An automatic welding method and automatic welding robot system for large-sized members

Abstract

The present application relates to the technical field of welding, in particular to a large-size component automatic welding method and automatic welding robot system; wherein the automatic welding robot system of the large-size component comprises a welding platform, a first gantry and a second gantry are arranged above the welding platform at intervals, the first gantry and the second gantry are connected with the gantry ground rails on both sides of the welding platform through a first moving mechanism and a second moving mechanism respectively, the first gantry and the second gantry are respectively provided with a grabbing robot and a welding robot, a visual identification module is arranged on the grabbing robot, and a visual positioning module and a weld seam identification module are arranged on the welding robot; an electric control self-locking mounting rack is mounted on the welding platform; and a controller is further included. The large-size component automatic welding method and automatic welding robot system provided by the present application detachably mount the welding robot and the grabbing robot on the gantry, realize the welding operation of a large metal component, and improve the production efficiency.

Description

Technical Field

[0001] This invention relates to the field of welding technology, and in particular to an automatic welding method and an automatic welding robot system for large-sized components. Background Technology

[0002] Welding is a manufacturing process and technology that uses heating and high temperatures to nucleate metals. In existing production technologies, the welding of large-sized components is generally done manually, which results in low production efficiency. Introducing welding robots can greatly reduce manual labor and improve production efficiency. However, due to the limited working radius of welding robots, when welding metal components with large spatial structural dimensions, it is still necessary to manually move or place multiple welding robots, leading to cumbersome operation and high costs. At the same time, manual fixing and placement of components is time-consuming, inefficient, and has low placement accuracy.

[0003] Therefore, in order to address the above problems, the present invention urgently needs to provide an automatic welding method and an automatic welding robot system for large-sized components. Summary of the Invention

[0004] The purpose of this invention is to provide an automatic welding method and an automatic welding robot system for large-sized components. By detachably mounting the welding robot and the gripping robot on each gantry, the invention solves the technical problems of the prior art, such as its unsuitability for welding large-sized metal components and the low precision caused by manual placement.

[0005] The present invention provides an automatic welding method for large-sized components, comprising the following steps:

[0006] 1) An automated welding robot system is constructed, including a welding platform with a material stacking area on one side. Two spaced-apart first and second gantry frames are positioned above the welding platform along its length. The bottoms of the first and second gantry frames are connected to gantry rails located on both sides of the welding platform via first and second moving mechanisms, respectively. A gripping robot equipped with a vision recognition module is mounted on the first gantry frame. A welding robot equipped with a vision positioning module and a weld seam recognition module is mounted on the second gantry frame. An electrically controlled self-locking mounting bracket for fixing each welded pipe is installed on the welding platform. A controller is also included.

[0007] 2) Establish a two-dimensional model of a large-sized component with multiple welded pipes and obtain the relative orientation of each welded pipe;

[0008] 3) The first moving mechanism moves the first gantry frame above the stacking area and controls the grabbing robot to grab the metal square tube through the grabbing gripper on the grabbing robot's mechanical arm;

[0009] 4) The first moving mechanism moves the first gantry frame above the welding platform. With the assistance of the vision recognition module, the gripping robot arm adjusts the posture of the metal square tube to a standard posture, wherein the standard posture is the posture in which the fixing fixture fixes the metal square tube. The gripping robot arm places the metal square tube on the welding platform and holds it continuously, controlling the self-locking mounting bracket to fix the metal square tube. If the metal square tube cannot reach the standard posture during the fixing process, the robot arm continuously adjusts the posture of the metal square tube through the vision recognition system to reach the standard posture. The above operation is repeated until all welding tubes are placed and fixed.

[0010] 5) The second moving mechanism moves the second gantry frame above the welding platform. The vision positioning module scans the welding workpiece to obtain an image of the welding workpiece. A two-dimensional model of the workpiece is established based on the extracted image. The two-dimensional model is input into the radial basis neural network model to generate a group of weld vector segments and the corresponding spatial trajectory of welding. The welding robot is controlled to move according to the group of weld vector segments and the corresponding spatial trajectory of welding to complete the welding of the workpiece.

[0011] 6) The weld seam recognition system scans the welded workpiece to obtain an image of the workpiece, identifies the weld seam, and determines whether there is an incomplete weld seam. If so, the controller controls the welding robot to perform re-welding; otherwise, the welding process ends and the product is obtained.

[0012] Preferably, after the self-locking mounting bracket secures the workpiece to the welding platform, the first gantry and the gripping robot move away from above the welding platform.

[0013] This invention also provides an automated welding robot system for large-sized components, including a welding platform with a material stacking area on one side. Above the welding platform, along its length, are two spaced-apart first and second gantry frames. The bottoms of the first and second gantry frames are connected to gantry rails located on both sides of the welding platform via a first and a second moving mechanism, respectively. A gripping robot equipped with a vision recognition module is mounted on the first gantry frame. A welding robot equipped with a vision positioning module and a weld seam recognition module is mounted on the second gantry frame. An electrically controlled self-locking mounting bracket for fixing each welded pipe is mounted on the welding platform. The system also includes a controller.

[0014] Both the first and second gantry frames include two spaced-apart gantry columns. The bottom of each gantry column is fixed to the gantry ground rail and can slide along the gantry ground rail. A gantry base is provided at the top of each gantry column. The side wall of the gantry base is provided with a gantry mounting frame for mounting the gripping robot and the welding robot. It also includes a gantry drive motor for driving the gantry mounting frame to move along the gantry track located at the top of the gantry base.

[0015] The gripping robot includes a gripping robot base, a gripping robot arm mounted on the gripping robot base, and a gripping fixture for gripping welding workpieces mounted on the top of the gripping robot arm; it also includes a gripping robot drive motor for driving the gripping robot arm; and a vision recognition system is also installed on the gripping robot.

[0016] The welding robot includes a welding robot base, a welding robot arm mounted on the welding robot base, and a welding fixture for gripping the welding torch mounted at the bottom of the welding robot arm; it also includes a welding robot drive motor for driving the welding robot arm; and a vision positioning system and a weld recognition system are also installed on the welding robot.

[0017] Preferably, the control system includes a vision recognition system on the gripping robot, a vision positioning system on the welding robot, and a weld recognition system, used to generate the placement coordinates of the welding workpiece, the welding point coordinates of the welding robot, and the coordinates of the weld that needs to be welded again, and transmit them to the controller.

[0018] The controller includes a placement control module, a fixing control module, a welding control module, and a weld recognition module. The placement control module receives the placement coordinates of the workpiece from the vision recognition system and sends placement instructions to the first gantry and the gripping robot. The fixing control module sends fixing instructions to the self-locking mounting frame after the gripping robot places the workpiece on the welding platform. The welding control module receives the welding point coordinates from the vision positioning system and sends welding instructions to the second gantry and the welding robot. The weld recognition module receives information from the weld recognition system and determines whether there is an incomplete weld; if so, it sends a re-welding instruction to the welding robot.

[0019] The first gantry and the second gantry are used to receive and execute placement instructions from the placement control module and welding instructions from the welding control module, respectively, to move the gripping robot and the welding robot above the welding platform.

[0020] The gripping robot receives and executes placement instructions from the placement control module, placing the workpiece to be welded at a designated position on the welding platform.

[0021] The self-locking mounting bracket is used to receive and execute placement instructions from the fixing control module to fix the welding workpiece on the welding platform.

[0022] It also includes a welding robot, which receives and executes welding instructions from the welding control module to weld workpieces fixed on the welding platform, and receives and executes signals from the weld seam recognition module to re-weld incomplete weld seams.

[0023] Preferably, the self-locking mounting bracket includes a self-locking mounting bracket mounting base fixed to the top of the base, self-locking mounting bracket mounting supports extending upward from both sides of the self-locking mounting bracket mounting base, and self-locking mounting bracket fixing clamps installed on the self-locking mounting brackets. One end of the self-locking mounting bracket fixing clamp is used to fix the welding workpiece, and the other end is connected to a self-locking mounting bracket pneumatic push rod.

[0024] Preferably, the gripping robot and the welding robot are detachably connected to the gantry mounting pin on the gantry mounting frame via gripping robot base positioning holes on the gripping robot base and welding robot base positioning holes on the welding robot base, respectively.

[0025] Preferably, both the gripping robot arm and the welding robot arm are six-degree-of-freedom robotic arms.

[0026] Preferably, the central axis of the welding torch coincides with the axis of the last axis of the welding robot arm.

[0027] Preferably, the gripping fixture is an electromagnetic chuck.

[0028] Preferably, the bottom of the first gantry and the second gantry are respectively provided with a first drive motor and a second drive motor for driving the first gantry and the second gantry to move along the gantry ground rail, and each drive motor is electrically connected to the controller.

[0029] The present invention also provides an automated welding robot system for large-sized components, comprising the following steps:

[0030] The automatic welding method and automatic welding robot system for large-sized components provided by this invention have the following advantages compared with the prior art:

[0031] This invention provides an automatic welding method and automatic welding robot system for large-sized components. A gripping robot and a welding robot are detachably mounted on a first gantry and a second gantry, respectively. Driven by the first and second gantry, the gripping robot and the welding robot can move as a whole, thereby increasing the working range of the welding robot and enabling welding operations on larger metal components. The aid of a vision recognition system improves the placement accuracy of the welding workpiece, reduces manual operation, increases automation, and improves production efficiency. Attached Figure Description

[0032] To more clearly illustrate the specific embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the specific embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present invention. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0033] Figure 1 is a structural schematic diagram (perspective view) of the automatic welding robot system for large-sized components described in this invention.

[0034] Figure 2 This is a schematic diagram (three-dimensional view) of the welding platform described in this invention.

[0035] Figure 3 This is a schematic diagram (perspective view) of the structure of the self-locking mounting bracket described in this invention.

[0036] Figure 4 This is a schematic diagram (three-dimensional view) of the structure of the first gantry and the second gantry in this invention.

[0037] Figure 5 This is a schematic diagram (three-dimensional view) of the gripping robot described in this invention.

[0038] Figure 6 This is a schematic diagram (side view) of the welding robot described in this invention.

[0039] Explanation of reference numerals in the attached figures:

[0040] 1. Welding platform; 101. Base; 102. Welding workpiece; 103. Self-locking mounting bracket; 1031. Self-locking mounting bracket mounting base; 1032. Self-locking mounting bracket mounting bracket; 1033. Self-locking mounting bracket fixing clamp; 1034. Self-locking mounting bracket pneumatic push rod; 2. First gantry frame; 201. Gantry ground rail; 202. Gantry column; 203. Gantry base; 204. Gantry mounting bracket; 205. Gantry drive motor; 206. Gantry 3. Mounting pin; 4. Gripping robot; 301. Gripping robot base; 302. Gripping robot robotic arm; 303. Gripping fixture; 304. Gripping robot drive motor; 305. Gripping robot base positioning hole; 5. Welding robot; 401. Welding robot base; 402. Welding robot robotic arm; 403. Welding fixture; 404. Welding robot drive motor; 405. Welding torch; 406. Welding robot base positioning hole; 6. Second gantry frame. Detailed Implementation

[0041] The technical solution of the present invention will be clearly and completely described below. Obviously, the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0042] In the description of this invention, it should be noted that the terms "center," "upper," "lower," "left," "right," "vertical," "horizontal," "inner," and "outer," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are used only for the convenience of describing the invention and for simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on the invention. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and should not be construed as indicating or implying relative importance.

[0043] In the description of this invention, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "linking" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this invention based on the specific circumstances.

[0044] like Figure 1 , Figure 2 As shown, this embodiment provides an automated welding robot method for large-sized components, including the following steps:

[0045] 1) An automated welding robot system is constructed, including a welding platform 1. A material stacking area is provided on one side of the welding platform 1. Two spaced-apart first gantry frames 2 and second gantry frames 5 are provided above the welding platform 1 along its length. The bottoms of the first gantry frames 2 and second gantry frames 5 are connected to gantry rails 201 located on both sides of the welding platform 1 through a first moving mechanism and a second moving mechanism, respectively. A gripping robot 3 is installed on the first gantry frame 2, and a vision recognition module is installed on the gripping robot 3. A welding robot 4 is installed on the second gantry frame 5, and a vision positioning module and a weld recognition module are installed on the welding robot 4. An electrically controlled self-locking mounting bracket 103 for fixing each welded pipe is installed on the welding platform 1. A controller is also included.

[0046] 2) Establish a two-dimensional model of a large-sized component with multiple welded pipes and obtain the relative orientation of each welded pipe;

[0047] 3) The first moving mechanism moves the first gantry 2 above the stacking area and controls the grabbing robot 3 to grab the metal square tube through the grabbing gripper 303 on the grabbing robot arm 302;

[0048] 4) The first moving mechanism moves the first gantry 2 above the welding platform 4. With the assistance of the vision recognition module, the gripping robot arm 302 adjusts the posture of the metal square tube to a standard posture, wherein the standard posture is the posture in which the fixing fixture fixes the metal square tube. The gripping robot arm 302 places the metal square tube on the welding platform 1 and holds it continuously, controlling the self-locking mounting bracket 103 to fix the metal square tube. If the metal square tube cannot reach the standard posture during the fixing process, the robot arm continuously adjusts the posture of the metal square tube through the vision recognition system to reach the standard posture. The above operation is repeated until all welding tubes are placed and fixed.

[0049] 5) The second moving mechanism moves the second gantry 5 above the welding platform 1. The vision positioning module scans the welding workpiece 102 to obtain an image of the welding workpiece 102. A two-dimensional model of the workpiece is established based on the extracted image. The two-dimensional model is input into the radial basis neural network model to generate a group of weld vector segments and the corresponding spatial trajectory of welding. The welding robot 4 is controlled to move according to the group of weld vector segments and the corresponding spatial trajectory of welding to complete the welding of the workpiece weld.

[0050] 6) The weld seam recognition system scans the welding workpiece 102 to obtain an image of the welding workpiece 102, identifies the weld seam and determines whether there is an incomplete weld seam. If there is, the controller controls the welding robot 4 to perform welding again; otherwise, the welding process ends and the product is obtained.

[0051] This invention provides an automated welding robot method for large-sized components. A gripping robot 3 and a welding robot 4 are detachably mounted on a first gantry 2 and a second gantry 5, respectively. Driven by the first gantry 2 and the second gantry 5, the gripping robot 3 and the welding robot 4 can move as a whole, thereby increasing the working range of the welding robot 4 and enabling welding operations on larger metal components. The aid of a vision recognition system improves the placement accuracy of the welding workpiece 102, reduces manual operation, increases automation, and improves production efficiency.

[0052] In this embodiment, after the self-locking mounting bracket 103 fixes the welding workpiece 102 onto the welding platform 1, the first gantry 2 and the gripping robot 3 move away from above the welding platform 1.

[0053] In this embodiment, after all the welding workpieces 102 are fixed, the first gantry 2 carrying the gripping robot 3 leaves the welding platform 1 to make room for the welding robot 4.

[0054] like Figure 1 , Figure 2 , Figure 3 , Figure 4 , Figure 5 , Figure 6 As shown, this embodiment also provides an automatic welding robot system for large-sized components, including a welding platform 1. A material stacking area is provided on one side of the welding platform 1. Two spaced-apart first gantry frames 2 and second gantry frames 5 are provided above the welding platform 1 along its length. The bottoms of the first gantry frames 2 and second gantry frames 5 are respectively connected to gantry rails 201 located on both sides of the welding platform 1 through a first moving mechanism and a second moving mechanism. A gripping robot 3 is installed on the first gantry frame 2, and a vision recognition module is installed on the gripping robot 3. A welding robot 4 is installed on the second gantry frame 5, and a vision positioning module and a weld recognition module are installed on the welding robot 4. An electrically controlled self-locking mounting bracket 103 for fixing each welded pipe is installed on the welding platform 1. The system also includes a controller.

[0055] Both the first gantry frame 2 and the second gantry frame 5 include two spaced-apart gantry columns 202. The bottom end of each gantry column 202 is fixed to the gantry ground rail 201 and can slide along the gantry ground rail 201. The top of each gantry column 202 is provided with a gantry base 203. The side wall of the gantry base 203 is provided with a gantry mounting frame 204 for mounting the gripping robot 3 and the welding robot 4. It also includes a gantry drive motor 205 for driving the gantry mounting frame 204 to move along the gantry track located at the top of the gantry base 203.

[0056] The gripping robot 3 includes a gripping robot base 301, a gripping robot arm 302 mounted on the gripping robot base 301, and a gripping fixture 303 for gripping the welding workpiece 102 mounted on the top of the gripping robot arm 302; it also includes a gripping robot drive motor 304 for driving the gripping robot arm 302; and a vision recognition system is also mounted on the gripping robot 3.

[0057] The welding robot 4 includes a welding robot base 401, on which a welding robot arm 402 is mounted, and a welding fixture 403 for gripping a welding torch 405 is mounted at the bottom of the welding robot arm 402; it also includes a welding robot drive motor 404 for driving the welding robot arm 402; the welding robot 4 is also equipped with a vision positioning system and a weld seam recognition system.

[0058] This invention provides an automated welding robot system for large-sized components. A gripping robot 3 and a welding robot 4 are detachably mounted on a first gantry 2 and a second gantry 5, respectively. Driven by the first gantry 2 and the second gantry 5, the gripping robot 3 and the welding robot 4 can move as a whole, thereby increasing the working range of the welding robot 4 and enabling welding operations on larger metal components. The aid of a vision recognition system improves the placement accuracy of the welding workpiece 102, reduces manual operation, increases automation, and improves production efficiency.

[0059] like Figure 1 , Figure 2 As shown, the control system includes a vision recognition system on the gripping robot 3, a vision positioning system on the welding robot 4, and a weld seam recognition system, which are used to generate the placement coordinates of the welding workpiece 102, the welding point coordinates of the welding robot 4, and the coordinates of the weld seam that needs to be welded again and transmit them to the controller.

[0060] The controller includes a placement control module, a fixing control module, a welding control module, and a weld seam recognition module. The placement control module receives the placement coordinates of the welding workpiece 102 from the vision recognition system and sends placement instructions to the first gantry 2 and the gripping robot 3, which are equipped with the gripping robot 3. The fixing control module sends a fixing instruction to the self-locking mounting frame 103 after the gripping robot 3 places the welding workpiece 102 on the welding platform 1. The welding control module receives the welding point coordinates from the vision positioning system and sends welding instructions to the second gantry 5 and the welding robot 4, which are equipped with the welding robot 4. The weld seam recognition module receives information from the weld seam recognition system and determines whether there is an incomplete weld seam. If so, it sends a re-welding instruction to the welding robot 4.

[0061] The first gantry 2 and the second gantry 5 are used to receive and execute placement instructions from the placement control module and welding instructions from the welding control module, respectively moving the gripping robot 3 and the welding robot 4 above the welding platform 1.

[0062] The gripping robot 3 is used to receive and execute placement instructions from the placement control module, placing the welding workpiece 102 at a designated position on the welding platform 1.

[0063] The self-locking mounting bracket 103 is used to receive and execute placement instructions from the fixing control module to fix the welding workpiece 102 on the welding platform 1.

[0064] It also includes a welding robot 4, which receives and executes welding instructions from the welding control module to weld the workpiece 102 fixed on the welding platform 1, and receives and executes signals from the weld seam recognition module to re-weld incomplete weld seams.

[0065] The automatic welding robot system for large-sized components provided by this invention operates as follows: First gantry 2, carrying a gripping robot 3, moves to the material stacking area, grips the required welding workpiece 102, and returns to the welding platform 1. With the assistance of a vision recognition system, the welding workpiece 102 is placed in a designated position and fixed by a self-locking mounting bracket 103. Then, the first gantry 2 carrying the gripping robot 3 leaves the welding platform 1. Second gantry 5, carrying a welding robot 4, moves to the welding platform 1. With the assistance of a vision positioning system, each welding workpiece 102 is welded. With the assistance of a weld seam recognition system, incomplete weld seams are re-welded to obtain the finished workpiece.

[0066] like Figure 3 As shown, the self-locking mounting bracket 103 includes a self-locking mounting bracket mounting base 1031 fixed to the top of the base 101, and self-locking mounting bracket mounting supports 1032 extending upward from both sides of the self-locking mounting bracket mounting base 1031. A self-locking mounting bracket fixing clamp 1033 is installed on the self-locking mounting bracket mounting support 1032. One end of the self-locking mounting bracket fixing clamp 1033 is used to fix the welding workpiece 102, and the other end is connected to the self-locking mounting bracket pneumatic push rod 1034.

[0067] After the welding workpiece 102 provided by the present invention is placed in a designated position, the fixing control module in the controller controls the pneumatic push rod 1034 of the self-locking mounting bracket to extend outward, pushing the fixing clamp 1033 of the self-locking mounting bracket to move towards the welding platform 1, thereby fixing the welding workpiece 102 above the welding platform 1.

[0068] like Figure 5 , Figure 6 As shown, the gripping robot 3 and the welding robot 4 are detachably connected to the gantry mounting pin 206 on the gantry mounting bracket 204 via the gripping robot base positioning hole 305 on the gripping robot base 301 and the welding robot base positioning hole 406 on the welding robot base 401, respectively.

[0069] In this embodiment, both the gripping robot arm 302 and the welding robot arm 402 are six-degree-of-freedom robotic arms.

[0070] like Figure 6 As shown, the central axis of the welding torch 405 coincides with the axis of the last axis of the welding robot arm 402.

[0071] In this embodiment, the gripping fixture 303 is an electromagnetic chuck.

[0072] In this embodiment, the bottom of the first gantry 2 and the second gantry 5 are respectively provided with a first drive motor and a second drive motor for driving the first gantry 2 and the second gantry 5 to move along the gantry ground rail 201, and each drive motor is electrically connected to the controller.

[0073] This invention provides an automatic welding method and automatic welding robot system for large-sized components. A gripping robot 3 and a welding robot 4 are detachably mounted on a first gantry 2 and a second gantry 5, respectively. Driven by the first gantry 2 and the second gantry 5, the gripping robot 3 and the welding robot 4 can move as a whole, thereby increasing the working range of the welding robot 4 and enabling welding operations on larger metal components. The aid of a vision recognition system improves the placement accuracy of the welding workpiece 102, reduces manual operation, increases automation, and improves production efficiency.

[0074] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, and not to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some or all of the technical features; and these modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present invention.

Claims

1. An automatic welding method for large-sized components, characterized in that: Includes the following steps: 1) An automatic welding robot system is constructed, including a welding platform (1). A material stacking area is provided on one side of the welding platform (1). Two spaced first gantry frames (2) and second gantry frames (5) are provided on the upper part of the welding platform (1) along its length. The bottom of the first gantry frames (2) and the second gantry frames (5) are respectively connected to the gantry ground rails (201) located on both sides of the welding platform (1) through the first moving mechanism and the second moving mechanism. A gripping robot (3) is installed on the first gantry frame (2). A vision recognition module is installed on the gripping robot (3). A welding robot (4) is installed on the second gantry frame (5). A vision positioning module and a weld recognition module are installed on the welding robot (4). An electrically controlled self-locking mounting bracket (103) for fixing each welding workpiece (102) is installed on the welding platform (1). 2) Establish two-dimensional models of each large-size welded pipe component and obtain the relative orientation of each welded pipe; 3) The first moving mechanism moves the first gantry (2) above the stacking area and controls the grabbing robot (3) to grab the metal square tube through the grabbing gripper (303) on the grabbing robot's mechanical arm (302); 4) The first moving mechanism moves the first gantry (2) above the welding platform (1). The gripping robot arm (302) adjusts the posture of the metal square tube to the standard posture with the assistance of the vision recognition module. The standard posture is the posture in which the fixing fixture fixes the metal square tube. The gripping robot arm (302) places the metal square tube on the welding platform (1) and holds it continuously, controlling the self-locking mounting bracket (103) to fix the metal square tube. If the metal square tube cannot reach the standard posture during the fixing process, the gripping robot arm (302) continuously adjusts the posture of the metal square tube to the standard posture through the vision recognition module. The above operation is repeated until all welding tubes are placed and fixed. 5) The second moving mechanism moves the second gantry (5) above the welding platform (1). The visual positioning module scans the welding workpiece (102) to obtain the image of the welding workpiece (102). Based on the extracted image, a two-dimensional model of the workpiece is established. The two-dimensional model is input into the radial basis neural network model to generate the weld vector line segment group and the corresponding welding spatial trajectory. Based on the weld vector line segment group and the corresponding welding spatial trajectory, the welding robot (4) is controlled to move to complete the welding of the workpiece weld. 6) The weld seam recognition module scans the welding workpiece (102) to obtain an image of the welding workpiece (102), identifies the weld seam and determines whether there is an incomplete weld seam. If there is, the controller controls the welding robot (4) to perform welding again; otherwise, the welding process ends and the product is obtained. After the self-locking mounting bracket (103) fixes the welding workpiece (102) onto the welding platform (1), the first gantry (2) and the gripping robot (3) move away from above the welding platform (1); The automated welding robot system includes: The control system includes a vision recognition module on the gripping robot (3), a vision positioning module on the welding robot (4), and a weld recognition module, which are used to generate the placement coordinates of the welding workpiece (102), the welding point coordinates of the welding robot (4), and the coordinates of the weld that needs to be welded again and transmit them to the controller. The controller includes a placement control module, a fixing control module, and a welding control module; The placement control module is used to receive the placement coordinates of the welding workpiece (102) from the vision recognition module and send placement instructions to the first gantry (2) on which the gripping robot (3) is installed and the gripping robot (3); The fixing control module is used to send a fixing command to the self-locking mounting frame (103) after the gripping robot (3) places the welding workpiece (102) on the welding platform (1); The welding control module is used to receive the welding point coordinates from the vision positioning module and send welding instructions to the second gantry (5) on which the welding robot (4) is installed and the welding robot (4); it is used to receive information from the weld recognition module and determine whether there is an incomplete weld. If there is, it sends a re-welding instruction to the welding robot (4). The first gantry (2) and the second gantry (5) are used to receive and execute placement instructions from the placement control module and welding instructions from the welding control module, respectively moving the gripping robot (3) and the welding robot (4) above the welding platform (1); The gripping robot (3) is used to receive and execute placement instructions from the placement control module to place the welding workpiece (102) at a specified position on the welding platform (1); The self-locking mounting bracket (103) is used to receive and execute placement instructions from the fixing control module to fix the welding workpiece (102) on the welding platform (1); It also includes a welding robot (4), which receives and executes welding instructions from the welding control module to weld the workpiece (102) fixed on the welding platform (1), and receives and executes signals from the weld identification module to re-weld the weld that is not fully welded. The self-locking mounting bracket (103) includes a self-locking mounting bracket mounting base (1031) fixed to the top of the base (101), and self-locking mounting bracket mounting supports (1032) extending upward from both sides of the self-locking mounting bracket mounting base (1031). A self-locking mounting bracket fixing clamp (1033) is installed on the self-locking mounting bracket mounting support (1032). One end of the self-locking mounting bracket fixing clamp (1033) is used to fix the welding workpiece (102), and the other end is connected to the self-locking mounting bracket pneumatic push rod (1034).

2. An automated welding robot system for large-sized components based on the automated welding method for large-sized components as described in claim 1, characterized in that: The system includes a welding platform (1), a material stacking area on one side of the welding platform (1), and two spaced-apart first gantry frames (2) and second gantry frames (5) above the welding platform (1) along its length. The bottoms of the first gantry frames (2) and the second gantry frames (5) are connected to the gantry rails (201) on both sides of the welding platform (1) through the first moving mechanism and the second moving mechanism, respectively. The first gantry frame (2) is equipped with a gripping robot (3) and a vision recognition module. The second gantry frame (5) is equipped with a welding robot (4) and a vision positioning module and a weld recognition module. The welding platform (1) is equipped with an electrically controlled self-locking mounting bracket (103) for fixing each welding workpiece (102). The system also includes a controller. Both the first gantry (2) and the second gantry (5) include two gantry columns (202) arranged at intervals. The bottom end of each gantry column (202) is fixed on the gantry ground rail (201) and can slide along the gantry ground rail (201). A gantry base (203) is provided at the top of each gantry column (202). The side wall of the gantry base (203) is provided with a gantry mounting frame (204) for mounting the gripping robot (3) and the welding robot (4). It also includes a gantry drive motor (205) for driving the gantry mounting frame (204) to move along the gantry track located at the top of the gantry base (203). The gripping robot (3) includes a gripping robot base (301), a gripping robot arm (302) mounted on the gripping robot base (301), and a gripping fixture (303) for gripping the welding workpiece (102) mounted on the top of the gripping robot arm (302); it also includes a gripping robot drive motor (304) for driving the gripping robot arm (302). The welding robot (4) includes a welding robot base (401), a welding robot arm (402) mounted on the welding robot base (401), and a welding fixture (403) for gripping the welding torch (405) mounted at the bottom end of the welding robot arm (402); it also includes a welding robot drive motor (404) for driving the welding robot arm (402).

3. The automated welding robot system for large-size components according to claim 2, characterized in that: The gripping robot (3) and the welding robot (4) are detachably connected to the gantry mounting pin (206) on the gantry mounting bracket (204) via the gripping robot base positioning hole (305) on the gripping robot base (301) and the welding robot base positioning hole (406) on the welding robot base (401).

4. The automated welding robot system for large-size components according to claim 3, characterized in that: Both the gripping robot arm (302) and the welding robot arm (402) are six-degree-of-freedom robotic arms.

5. The automated welding robot system for large-size components according to claim 4, characterized in that: The central axis of the welding torch (405) coincides with the axis of the last axis of the welding robot arm (402).

6. The automated welding robot system for large-size components according to claim 5, characterized in that: The gripper (303) is an electromagnetic chuck.

7. The automated welding robot system for large-size components according to claim 6, characterized in that: The first drive motor and the second drive motor are respectively electrically connected to the controller.

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