positioner 1, a welding control cabinet 2, a welding robot 3, a welding running track 10, a proximity switch 30, a cage top and bottom frame 11, a positioning table 100, a rotary chuck 110, a support head frame 111, a detection sensor block 112, and a proximity measuring head 113. Detailed Implementation

[0023] To make the objectives, technical solutions, and advantages of the present invention clearer, the present invention will be further described in detail below with reference to the accompanying drawings and preferred embodiments. However, it should be noted that many details listed in the specification are merely to provide the reader with a thorough understanding of one or more aspects of the present invention, and these aspects of the invention can be implemented even without these specific details.

[0024] Combination Figure 1 , Figure 2 and Figure 3As shown, according to the present invention, a linkage welding method based on a robot and a welding fixture for the top and bottom frames of a hoist cage includes a welding control cabinet 2, a welding running track 10, and multiple sets of welding positioners 1 with lifting and rotation that are parallel and symmetrical to each other along the extension direction of the welding running track 10. A positioning platform 100 for fixing the top and bottom frames of the hoist cage is provided on the welding positioner 1 with lifting and rotation. Both ends of the positioning platform 100 are fixedly mounted on the rotating chuck 110 of the welding positioner 1. Multiple sensing blocks 112 are spaced apart on the circumferential edge of the back of the rotary chuck 110. A proximity measuring head 113, an infrared measuring head, is installed on the side wall of the support head frame 111 of the welding positioner 1 to detect the position of the sensing blocks 112. The support head frame 111 supports the rotary chuck 110 to slide up and down. A welding robot 3 reciprocates along the welding track 10. A PLC controller is installed inside the welding control cabinet 2. The system includes a controller, a frequency converter, and a touch screen display. The touch screen display includes a start button, an emergency stop button, an automatic zeroing button, an automatic flipping button, a manual control button, an automatic rise and fall button, an automatic low-speed and high-speed operation button, and parameter setting keys. The start button initiates the welding positioner 1; the emergency stop button stops the welding positioner 1 immediately; the automatic zeroing button automatically returns the welding positioner 1 to its initial position; the automatic flipping button initiates the automatic flipping operation of the servo positioner; the manual control button manually controls the start, stop, flipping, rise, and fall of the welding positioner 1; the automatic rise and fall button automatically controls the rise and fall height of the welding positioner 1; the automatic low-speed and high-speed operation button automatically controls the speed of the welding positioner 1 during low-speed / high-speed operation or low-speed / high-speed flipping; and the parameter setting keys are used to set the automatic flipping angle, rotation speed, and manual flipping speed parameters of the servo positioner. The output of the PLC controller is electrically connected to the welding positioner 1 via a frequency converter. The PLC controller is connected to the welding robot 3 via an RS485 signal line and a 24V voltage signal line. The RS485 signal line transmits various control signals, and the 24V voltage signal line controls the drive voltage of various switches. Multiple proximity switches 30 for detecting the moving position of the welding robot 3 are provided on one or both sides of the welding track 10 and along the direction from the beginning to the end of the welding track 10. The proximity switches 30 adjacent to each other on the side wall of the welding track 10 have an adjustable spacing. The distance between the proximity switches 30 can be adjusted according to the horizontal distance between each welding point, thereby controlling the distance the welding robot 3 moves on the welding track 10. The proximity switch 30 is electrically connected to the PLC controller of the welding control cabinet 2.

[0025] In this invention, a laser radar detector for detecting and locating welding points is provided at the end of the welding arm near the welding robot 3. The welding robot 3 obtains the welding point location information through the laser radar detector. A charge-coupled camera is provided at the end of the welding arm of the welding robot 3 and on both sides of the welding torch. The laser radar detector emits a laser beam to the area where the welding point is located.

[0026] In this invention, combined with Figure 1 , Figure 2 and Figure 3 As shown, the linkage welding method includes the following steps:

[0027] Step 1: On both sides of the welding running track 10, set up multiple sets of welding positioners 1 with lifting and rotation, which are parallel and symmetrical to each other along the extension direction of the welding running track 10. Install the positioning table 100 on the rotating chuck 110 of the welding positioner 1. Then install the top and bottom frame 11 of the cage to be welded on the positioning table 100 of each set of welding positioners 1. When the welding positioner 1 with lifting and rotation drives the rotating chuck 110 to move up and down, it drives the positioning table 100 to move up and down. When the rotating chuck 110 is driven to rotate in a circle, it drives the top and bottom frame 11 of the cage on the positioning table 100 to rotate accordingly.

[0028] Step 2: Set welding control parameters for welding positioner 1 and welding robot 3 through welding control cabinet 2. Set welding control parameters through the touch screen on welding control cabinet 2 to realize the linkage between welding robot 3 and welding positioner 1 and the setting of welding path planning. After setting, control each group of welding positioners 1 to start running through welding control cabinet 2, so that the top and bottom frames 11 of the cage rotate to the position of the first welding point for pre-welding. Then, control welding positioner 1 to drive positioning table 100 to rise through welding control cabinet 2, and lift the top and bottom frames 11 of the cage to the predetermined height through positioning table 100.

[0029] Step 3: The welding control cabinet 2 controls the welding robot 3 to move from the first end of the welding track 10 to the last end. Each time the welding robot 3 moves to a proximity switch 30, it stops and sends a position signal to the PLC controller of the welding control cabinet 2. The controller determines if there is a welding point at the current position. If there is, a welding start signal is sent to the welding robot 3, and the robot begins welding preparation. If there is no welding point, it continues to move to the next position to perform the welding operation. Then, the system is set... The welding gun at the end of the welding arm of the welding robot 3 welds the welding points at the first angle position of each group of cage top and bottom frames 11 in sequence. After the welding points at the first angle position of each group of cage top and bottom frames 11 are welded, the welding positioner 1 of each group is controlled to rotate and drive the cage top and bottom frames 11 to the welding point position at the second angle. The welding robot 3 moves from the end of the welding running track 10 to the beginning and welds the welding points at the second angle on the cage top and bottom frames 11. The present invention can accurately control the welding robot 3 to weld each welding point on the cage top and bottom frames 11 one by one.

[0030] Step 4: Repeat step 3 until the welding point of the last angle of the top and bottom frame 11 of the cage is completed. After the welding positioner 1 rotates to its original position, it stops running. The welding robot 3 returns to the original position at the beginning of the welding running track 10. The welding control cabinet 2 controls the welding positioner 1 to drive the positioning table 100 to descend. The positioning table 100 lowers the top and bottom frame 11 of the cage to the lowest position. The welded top and bottom frame 11 of the cage is lifted from the positioning table 100 and transferred to the specified position. After the current top and bottom frame 11 of the cage is welded, the welding personnel disassemble the top and bottom frame 11 of the cage (workpiece) in the welding fixture of the hoist cage, and then reinstall the new workpiece to continue welding. When the welding robot 3 finishes welding the top frame of the cage, the PLC controller controls the welding robot 3 to move back to its original position. This process is repeated to realize different linkage operations between the welding robot 3 and the welding fixture, so as to improve production efficiency.

[0031] In this invention, during steps 2 and 4, when the welding robot 3 sequentially completes the welding of the same angular position on the top and bottom frames 11 of each cage, the welding robot 3 sends an angle end switch signal to the PLC controller. After receiving the angle end switch signal, the PLC controller sends a pulse servo control quantity to the frequency converter. The frequency converter controls the welding positioner 1 to rotate to the predetermined angular position at a predetermined speed. The PLC controller detects and judges whether the angular position of the sensing block 112 on the rotating chuck 110 is consistent with the predetermined angular position through the proximity measuring head 113. If they are consistent, the sensing block 112 and the proximity measuring head 113 coincide on the same horizontal line. The PLC controller sends the rotation positioning signal to the welding robot 3 for welding operation. When the proximity measuring head 113 and the sensing block 112 are aligned on the same straight line, the welding positioner 1 stops running and adopts a slow positioning method to achieve precise positioning during welding. If they are not aligned, the sensing block 112 and the proximity measuring head 113 are not aligned on the same horizontal line. The welding positioner 1 feeds back the rotation amount to the PLC controller and compares it with the pulse servo control amount until the predetermined angle position of the welding positioner 1 is adjusted to match the angle of the sensing block 112, so that the sensing block 112 and the proximity measuring head 113 are aligned on the same horizontal line.

[0032] In this invention, a laser radar detector for detecting and locating welding points is installed near the end of the welding arm of the welding robot 3. The welding robot 3 compares the welding point location information obtained by the laser radar detector with the pre-stored welding point location information stored in the welding robot 3 to obtain the accurate position of the welding point on the positioning table 100. This achieves the identification of the spatial position information of the positioning table 100 where the welding point is located. If the spatial position of the welding point exceeds the spatial position of the pre-stored welding point, the welding robot 3 controls the welding torch at the end of the welding arm to swing to the welding point position, thereby reducing the deviation of the welding point from its position on the positioning table 100.

[0033] In this embodiment of the invention, charge-coupled cameras (CCAs) are installed at the end of the welding arm of the welding robot 3 and on both sides of the welding torch. By illuminating the peripheral area of ​​the welding point with a laser beam emitted from a lidar detector, the CCAs can clearly scan the light signal illuminating the surface of the welding point and acquire welding images. The light signal at the laser irradiation position on the surface of the welding point is converted into an electrical signal and sent to the PLC controller of the welding control cabinet 2 for analysis and processing. If the light signal is received, the PLC controller sends a video image acquisition control signal to the welding robot 3. The welding robot 3 then begins to scan and acquire welding images on the welding point using the CCAs. The center position of the weld is then determined based on the welding images. If the center position of the weld cannot be determined, it is difficult to acquire the welding image in one go using the CCAs due to the long weld size, making it difficult to determine the extension length of the weld center trajectory. Therefore, it is necessary to output one or more pulse servo control quantities through the PLC controller of the welding control cabinet 2 to control the welding. The positioner 1 rotates forward and backward at a predetermined speed to one or more angular positions, continuously scanning the welding point and determining the center position of the weld. By gradually rotating the angle of the positioning table 100, the angle of the top and bottom frames 11 of the cage is deflected, thereby more accurately detecting the welding quality of the welding point and determining whether the welding requirements are met. When the center position of the weld cannot be determined after multiple scans of the welding point, the welding robot 3 swings its welding arm multiple times to adjust the position of the laser radar detector and the charge-coupled camera relative to the welding point. The laser radar detector continues to detect the welding point, and the charge-coupled camera continues to scan the welding point and collect welding images to finally determine the center of the weld. Based on the center position of the weld, the welding width can be quickly determined, thereby determining whether the welding requirements are met. This solves the technical defect that it is difficult to obtain the position of the welding point by simply rotating the angle of the positioning table 100. The welding positioner 1 realizes the linkage welding control of the welding robot 3 (robotic arm) and the flipping welding fixture, achieving a breakthrough in welding technology that "replaces humans with machines".

[0034] The above description is only a preferred embodiment of the present invention. It should be noted that for those skilled in the art, several improvements and modifications can be made without departing from the principle of the present invention, and these improvements and modifications should also be considered within the scope of protection of the present invention.

Claims

1. A method for the linkage welding of the top and bottom frames of a hoist cage with a robot, characterized in that: The linkage welding method includes the following steps: Step 1: Set up multiple sets of welding positioners with lifting and rotating functions that are parallel and symmetrical to each other along the extension direction of the welding track on both sides of the welding track. Install the positioning table on the rotating chuck of the welding positioner, and then install the top and bottom frames of the cage to be welded on the positioning table of each set of welding positioners. Step 2: Set welding control parameters for the welding positioner and welding robot through the welding control cabinet to achieve linkage between the welding robot and the welding positioner and welding path planning; control each group of welding positioners to start running through the welding control cabinet, so that the top and bottom frames of the cage rotate to the position of the first welding point for pre-welding; then control the welding positioner through the welding control cabinet to drive the positioning platform to rise and move, and lift the top and bottom frames of the cage to the predetermined height through the positioning platform. Step 3: The welding control cabinet controls the welding robot to move from the first end to the last end of the welding track. Then, using the welding gun at the end of the welding arm of the welding robot, the robot sequentially welds the welding points at the first angle position of the top and bottom frames of each cage. After the welding points at the first angle position of each cage top and bottom frame are welded, the welding positioner of each cage is controlled to rotate and drive the top and bottom frames of the cage to the second angle welding point position. The welding robot then moves from the last end to the first end of the welding track to weld the second angle welding points on the top and bottom frames of the cage. Step 4: Repeat step 3 until the welding point of the last angle of the top and bottom frame of the cage is completed. After the welding positioner rotates to its original position, it stops running. The welding robot returns to the original position at the beginning of the welding track. The welding control cabinet controls the welding positioner to drive the positioning table to descend. The top and bottom frame of the cage is lowered to the lowest position through the positioning table. The welded top and bottom frame of the cage is lifted from the positioning table and transferred to the specified position.

2. The linkage welding method between the welding fixture for the top and bottom frames of a hoist cage and a robot according to claim 1, characterized in that: Multiple proximity switches for detecting the movement position of the welding robot are installed on one or both side walls of the welding track and along the direction from the beginning to the end of the welding track. These proximity switches are electrically connected to the welding control cabinet.

3. The linkage welding method between the welding fixture for the top and bottom frames of a hoist cage and a robot according to claim 1, characterized in that: A sensing block is provided on the circumferential edge of the back of the rotary chuck, and a proximity measuring head is provided on the support head frame of the welding positioner. The proximity measuring head is electrically connected to the welding control cabinet.

4. A method for linkage welding of the top and bottom frames of a hoist cage with a robot, as described in claim 1, 2, or 3, characterized in that: The welding control cabinet is equipped with a PLC controller, a frequency converter, and a touch screen. The PLC controller output is electrically connected to the welding positioner via the frequency converter. The controller is connected to the welding robot via RS485 signal lines and 24V voltage signal lines. When the welding robot sequentially completes welding at the same angle position on the top and bottom frames of each cage, it sends an angle end switch signal to the PLC controller. Upon receiving the angle end switch signal, the PLC controller sends a pulse servo control signal to the frequency converter, which then controls the welding positioner to rotate to a predetermined angle at a predetermined speed. Positioning: The PLC controller detects and determines whether the angular position of the sensing block on the rotating chuck matches the predetermined angular position using a proximity measuring head. If they match, the sensing block and the proximity measuring head are aligned on the same horizontal line, and the PLC controller sends a rotation positioning signal to the welding robot for welding operation. If they do not match, the sensing block and the proximity measuring head are not aligned on the same horizontal line, and the welding positioner feeds back the rotation amount to the PLC controller for comparison with the pulse servo control amount until the predetermined angular position of the welding positioner is adjusted to match the angle of the sensing block, so that the sensing block and the proximity measuring head are aligned on the same horizontal line.

5. The linkage welding method between the welding fixture for the top and bottom frames of a hoist cage and a robot according to claim 1, characterized in that: The proximity switches on the side wall of the welding track have an adjustable spacing. When the welding robot moves to a proximity switch, it stops and sends a movement position signal to the welding control cabinet to determine if there is a welding point at the current position of the welding robot. If there is a welding point to be welded, a welding start signal is sent to the welding robot, and the welding robot begins to enter the welding preparation. If there is no welding point to be welded, it continues to move to the next position to perform the welding operation.

6. The linkage welding method between the welding fixture for the top and bottom frames of a hoist cage and a robot according to claim 2, characterized in that: A lidar detector is installed at the end of the welding arm near the welding robot to detect and locate the welding point. The welding robot compares the welding point position information obtained by the lidar detector with the pre-stored welding point position information stored in the welding robot to identify the spatial position information of the welding point on the positioning table. If the spatial position of the welding point is outside the spatial position of the pre-stored welding point, the welding robot controls the welding torch at the end of the welding arm to swing to the welding point position.

7. The linkage welding method between the welding fixture for the top and bottom frames of a hoist cage and a robot according to claim 6, characterized in that: Charge-coupled cameras are installed at the end of the welding arm of the welding robot and on both sides of the welding torch. The lidar detector emits a laser beam to the area where the welding point is located. The charge-coupled cameras scan the light signal and welding image on the surface of the welding point and convert the light signal into an electrical signal, which is sent to the PLC controller of the welding control cabinet. The center position of the weld is determined based on the welding image. If the center position of the weld cannot be determined, the PLC controller of the welding control cabinet outputs a pulse servo control quantity to control the welding positioner to rotate forward and backward by an angle at a predetermined speed, scan the welding point again, and continue to determine the center position of the weld.

8. The linkage welding method between the welding fixture for the top and bottom frames of a hoist cage and a robot according to claim 7, characterized in that: When multiple scans of the welding point fail to determine the center position of the weld, the welding robot swings its welding arm to adjust the position of the lidar detector and charge-coupled camera relative to the welding point and continues scanning the welding point.

9. The linkage welding method between the welding fixture for the top and bottom frames of a hoist cage and a robot according to claim 4, characterized in that: The touch screen is equipped with a start button, an emergency stop button, an automatic return to zero button, an automatic flip button, a manual control button, an up and down button, a low speed and high speed operation button, and a parameter setting key.

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