Automatic spot welding system and method for ship workpieces

Abstract

The present application relates to a system and method for automatic assembly and spot welding of ship workpieces. The system and method for automatic assembly and spot welding of ship workpieces include a conveying mechanism, a material storage mechanism, a secondary positioning mechanism, a handling robot and a welding robot. The conveying mechanism includes a conveying line and a positioning device arranged on the conveying line, and the positioning device is used to position the first workpiece to a preset position of the conveying line; the material storage mechanism includes a material storage part and a visual recognition device, and the visual recognition device is used to obtain the category information and storage position information of the second workpiece in the material storage part; the secondary positioning mechanism is configured to locate the origin of the second workpiece; the handling robot can transport the second workpiece and adjust the posture of the second workpiece under the guidance of the visual guidance device; the welding robot is used to automatically assemble and spot weld the first workpiece and the second workpiece. The system and method for automatic assembly and spot welding of ship workpieces of the present application realize automatic assembly and spot welding operations, save labor costs, and have high processing efficiency and stable welding quality.

Description

Technical Field

[0001] The present application relates to the field of welding technology, and in particular to a system and method for automatic spot welding of ship workpieces. Background Art

[0002] Inland river ship subassemblies are of various types, small batches, and a wide range of sizes. Welding is a manufacturing process and technology that combines metals by heating and high temperature. In related technologies, the fixation between subassembly parts is all done by manual assembly spot welding. However, manual assembly spot welding has high labor intensity, a harsh working environment, uneven welds, poor welding consistency, unstable welding quality, and the workpiece circulation method is manual lifting, which poses safety hazards and low work efficiency. Summary of the invention

[0003] Based on this, it is necessary to provide a system and method for automatic spot welding of ship workpieces to address the problems of unstable welding quality, poor workpiece flow, and low work efficiency in manual spot welding in related technologies.

[0004] In a first aspect, an embodiment of the present application provides a ship workpiece automatic assembly spot welding system, comprising:

[0005] A conveying mechanism, comprising a conveying line and a positioning device provided on the conveying line, wherein the conveying line is used to convey a first workpiece, and the positioning device is used to position the first workpiece to a preset position of the conveying line;

[0006] A material storage mechanism is arranged at one side of the conveying mechanism, the material storage mechanism comprises a material storage piece and a visual recognition device, the material storage piece is used to store the second workpiece, and the visual recognition device is used to obtain the category information and storage position information of the second workpiece in the material storage piece;

[0007] A secondary positioning mechanism, configured to perform origin positioning on the second workpiece;

[0008] A handling robot, comprising an end picker and a visual guide device, wherein the end picker is used to pick up the second workpiece, and the visual guide device is used to guide the movement of the end picker, and the handling robot can transfer the second workpiece and adjust the posture of the second workpiece under the guidance of the visual guide device;

[0009] A welding robot comprises a welding device and a weld tracking device, wherein the welding device is used for automatically performing spot welding on the first workpiece and the second workpiece under the guidance of the weld tracking device.

[0010] In some embodiments, the positioning device includes a positioning member and a first push-block assembly, the positioning member is fixed at the preset position of the conveyor line, and the positioning member protrudes from the conveying plane of the conveyor line; the first push-block assembly includes a first push-block member protruding from the conveying plane of the conveyor line, and the first push-block member can move in a direction perpendicular to the conveying direction of the conveyor line to push the first workpiece against the positioning member.

[0011] In some embodiments, the secondary positioning mechanism includes a base, a stop assembly, a second push block assembly and a third push block assembly; the stop assembly is fixed to the table top of the base; the second push block assembly includes a second push block member capable of moving along a first direction toward or away from the stop block assembly to push the second workpiece placed on the table top of the base along the first direction to abut against the stop block assembly; the third push block assembly includes a third push block member capable of moving along a second direction toward or away from the stop block assembly to push the second workpiece placed on the table top of the base along the second direction to abut against the stop block assembly; wherein the first direction and the second direction are perpendicular to each other and are both parallel to the table top of the base.

[0012] In some embodiments, the secondary positioning mechanism further includes a flatness detection device, and the flatness detection device is configured to obtain the flatness of the second workpiece placed on the table surface of the base.

[0013] In some embodiments, the conveying mechanism further includes a thickness detection device, and the thickness detection device is configured to obtain thickness information of the first workpiece positioned at the preset position.

[0014] In some embodiments, the automatic assembly and spot welding system for ship workpieces also includes a mounting mechanism, which includes a mounting frame, and the mounting frame can move in a direction parallel to the conveying direction of the conveyor line; the mounting frame includes a mounting beam arranged above the conveyor line, and the projection of the mounting beam on the conveying plane of the conveyor line intersects with the conveying direction of the conveyor line; the handling robot and the welding robot are both installed on the mounting beam, and the handling robot and the welding robot can move along the mounting beam respectively.

[0015] In a second aspect, an embodiment of the present application provides a method for automatic spot welding of ship workpieces, using the automatic spot welding system for ship workpieces as described in any one of the first aspects, and the method for automatic spot welding of ship workpieces includes:

[0016] Control the conveyor line to convey the first workpiece to be assembled to the working area, control the positioning device to position the first workpiece to be assembled to a preset position of the conveyor line, and determine the marking position information of the first workpiece to be assembled;

[0017] Acquire the category information and storage location information of the second workpiece in the stockpile by means of a visual recognition device;

[0018] According to the category information and storage location information of the second workpiece in the stock piece, under the guidance of the visual guidance device, the handling robot is controlled to transfer the second workpiece to be assembled from the stock piece to the secondary positioning mechanism;

[0019] Control the secondary positioning mechanism to locate the origin of the second workpiece to be assembled;

[0020] Control the handling robot to pick up the second workpiece to be assembled after the origin is positioned, and under the guidance of the visual guidance device, transport the second workpiece to be assembled to the marked position of the first workpiece to be assembled for assembly;

[0021] The welding robot is controlled to perform spot welding operation on the assembled first workpiece and the second workpiece.

[0022] In some embodiments, under the guidance of the visual guidance device, transferring the second workpiece to be assembled to the marking position of the first workpiece to be assembled for assembly includes:

[0023] Determine the posture information of the second workpiece to be assembled according to the posture information of the end of the handling robot and the category information of the second workpiece to be assembled, and control the handling robot to place the second workpiece to be assembled at the marking position of the first workpiece to be assembled according to the marking position information of the first workpiece to be assembled;

[0024] An image of the first workpiece to be assembled is obtained through a visual guidance device. Based on the image of the first workpiece to be assembled, the handling robot is controlled to adjust the angle and relative position between the end face of the second workpiece and the marking line of the first workpiece, so that the end face of the second workpiece coincides with the marking line of the first workpiece, thereby completing the assembly of the first workpiece and the second workpiece.

[0025] In some embodiments, after the controlling the secondary positioning mechanism performs origin positioning on the second workpiece to be assembled, the method further comprises:

[0026] Obtaining the flatness of the second workpiece to be assembled;

[0027] When the flatness of the second workpiece to be assembled meets the requirements, the step of controlling the handling robot to pick up the second workpiece to be assembled after the origin positioning, and under the guidance of the visual guidance device, transferring the second workpiece to be assembled to the marked position of the first workpiece to be assembled for assembly is executed; when the flatness of the second workpiece to be assembled does not meet the requirements, the handling robot is controlled to remove the second workpiece on the secondary positioning mechanism, and returns to the step of controlling the handling robot to transfer the second workpiece to be assembled from the stock piece to the secondary positioning mechanism according to the category information and storage location information of the second workpiece in the stock piece under the guidance of the visual guidance device.

[0028] In some embodiments, after the control positioning device positions the first workpiece to be assembled to a preset position of the conveyor line, the control positioning device further includes:

[0029] Acquiring thickness information of a first workpiece to be assembled;

[0030] The welding parameters are automatically matched according to the thickness information of the first workpiece to be assembled.

[0031] The above-mentioned automatic assembly and spot welding system and method for ship workpieces can completely position the first workpiece and the second workpiece to be assembled by providing a positioning device and a secondary positioning mechanism with a mechanical limit structure. Combined with visual recognition technology, the assembly welding position of the first workpiece and the second workpiece can be accurately located, thereby realizing automatic assembly and spot welding of the first workpiece and the second workpiece, saving labor costs, and improving processing efficiency. It can also control the welding gap between the first workpiece and the second workpiece, which is beneficial to improving the welding quality and making the welding quality more stable, thereby overcoming the problems of unstable welding quality, low efficiency, and poor workpiece flow in related technologies. BRIEF DESCRIPTION OF THE DRAWINGS

[0032] FIG. 1 is a schematic diagram of the structure of an automatic assembly spot welding system for ship workpieces according to some embodiments of the present application.

[0033] FIG. 2 is an enlarged schematic diagram of the structure at point A in FIG. 1 .

[0034] FIG. 3 is an enlarged schematic diagram of the structure at point B in FIG. 1 .

[0035] FIG. 4 is a schematic diagram of the structure of a conveying mechanism according to some embodiments of the present application.

[0036] FIG5 is a schematic flow chart of a method for automatic spot welding of ship workpieces according to some embodiments of the present application.

[0037] Figure Number:

[0038] 100. Automatic spot welding system for ship workpieces;

[0039] 1. conveying mechanism; 11. conveying line; 111. conveying roller; 112. conveying frame; 12. positioning device; 121. positioning member; 122. first push-blocking assembly; 1221. first push-blocking member; 1222. first driving member;

[0040] 2. Material storage mechanism; 21. Material storage member; 22. Visual recognition device; 221. Recognition camera; 222. Camera bracket;

[0041] 3. Secondary positioning mechanism; 31. Base; 311. Table; 32. Stopper assembly; 321. First stopper; 322. Second stopper; 33. Second pusher assembly; 331. Second pusher; 332. Second driving member; 34. Third pusher assembly; 341. Third pusher; 342. Third driving member;

[0042] 4. Handling robot; 41. End picker; 42. Visual guidance device;

[0043] 5. Welding robot; 51. Welding device; 52. Weld seam tracking device;

[0044] 6. Installation mechanism; 61. Installation frame; 611. Installation beam; 612. Support column; 62. Ground rail;

[0045] 200, first workpiece; 300, second workpiece. DETAILED DESCRIPTION

[0046] In order to make the above-mentioned purposes, features and advantages of the present application more obvious and easy to understand, the specific implementation methods of the present application are described in detail below in conjunction with the accompanying drawings. In the following description, many specific details are set forth to facilitate a full understanding of the present application. However, the present application can be implemented in many other ways different from those described herein, and those skilled in the art can make similar improvements without violating the connotation of the present application, so the present application is not limited by the specific embodiments disclosed below.

[0047] In the description of the present application, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise", "axial", "radial", "circumferential" and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the referred device or element must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as a limitation on the present application.

[0048] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" and "second" may explicitly or implicitly include at least one of the features. In the description of this application, "plurality" means at least two, such as two, three, etc., unless otherwise clearly and specifically defined.

[0049] In this application, unless otherwise clearly specified and limited, the terms "installed", "connected", "connected", "fixed" and the like should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integrated connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements, unless otherwise clearly defined. For ordinary technicians in this field, the specific meanings of the above terms in this application can be understood according to specific circumstances.

[0050] In the present application, unless otherwise clearly specified and limited, a first feature being “above” or “below” a second feature may mean that the first and second features are in direct contact, or the first and second features are in indirect contact through an intermediate medium. Moreover, a first feature being “above”, “above”, and “above” a second feature may mean that the first feature is directly above or obliquely above the second feature, or simply means that the first feature is higher in level than the second feature. A first feature being “below”, “below”, and “below” a second feature may mean that the first feature is directly below or obliquely below the second feature, or simply means that the first feature is lower in level than the second feature.

[0051] It should be noted that when an element is referred to as being "fixed to" or "disposed on" another element, it may be directly on the other element or there may be a central element. An element is considered to be "connected to" another element, it may be directly connected to the other element or there may be a central element at the same time. The terms "vertical", "horizontal", "upper", "lower", "left", "right" and similar expressions used in this application are for illustrative purposes only and are not intended to be the only implementation method.

[0052] Referring to Figures 1 and 2, Figure 1 shows a schematic diagram of the structure of the automatic assembly and spot welding system for ship workpieces in some embodiments of the present application, and Figure 2 shows an enlarged schematic diagram of the structure at A in Figure 1. The automatic assembly and spot welding system 100 for ship workpieces provided in the embodiment of the present application includes a conveying mechanism 1, a material storage mechanism 2, a secondary positioning mechanism 3, a handling robot 4 and a welding robot 5; the conveying mechanism 1 includes a conveying line 11 and a positioning device 12 arranged on the conveying line 11, the conveying line 11 is used to convey the first workpiece 200, and the positioning device 12 is used to position the first workpiece 200 to a preset position of the conveying line 11; the material storage mechanism 2 is arranged on one side of the conveying mechanism 1, and the material storage mechanism 2 includes a material storage member 21 and a visual recognition device 22, and the material storage member 21 is used to store the second workpiece 300, the visual recognition device 22 is used to obtain the category information and storage location information of the second workpiece 300 in the material storage part 21; the secondary positioning mechanism 3 is configured to perform origin positioning on the second workpiece 300; the handling robot 4 includes an end picker 41 and a visual guidance device 42, the end picker 41 is used to pick up the second workpiece 300, and the visual guidance device 42 is used to guide the movement of the end picker 41, and the handling robot 4 can transfer the second workpiece 300 and adjust the posture of the second workpiece 300 under the guidance of the visual guidance device 42; the welding robot 5 includes a welding device 51 and a weld tracking device 52, and the welding device 51 is used to automatically assemble and spot weld the first workpiece 200 and the second workpiece 300 under the guidance of the weld tracking device 52.

[0053] The first workpiece 200 and the second workpiece 300 in the embodiment of the present application may be ship workpieces, which are usually heavy, diverse in type, small in batches, and have a wide range of sizes. For example, the first workpiece 200 may be a stand-alone workpiece of an inland ship group, and the second workpiece 300 may be a rib plate.

[0054] The first workpiece 200 can be automatically transported by the conveyor line 11 of the conveying mechanism 1, saving manual hoisting time. The conveyor line 11 can be in the form of a roller, for example, the conveyor line 11 can include a conveyor frame 112 and a conveyor roller 111 rotatably arranged on the conveyor frame 112, multiple conveyor rollers 111 are arranged along the conveying direction, and multiple conveyor rollers 111 form a conveying plane of the conveyor line 11. The first workpiece 200 is placed on the conveyor roller 111, and the conveyor roller 111 rotates to drive the first workpiece 200 to move along the conveying direction. The first workpiece 200 can be transported to a specified position by the conveyor line 11, for example, the specified position can be a pre-set working area for group spot welding. The first workpiece 200 is automatically adjusted to a preset position by the positioning device 12, wherein the preset position refers to a position of a known coordinate pre-set on the conveyor line 11. By positioning the first workpiece 200 to the preset position, the key feature coordinates of the first workpiece 200 can be calculated, for example, the key feature coordinates can be the coordinates of the scribing position on the first workpiece 200. Marking refers to the assembly guide line predefined on the first workpiece 200 for assembly welding with the second workpiece 300. For example, the preset position can be a side position close to the edge on the conveyor line 11 of the welding area. The positioning device 12 makes one side edge of the first workpiece 200 close to the side position. Since the coordinates of the side position have been pre-calibrated, the coordinates of the marking position on the first workpiece 200 can be solved. At the same time, the positioning device 12 fixes the first workpiece 200 at the preset position, so that the position of the first workpiece 200 is fixed in the subsequent automatic assembly spot welding process, which facilitates welding and improves welding quality. The positioning device 12 can be set at a specified position. After the first workpiece 200 reaches the specified position, the positioning device 12 automatically positions the first workpiece 200. The positioning process does not require manual assistance, which is convenient and fast.

[0055] At least one second workpiece 300 to be assembled for spot welding is stored in the material storage part 21 of the material storage mechanism 2. For example, the material storage part 21 can be a material frame, and the material frame is arranged on one side of the roller automatic conveyor line 11. The category information of the second workpiece 300 in the material storage part 21 includes information such as specifications and size parameters of at least one second workpiece 300 stored in the material storage part 21. For example, the second workpiece 300 can be a rib plate, and the category information of the rib plate can include the rib plate type, rib plate size, etc. In other words, at least one second workpiece 300 stored in the material storage part 21 can be the same or different. The storage position information of the second workpiece 300 in the material storage part 21 refers to information such as the placement position coordinates of the second workpiece 300 in the material storage part 21. The visual recognition device 22 can obtain the category information and storage position information of the second workpiece 300 in the material storage part 21, and then realize the intelligent recognition of the second workpiece 300. In some embodiments, the visual recognition device 22 may include a recognition camera 221 and a camera bracket 222. The recognition camera 221 may be a three-dimensional (3D) camera. The recognition camera 221 is installed above the material storage piece 21 through the camera bracket 222. The image information of the second workpiece 300 stored in the material storage piece 21 is obtained through the recognition camera 221, and then the category information and storage location information of the second workpiece 300 in the material storage piece 21 can be calculated based on the image information.

[0056] The secondary positioning mechanism 3 is a mechanical positioning mechanism that can physically position the second workpiece 300 to a preset position. The coordinates of the preset position have been pre-calibrated, so that the origin of the second workpiece 300 can be located by the secondary positioning mechanism 3, and the origin position coordinates of the second workpiece 300 can be calculated. Physically positioning the second workpiece 300 by a mechanical structure is conducive to the subsequent handling robot 4 to grasp each second workpiece 300 at the same origin. The same origin is defined by the center point of the circumscribed rectangle of the second workpiece 300 of the same type. The category information of the second workpiece 300 may include information such as the relationship between the origin position of the second workpiece 300 and the circumscribed rectangle, so that the edge position of the circumscribed rectangle of the second workpiece 300 can be determined based on the origin position of the second workpiece 300.

[0057] The end of the mechanical arm of the handling robot 4 is provided with an end picker 41 and a visual guide device 42. The end picker 41 is a gripping fixture for picking up, transferring and adjusting the posture of the second workpiece 300; in the related art, the structure and working principle of the end picker 41 are well known and will not be repeated here. The visual guide device 42 can obtain image information of the first workpiece 200 and the second workpiece 300 based on visual measurement. For example, the visual guide device 42 can include a two-dimensional (2D) camera, such as a 2D camera can include a CCD (Charge Coupled Device) image sensor. The stock piece 21 is arranged on one side of the conveyor line 11, so that the first workpiece 200 and the second workpiece 300 can be located within the working range of the handling robot 4. According to the category information and storage position information of the second workpiece 300 in the stock piece 21, the handling robot 4 can control the end picker 41 to automatically grab the second workpiece 300 to be assembled in the stock piece 21 under the guidance of the visual guide device 42, and transfer the second workpiece 300 to be assembled to the secondary positioning mechanism 3. The secondary positioning mechanism 3 automatically locates the origin of the second workpiece 300 to be assembled, and then the handling robot 4 controls the end picker 41 to grab the second workpiece 300 to be assembled again, which can significantly improve the grasping accuracy. The handling robot 4 can grab the origin position of the second workpiece 300 to be assembled. Combined with the known category information of the second workpiece 300 and the posture information at the end of the handling robot 4, the posture information of the second workpiece 300 to be assembled can be calculated and determined. Therefore, in the process of the end picker 41 at the end of the handling robot 4 driving the second workpiece 300 to be assembled to move, the posture information of the second workpiece 300 to be assembled can be determined. The posture information of the second workpiece 300 to be assembled can be determined in real time, or it can be determined at intervals of a period of time, which is not limited here. At the same time, according to the marking position information of the first workpiece 200 to be assembled, under the guidance of the visual guidance device 42, the handling robot 4 can transfer the second workpiece 300 to the marking position close to the first workpiece 200. Then, under the guidance of the visual guide device 42, the position and posture of the second workpiece 300 are adjusted, so that the second workpiece 300 is placed at the marking position of the first workpiece 200 to be paired, so that the first workpiece 200 and the second workpiece 300 form a paired component; and the paired position of the second workpiece 300 and the first workpiece 200 can be adjusted, and the paired position determines the welding gap. In this way, it is beneficial to control and adjust the welding gap after the first workpiece 200 and the second workpiece 300 are paired, which is beneficial to improve the online processing efficiency.

[0058] The end of the mechanical arm of the welding robot 5 is provided with a welding device 51 and a weld tracking device 52. The welding device 51 is used for the spot welding of the first workpiece 200 and the second workpiece 300. For example, the welding device 51 may include a welding gun fixture, which is installed at the end of the mechanical arm of the welding robot 5, and the welding gun fixture is used to connect the welding gun. The weld tracking device 52 is used to guide the welding trajectory to prevent welding deviation. For example, the weld tracking device 52 may include a laser weld tracker or a camera. The first workpiece 200 and the second workpiece 300 are assembled by the handling robot 4, and the first workpiece 200 and the second workpiece 300 are kept in the assembly position. Then the welding robot 5 can scan the weld through the weld tracking device 52 and spot weld the weld of the first workpiece 200 and the second workpiece 300 through the welding device 51. The welding robot 5 and the handling robot 4 work together to realize automatic spot welding of the first workpiece 200 and the second workpiece 300.

[0059] The automatic assembly and spot welding system 100 for ship workpieces of the embodiment of the present application can completely position the first workpiece 200 and the second workpiece 300 to be assembled by providing a positioning device 12 and a secondary positioning mechanism 3 with a mechanical limit structure. Combined with the visual recognition device 22 and the visual guidance device 42, the assembly and spot welding positions of the first workpiece 200 and the second workpiece 300 can be accurately located, thereby realizing automatic assembly and spot welding of the first workpiece 200 and the second workpiece 300, saving labor costs, and improving processing efficiency. In addition, the welding gap between the first workpiece 200 and the second workpiece 300 can be controlled, which is beneficial to improving the welding quality and making the welding quality more stable, thereby overcoming the problems of unstable welding quality, low efficiency, and poor workpiece flow in related technologies.

[0060] In some embodiments, referring to FIG3 , FIG3 shows an enlarged schematic diagram of the structure at point B in FIG1 , where the secondary positioning mechanism 3 includes a base 31, a stop assembly 32, a second push assembly 33 and a third push assembly 34; the stop assembly 32 is fixedly disposed on the table top 311 of the base 31; the second push assembly 33 includes a second push member 331 capable of moving along a first direction toward or away from the stop assembly 32, so as to push the second workpiece 300 placed on the table top 311 of the base 31 along the first direction to abut against the stop assembly 32; the third push assembly 34 includes a third push member 341 capable of moving along a second direction toward or away from the stop assembly 32, so as to push the second workpiece 300 placed on the table top 311 of the base 31 along the second direction to abut against the stop assembly 32; wherein the first direction and the second direction are perpendicular to each other, and are both parallel to the table top 311 of the base 31.

[0061] As shown in FIG. 3 , the X direction is the first direction, the Y direction is the second direction, and the X direction and the Y direction are perpendicular to each other.

[0062] The table surface 311 of the base 31 refers to the plane at the top of the base 31; the stopper assembly 32 is fixed on the table surface 311, and the position coordinates of the stopper assembly 32 can be known by pre-calibration. The second push-block assembly 33 can also include a second driving member 332, which is connected to the second push-block 331, and the second driving member 332 drives the second push-block 331 to move along the first direction. The second push-block 331 pushes one side of the second workpiece 300 along the first direction, so that the other side of the second workpiece 300 is against the stopper assembly 32, so that the second pusher 331 cooperates with the stopper assembly 32 to position the second workpiece 300 in the first direction. Similarly, the third pusher assembly 34 can also include a third driving member 342, which is connected to the third pusher 341, and the third driving member 342 drives the third pusher 341 to move along the second direction. The third push member 341 pushes one side of the second workpiece 300 along the second direction, so that the other side of the second workpiece 300 abuts against the stop assembly 32, so that the third push member 341 cooperates with the stop assembly 32 to position the second workpiece 300 in the second direction. Thus, the second workpiece 300 is pushed against the stop assembly 32 in the first direction and the second direction according to the set program, and the circumscribed rectangular edge of the second workpiece 300 can be positioned, completing the origin positioning of the second workpiece 300.

[0063] In some embodiments, the stopper assembly 32 may include a first stopper 321 and a second stopper 322. The first stopper 321 may be arranged opposite to the second pusher 331 along the first direction. The second stopper 322 may be arranged opposite to the third pusher 341 along the second direction. For example, the first stopper 321 may include a fixed stopper, and the second stopper 322 may include a fixed baffle; the second pusher 331 and the third pusher 341 may include a movable pusher plate, and the second drive member 332 and the third drive member 342 may include a cylinder or a servo motor. In some embodiments, the table 311 on the top of the base 31 may be parallel to the horizontal plane. The second pusher assembly 33 may also include a second sliding guide rail extending along the first direction, and the second pusher 331 may be slidably arranged on the second sliding guide rail. The second sliding guide rail may guide and limit the sliding of the second pusher 331 to prevent it from being pushed off. The third push block assembly 34 may further include a third sliding guide rail extending along the second direction, and the third push block member 341 may be slidably disposed on the third sliding guide rail. The third sliding guide rail may guide and limit the sliding of the third push block member 341 to prevent it from being pushed off.

[0064] Through the cooperation of the second push block assembly 33, the third push block assembly 34 and the stop block assembly 32, the secondary positioning mechanism 3 can automatically completely position the second workpiece 300, realize the origin positioning of the second workpiece 300, and help improve the repeat positioning accuracy of the second workpiece 300. In this way, the handling robot 4 can more accurately position the second workpiece 300 to be assembled, improve the grasping accuracy, and help further improve the automatic assembly accuracy, thereby improving the spot welding accuracy.

[0065] In some embodiments, the secondary positioning mechanism 3 may further include a flatness detection device (not shown in the figure), which is configured to obtain the flatness of the second workpiece 300 placed on the table surface 311 of the base 31 .

[0066] For example, the flatness detection device may include a 3D camera, through which a 3D image of the second workpiece 300 placed in the secondary positioning mechanism 3 is obtained, and the depth information of the second workpiece 300 can be obtained according to the 3D image of the second workpiece 300. The flatness detection device may also include a distance sensor, such as a laser distance sensor, an ultrasonic distance sensor, a radar distance sensor, etc.; the depth information of the second workpiece 300 placed in the secondary positioning mechanism 3 is obtained by the distance sensor. According to the depth information of the second workpiece 300, the plane detection algorithm is called to detect the flatness of the second workpiece 300 placed on the table 311 of the base 31.

[0067] By setting a flatness detection device to detect the flatness of the second workpiece 300 to be assembled, it is possible to determine whether the flatness of the second workpiece 300 to be assembled meets the requirements of the assembly spot welding. After the second workpiece 300 that does not meet the requirements is identified, it can be processed in time to ensure that the flatness of the second workpiece 300 to be assembled meets the standards, which is beneficial to improving the quality of automatic assembly spot welding.

[0068] In some embodiments, referring to Figure 4, Figure 4 shows a schematic diagram of the structure of the conveying mechanism 1 in some embodiments of the present application, the positioning device 12 includes a positioning member 121 and a first push-block assembly 122, the positioning member 121 is fixed at a preset position of the conveying line 11, and the positioning member 121 protrudes from the conveying plane of the conveying line 11; the first push-block assembly 122 includes a first push-block member 1221 protruding from the conveying plane of the conveying line 11, and the first push-block member 1221 can move in a direction perpendicular to the conveying direction of the conveying line 11 to push the first workpiece 200 to be close to the positioning member 121.

[0069] The first push block assembly 122 may further include a first driving member 1222, which is connected to the first push block 1221, and the first driving member 1222 drives the first push block 1221 to move in a direction perpendicular to the conveying direction of the conveying line 11. The first push block 1221 pushes one side of the first workpiece 200 so that the other side of the first workpiece 200 is close to the positioning member 121, so that the first push block 1221 cooperates with the positioning member 121 to position the first workpiece 200 in a direction perpendicular to the conveying direction of the conveying line 11. For example, the first push block 1221 may be a movable push plate, the first driving member 1222 may be a cylinder or a servo motor, and the positioning member 121 may be a positioning column. In some embodiments, the first push block assembly 122 may further include a first sliding guide rail, the extension direction of the first sliding guide rail is perpendicular to the conveying direction of the conveying line 11, and the first push block 1221 is slidably connected to the first sliding guide rail. The first sliding guide rail can guide and limit the sliding of the first push-stop member 1221 to prevent it from being pushed off-center.

[0070] In some embodiments, the positioning device 12 may further include a third stopper (not shown in the figure), which is used to stop and position the first workpiece 200 in the conveying direction of the conveyor line 11. The third stopper may be arranged downstream of the positioning member 121 along the conveying direction of the conveyor line 11, and the third stopper may be located between the positioning member 121 and the first push member 1221 in a direction perpendicular to the conveying direction of the conveyor line 11. The third stopper may be arranged to have a stop state and a release state. The first workpiece 200 to be assembled may abut against the third stopper in the stop state, thereby positioning the first workpiece 200 in the conveying direction of the conveyor line 11. After the first workpiece 200 and the second workpiece 300 are assembled and spot welded, the third stopper may be switched to the release state, and the assembly of the first workpiece 200 and the second workpiece 300 may continue to move along the conveyor line 11 to a subsequent operation position. For example, the third stopper may include a lifting baffle, a lifting block or a lifting column. The third stopper protrudes from the conveying plane of the conveyor line 11 in the stopping state and retracts below the conveying plane of the conveyor line 11 in the releasing state.

[0071] In this way, the positioning device 12 can automatically and completely position the first workpiece 200, which is beneficial to improving the accuracy of assembly spot welding, and the structure is simple and reliable, and it is convenient to manufacture and use.

[0072] In some embodiments, the conveying mechanism 1 further includes a thickness detection device (not shown in the figure), and the thickness detection device is configured to obtain thickness information of the first workpiece 200 positioned at a preset position.

[0073] The thickness information of the first workpiece 200 may include the thickness dimension of the marked position on the first workpiece 200; for example, when the first workpiece 200 is a small workpiece of an inland ship, it may be the thickness dimension of the bottom plate of the small workpiece. In some embodiments, the thickness detection device may include a laser beam sensor, and a mechanical bracket is provided outside the conveying line 11 of the conveying mechanism 1, and the laser beam sensor is provided on the mechanical bracket. The thickness dimension of the marked position on the first workpiece 200 can be detected by laser beam sensing technology. By setting the thickness detection device, the thickness information of the first workpiece 200 to be assembled can be automatically detected and obtained, so that different welding parameters can be automatically matched according to the thickness information of the first workpiece 200 to be assembled. For example, the welding parameters may include welding current, welding voltage, wire feeding speed, welding speed, etc. In this way, the welding parameters of different first workpieces 200 can be automatically matched, which further improves the degree of automation, reduces manual operation, improves work efficiency, and is conducive to improving welding quality and reducing costs.

[0074] In some embodiments, referring to FIG. 1 , the automatic assembly spot welding system 100 for ship workpieces also includes a mounting mechanism 6, which includes a mounting frame 61, which can move in a direction parallel to the conveying direction of the conveyor line 11; the mounting frame 61 includes a mounting beam 611 disposed above the conveyor line 11, and a projection of the mounting beam 611 on the conveying plane of the conveyor line 11 intersects with the conveying direction of the conveyor line 11; the handling robot 4 and the welding robot 5 are both mounted on the mounting beam 611, and the handling robot 4 and the welding robot 5 can move along the mounting beam 611 respectively.

[0075] The mounting beam 611 of the mounting frame 61 carries the handling robot 4 and the welding robot 5, and the handling robot 4 and the welding robot 5 can move independently along the extension direction of the mounting beam 611, so that the handling robot 4 and the welding robot 5 can move in a direction perpendicular to the conveying direction of the conveyor line 11. For example, a set of external shafts are respectively arranged on the opposite sides of the mounting beam 611, and the handling robot 4 and the welding robot 5 are each connected to the mounting beam 611 through a set of external shafts. At the same time, the mounting frame 61 can move along the conveying direction of the conveyor line 11, driving the handling robot 4 and the welding robot 5 to move along the conveying direction of the conveyor line 11. Thus, the handling robot 4 and the welding robot 5 can move in multiple directions. In addition, the handling robot 4 and the welding robot 5 are both multi-degree-of-freedom robots. In some embodiments, the mounting frame 61 may also include support columns 612, two support columns 612 are arranged on opposite sides of the conveying mechanism 1, and the two ends of the mounting beam 611 are supported and connected to the two support columns 612, so that the mounting frame 61 forms a gantry frame straddling the conveyor line 11. The mounting mechanism 6 may further include a ground rail 62, two ground rails 62 are arranged on opposite sides of the conveying mechanism 1, and the ground rails 62 are parallel to the conveying direction of the conveying line 11. The two support columns 612 are slidably supported on the two ground rails 62, respectively, so that the mounting frame 61 can slide along the ground rails 62, and the mounting frame 61 can move along the conveying direction of the conveying line 11.

[0076] The handling robot 4 and the welding robot 5 are installed above the conveying mechanism 1 through the mounting frame 61. This arrangement structure makes the overall structure of the system compact and occupies a small space. In addition, the handling robot 4 and the welding robot 5 can move in multiple directions, which can meet the collaborative operation requirements of walking and welding, which is beneficial to improving processing efficiency and increasing the working range to meet actual usage needs.

[0077] Referring to FIG. 5 , FIG. 5 shows a schematic flow chart of a method for automatically assembling and spot welding ship workpieces in some embodiments of the present application. The present application also provides a method for automatically assembling and spot welding ship workpieces. The automatic assembling and spot welding ship workpiece system 100 of any of the above embodiments is used. The method for automatically assembling and spot welding ship workpieces comprises the following steps:

[0078] Step S100, controlling the conveyor line 11 to convey the first workpiece 200 to be assembled to the working area, controlling the positioning device 12 to position the first workpiece 200 to be assembled to a preset position of the conveyor line 11, and determining the marking position information of the first workpiece 200 to be assembled;

[0079] Step S200, obtaining the category information and storage location information of the second workpiece 300 in the stock 21 through the visual recognition device 22;

[0080] Step S300, according to the category information and storage position information of the second workpiece 300 in the stock part 21, under the guidance of the visual guidance device 42, the transfer robot 4 is controlled to transfer the second workpiece 300 to be assembled from the stock part 21 to the secondary positioning mechanism 3;

[0081] Step S400, controlling the secondary positioning mechanism 3 to perform origin positioning on the second workpiece 300 to be assembled;

[0082] Step S500, controlling the handling robot 4 to pick up the second workpiece 300 to be assembled after the origin is positioned, and under the guidance of the visual guidance device 42, transferring the second workpiece 300 to be assembled to the marked position of the first workpiece 200 to be assembled for assembly;

[0083] Step S600 , controlling the welding robot 5 to perform spot welding on the assembled first workpiece 200 and the second workpiece 300 .

[0084] The first workpiece 200 to be assembled can be transported by the conveyor line 11 to the working area, which is a pre-set area for performing the spot welding operation on the first workpiece 200. The first workpiece 200 to be assembled is positioned to a preset position by the positioning device 12; the preset position refers to the position of the known coordinates pre-set on the conveyor line 11. At this time, the position of the first workpiece 200 to be assembled is fixed, and the key feature coordinates of the first workpiece 200 to be assembled can be solved, for example, the key feature coordinates can be the coordinates of the marking position on the first workpiece 200. Thus, the marking position information of the first workpiece 200 to be assembled can be determined. Marking refers to the assembly guide line pre-defined on the first workpiece 200 for assembly welding with the second workpiece 300. The marking position information of the first workpiece 200 to be assembled can include the marking position coordinates. Through the coordinate system conversion, the marking position coordinates of the first workpiece 200 to be assembled are converted to the coordinate system of the handling robot 4 and the welding robot 5.

[0085] The method of obtaining the category information and storage location information of the second workpiece 300 in the stock piece 21 by the visual recognition device 22 may include the following steps: obtaining the 2D image of the second workpiece 300 stored in the stock piece 21 by the visual recognition device 22, and obtaining the contour edge of the second workpiece 300 to be grasped by the edge extraction algorithm. Obtaining the 3D image of the second workpiece 300 stored in the stock piece 21 by the visual recognition device 22, and obtaining a more accurate ROI region (region of interest) based on the depth information by 3D recognition positioning image. Obtaining the edge again according to the obtained ROI region, and finding the specified 2D image to extract the edge contour, the specified 2D image is the obtained contour edge of the second workpiece 300 to be grasped. Matching and positioning are achieved according to the extracted edge contour and nesting information, and the category information of the second workpiece 300 is clarified; the nesting information refers to the category information of each second workpiece 300 placed in the stock piece 21 input in advance. With the help of the calibration parameters of the visual recognition device 22, the extracted contour edge coordinates are converted to the world coordinate system through projection transformation, so as to clarify the storage position information of the second workpiece 300 in the stock 21. The category information of the second workpiece 300 includes the specifications and size parameters of the second workpiece 300, and the storage position information of the second workpiece 300 includes the storage position coordinates of the second workpiece 300. Through the coordinate system conversion, the storage position coordinates of the second workpiece 300 are converted to the coordinate system of the handling robot 4.

[0086] According to the category information and storage position coordinates of the second workpiece 300 in the stock piece 21, the handling robot 4, under the guidance of the visual guidance device 42, controls the end picker 41 to grab the second workpiece 300 to be assembled in the stock piece 21, and transfers the second workpiece 300 to be assembled to the secondary positioning mechanism 3.

[0087] The secondary positioning mechanism 3 physically positions the second workpiece 300 through a mechanical limit structure, thereby realizing origin positioning of the second workpiece 300 to be assembled. The origin of the second workpiece 300 is defined by the center point of the circumscribed rectangle of the second workpiece 300. By performing origin positioning on the second workpiece 300 through the secondary positioning mechanism 3, the origin position coordinates of the second workpiece 300 can be calculated. Through coordinate system conversion, the origin position coordinates of the second workpiece 300 can be converted to the coordinate system of the handling robot 4. The category information of the second workpiece 300 may include information such as the relationship between the origin position of the second workpiece 300 and the circumscribed rectangle, so that the edge position of the circumscribed rectangle of the second workpiece 300 can be determined based on the origin position of the second workpiece 300.

[0088] After completing the origin positioning of the second workpiece 300, the handling robot 4 controls the end picker 41 to grab the second workpiece 300 again. At this time, the four-degree-of-freedom positioning algorithm based on edge enhancement, combined with the mechanical positioning determination of the secondary positioning mechanism 3, can significantly improve the handling robot 4's grasping accuracy of the second workpiece 300, and the end picker 41 can grasp the origin position of the second workpiece 300 to be assembled, and the grasping positioning error can be controlled within 1 mm each time. Among them, the four-degree-of-freedom positioning algorithm based on edge enhancement may include: obtaining an image of the second workpiece 300 on the secondary positioning mechanism 3 through the visual guidance device 42, and obtaining the contour edge of the second workpiece 300 to be grasped through the edge extraction algorithm; obtaining a more accurate ROI area based on edge information, and obtaining the contour edge secondary according to the ROI area; with the help of the calibration parameters of the visual guidance device 42, the image contour edge coordinates are converted to world coordinates through projection transformation, so as to clarify the position coordinates and posture of the second workpiece 300 on the secondary positioning mechanism 3.

[0089] Then, under the guidance of the visual guide device 42, the second workpiece 300 is transferred to be placed in pair with the first workpiece 200 according to the coordinates of the marking position of the first workpiece 200 to be paired. At the same time, under the guidance of the visual guide device 42, the handling robot 4 adjusts the position and posture of the second workpiece 300 to place the second workpiece 300 at the marking position of the first workpiece 200, so that the first workpiece 200 and the second workpiece 300 are finally combined to form a paired component.

[0090] The handling robot 4 fixes the second workpiece 300 so that the first workpiece 200 and the second workpiece 300 are kept in the assembly position. The welding robot 5 can scan the weld through the weld tracking device 52, and guide the welding device 51 to the spot welding position to perform assembly spot welding on the first workpiece 200 and the second workpiece 300, and the first workpiece 200 and the second workpiece 300 are fixedly connected by spot welding to obtain the assembly workpiece. Thus, automatic assembly spot welding is completed. After that, the handling robot 4 can release the second workpiece 300, and the positioning device 12 releases the positioning of the first workpiece 200, and the assembled workpiece after assembly spot welding is transported to the next station along the conveyor line 11.

[0091] The automatic assembly and spot welding method for ship workpieces in the embodiment of the present application can completely position the first workpiece 200 and the second workpiece 300 to be assembled through the positioning device 12 of the mechanical limiting structure and the secondary positioning mechanism 3. Combined with the visual recognition technology, the assembly and spot welding positions of the first workpiece 200 and the second workpiece 300 can be accurately located, thereby realizing automatic assembly and spot welding of the first workpiece 200 and the second workpiece 300, saving labor costs, and improving processing efficiency. In addition, the welding gap between the first workpiece 200 and the second workpiece 300 can be controlled, which is beneficial to improving the welding quality. The assembly and spot welding quality is more stable, thereby overcoming the problems of unstable welding quality, low efficiency, and poor workpiece flow in related technologies.

[0092] In some embodiments, under the guidance of the visual guidance device 42, the second workpiece 300 to be assembled is transferred to the marking position of the first workpiece 200 to be assembled for assembly, which specifically includes the following steps:

[0093] Step S501, determining the posture information of the second workpiece 300 to be assembled according to the posture information of the end of the handling robot 4 and the category information of the second workpiece 300 to be assembled, and at the same time controlling the handling robot 4 to place the second workpiece 300 to be assembled at the marked position of the first workpiece 200 to be assembled according to the marked position information of the first workpiece 200 to be assembled;

[0094] In step S502, an image of the first workpiece 200 to be paired is obtained through the visual guidance device 42. Based on the image of the first workpiece 200 to be paired, the handling robot 4 is controlled to adjust the angle and relative position between the end face of the second workpiece 300 and the marking line of the first workpiece 200, so that the end face of the second workpiece 300 coincides with the marking line of the first workpiece 200, thereby completing the pairing of the first workpiece 200 and the second workpiece 300.

[0095] The end of the handling robot 4 refers to an end of the handling robot 4 used to pick up the second workpiece 300. For example, the end of the handling robot 4 may include an end picker 41. The posture information of the end of the handling robot 4 may include the position information and posture information of the end of the handling robot 4. For example, the position information of the end of the handling robot 4 may include the position coordinates of a pre-calibrated reference point on the end picker 41, and the posture information of the end of the handling robot 4 may include the rotation angle of the end picker 41 around the vertical and horizontal axes. It can be understood that the position and posture of the end of the handling robot 4 are controlled by the handling robot 4, and the initial position and posture of the end of the handling robot 4 are calibrated, so the posture information of the end of the handling robot 4 can be obtained.

[0096] The category information of the second workpiece 300 to be assembled refers to the category information of the second workpiece 300 to be assembled picked up by the handling robot 4. The category information of the second workpiece 300 may include the relationship between the origin position of the second workpiece 300 and its edge position, so that the edge position of the second workpiece 300 can be determined based on the origin position of the second workpiece 300. At the same time, since the second workpiece 300 is positioned at the origin, the handling robot 4 can accurately grasp the origin position of the second workpiece 300 to be assembled. Combined with the known category information such as the size specifications of the second workpiece 300, the position relationship between the end of the handling robot 4 and the edge of the picked up second workpiece 300 to be assembled can be clarified. Therefore, according to the posture information of the end of the handling robot 4, the posture information of the second workpiece 300 to be assembled can be calculated and determined. In the process of the end picker 41 at the end of the handling robot 4 driving the second workpiece 300 to be assembled to move, the posture information of the second workpiece 300 to be assembled can be determined. The posture information of the second workpiece 300 may include the position information of the second workpiece 300 and the posture information of the second workpiece 300. For example, the position information of the second workpiece 300 may include the position coordinates of the edge end face of the second workpiece 300, and the posture information of the second workpiece 300 may include the rotation angle of the second workpiece 300 around the vertical and horizontal axes. The posture information of the second workpiece 300 to be assembled may be determined in real time, or the posture information of the second workpiece 300 to be assembled may be determined at intervals, and no limitation is made here. At the same time, according to the marking position information of the first workpiece 200 to be assembled, the handling robot 4 may be controlled to place the second workpiece 300 to be assembled at the marking position of the first workpiece 200 to be assembled. For example, the end face of the edge of the second workpiece 300 may be close to the marking position of the first workpiece 200.

[0097] The image of the first workpiece 200 to be paired obtained by the visual guidance device 42 includes the image of the second workpiece 300. The contour edge of the line on the first workpiece 200 and the contour edge of the second workpiece 300 are obtained by the edge extraction algorithm; a more accurate ROI area is obtained based on the edge information, and the edge contour is obtained again according to the ROI area; at this time, it can be identified whether the end face of the second workpiece 300 coincides with the line of the first workpiece 200. If the end face of the second workpiece 300 coincides with the line of the first workpiece 200, it means that the first workpiece 200 and the second workpiece 300 can meet the pairing welding requirements after pairing, thereby completing the pairing of the first workpiece 200 and the second workpiece 300. In some embodiments, the pairing welding requirements may include: the welding gap is less than or equal to 2 mm. If there is an angle or position offset between the end face of the second workpiece 300 and the marking line of the first workpiece 200, it means that they do not match; at this time, the camera calibration parameters of the visual guidance device 42 can be used to convert the image edge coordinates into world coordinates through projection transformation, so that the plane coordinates and corresponding deflection angle of the second workpiece 300 can be determined. According to the plane coordinates and deflection angle of the second workpiece 300, the handling robot 4 can be controlled to adjust the angle and relative position between the end face of the second workpiece 300 and the marking line of the first workpiece 200 until the end face of the second workpiece 300 matches the marking line of the first workpiece 200.

[0098] In this way, by adjusting the end face of the second workpiece 300 to coincide with the scribe line of the first workpiece 200, the welding gap between the second workpiece 300 and the first workpiece 200 is controlled to meet the welding requirements, which is beneficial to improving the welding quality and making the spot welding quality more stable.

[0099] In some embodiments, after controlling the secondary positioning mechanism 3 to perform origin positioning on the second workpiece 300 to be assembled, the following steps are further included:

[0100] Step S410, obtaining the flatness of the second workpiece 300 to be assembled;

[0101] Step S420, when the flatness of the second workpiece 300 to be assembled meets the requirements, execute the above-mentioned control of the handling robot 4 to pick up the second workpiece 300 to be assembled after the origin positioning, and under the guidance of the visual guidance device 42, transfer the second workpiece 300 to be assembled to the marked position of the first workpiece 200 to be assembled for assembly in step S500; when the flatness of the second workpiece 300 to be assembled does not meet the requirements, control the handling robot 4 to remove the second workpiece 300 on the secondary positioning mechanism 3, and return to the above-mentioned step S300 according to the category information and storage position information of the second workpiece 300 in the stock part 21, and under the guidance of the visual guidance device 42, control the handling robot 4 to transfer the second workpiece 300 to be assembled from the stock part 21 to the secondary positioning mechanism 3.

[0102] The flatness of the second workpiece 300 placed on the table 311 of the base 31 of the secondary positioning mechanism 3 can be obtained by a flatness detection device. A flatness detection algorithm can be used to implement flatness detection of the second workpiece 300 placed on the table 311 of the base 31, and then determine whether the flatness of the second workpiece 300 to be assembled meets the requirements. The flatness detection algorithm may include: based on the depth information of the second workpiece 300, extracting the plane area of ​​the second workpiece 300; then estimating the depth of the entire plane area of ​​the second workpiece 300; clarifying the depth difference between the center area and the edge area of ​​the second workpiece 300, so as to implement plane detection.

[0103] To determine whether the flatness of the second workpiece 300 to be assembled meets the requirements for the spot welding, the flatness of the second workpiece 300 to be assembled can be compared with a preset qualified flatness error. If the flatness error of the second workpiece 300 to be assembled is within the qualified flatness error range, it means that the flatness of the second workpiece 300 to be assembled meets the requirements; at this time, the second workpiece 300 whose flatness meets the requirements can be spot welded with the first workpiece 200, which is conducive to obtaining good welding quality. If the flatness error of the second workpiece 300 to be assembled exceeds the qualified flatness error, it means that the flatness of the second workpiece 300 to be assembled does not meet the requirements, which may have an adverse effect on the spot welding of the second workpiece 300 and the first workpiece 200, and the risk of causing defects is relatively high; at this time, the second workpiece 300 on the secondary positioning mechanism 3 can be removed, and a new second workpiece 300 to be assembled can be taken from the material storage part 21 and placed on the secondary positioning mechanism 3 for origin positioning, that is, the second workpiece 300 to be assembled is replaced; then check whether the flatness of the second workpiece 300 to be assembled meets the requirements; and repeat this cycle until the flatness of the second workpiece 300 to be assembled meets the requirements.

[0104] By detecting the flatness of the second workpiece 300, it is determined whether the flatness of the second workpiece 300 to be assembled meets the requirements for assembly spot welding, and the second workpiece 300 that does not meet the requirements is replaced in time after being identified. Only when the flatness of the second workpiece 300 meets the requirements, the automatic assembly spot welding operation of the second workpiece 300 and the first workpiece 200 is continued, which can ensure that the flatness of the second workpiece 300 to be assembled meets the requirements, avoid unqualified second workpiece 300 from entering the next process, reduce the occurrence of defects, and is conducive to improving the quality of automatic assembly spot welding.

[0105] In some embodiments, after controlling the positioning device 12 to position the first workpiece 200 to be assembled to a preset position of the conveyor line 11, the following steps are further included:

[0106] Step S110, obtaining thickness information of the first workpiece 200 to be assembled;

[0107] Step S120 , automatically matching welding parameters according to the thickness information of the first workpiece 200 to be assembled.

[0108] The thickness information of the first workpiece 200 may include the thickness dimension of the marked position on the first workpiece 200; for example, when the first workpiece 200 is a sub-unit workpiece of an inland ship, it may be the thickness dimension of the bottom plate of the sub-unit workpiece. The thickness information of the first workpiece 200 to be assembled can be automatically detected by a thickness detection device. The welding parameters are welding parameters for the first workpiece 200 and the second workpiece 300 to be assembled and spot welded. For example, the welding parameters may include parameters such as welding voltage, welding current, wire feeding speed, and welding speed. It can be understood that there is a matching relationship between the thickness information of the first workpiece 200 and the welding parameters for the sub-unit spot welding of the first workpiece 200. When the thickness information of the first workpiece 200 is determined, when the welding parameters are at a certain specific value, the welding quality is stable and the energy consumption is low, and the welding parameters under the specific value can be defined as the optimal welding parameters. The matching relationship between the thickness information of the first workpiece 200 and the welding parameters can be determined based on historical experience data, for example, the matching relationship between the thickness information of the first workpiece 200 and the optimal welding parameters can be determined by big data analysis.

[0109] In this way, it is helpful to automatically match the optimal welding parameters for the spot welding of the first workpiece 200 and the second workpiece 300, improve the welding quality while saving energy and reducing consumption, optimize the usage of welding consumables and energy data, etc., which is helpful to save costs. In addition, the team spot welding has a higher degree of automation, reduces manual operations, and improves work efficiency.

[0110] The technical features of the above-described embodiments may be arbitrarily combined. To make the description concise, not all possible combinations of the technical features in the above-described embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0111] The above-described embodiments only express several implementation methods of the present application, and the descriptions thereof are relatively specific and detailed, but they cannot be construed as limiting the scope of the patent application. It should be pointed out that, for a person of ordinary skill in the art, several variations and improvements can be made without departing from the concept of the present application, and these all belong to the protection scope of the present application. Therefore, the protection scope of the patent application shall be subject to the attached claims.

Claims

1. An automatic spot welding system for ship workpieces, characterized in that: include: A conveying mechanism, comprising a conveying line and a positioning device provided on the conveying line, wherein the conveying line is used to convey a first workpiece, and the positioning device is used to position the first workpiece to a preset position of the conveying line; A material storage mechanism is arranged at one side of the conveying mechanism, the material storage mechanism comprises a material storage piece and a visual recognition device, the material storage piece is used to store the second workpiece, and the visual recognition device is used to obtain the category information and storage position information of the second workpiece in the material storage piece; A secondary positioning mechanism, configured to perform origin positioning on the second workpiece; A handling robot, comprising an end picker and a visual guide device, wherein the end picker is used to pick up the second workpiece, and the visual guide device is used to guide the movement of the end picker, and the handling robot can transfer the second workpiece and adjust the posture of the second workpiece under the guidance of the visual guide device; A welding robot, comprising a welding device and a weld tracking device, wherein the welding device is used to automatically perform spot welding on the first workpiece and the second workpiece under the guidance of the weld tracking device; The secondary positioning mechanism includes a base, a stopper assembly, a second pusher assembly and a third pusher assembly; the stopper assembly is fixedly arranged on the table of the base; the second pusher assembly includes a second pusher member that can move along a first direction to approach or move away from the stopper assembly, so as to push the second workpiece placed on the table of the base along the first direction until it is close to the stopper assembly; The third pushing assembly includes a third pushing member that can move along a second direction toward or away from the stop assembly to push the second workpiece placed on the table top of the base along the second direction to abut against the stop assembly; wherein the first direction and the second direction are perpendicular to each other and are both parallel to the table top of the base.

2. The automatic spot welding system for ship workpieces according to claim 1 is characterized in that: The positioning device includes a positioning member and a first push-block assembly, the positioning member is fixed at the preset position of the conveyor line, and the positioning member protrudes from the conveying plane of the conveyor line; the first push-block assembly includes a first push-block member protruding from the conveying plane of the conveyor line, and the first push-block member can move in a direction perpendicular to the conveying direction of the conveyor line to push the first workpiece against the positioning member.

3. The automatic spot welding system for ship workpieces according to claim 2 is characterized in that: The positioning device also includes a third stopper, which is used to stop and position the first workpiece in the conveying direction of the conveyor line; the third stopper is arranged downstream of the positioning member along the conveying direction of the conveyor line, and the third stopper is located between the positioning member and the first push member in a direction perpendicular to the conveying direction of the conveyor line.

4. The automatic spot welding system for ship workpieces according to claim 1 is characterized in that: The secondary positioning mechanism further includes a flatness detection device, which is configured to obtain the flatness of the second workpiece placed on the table surface of the base.

5. The automatic spot welding system for ship workpieces according to claim 1 is characterized in that: The conveying mechanism further includes a thickness detection device, and the thickness detection device is configured to obtain thickness information of the first workpiece positioned at the preset position.

6. The automatic spot welding system for ship workpieces according to claim 1 is characterized in that: The automatic assembly and spot welding system for ship workpieces also includes a mounting mechanism, which includes a mounting frame, and the mounting frame can move in a direction parallel to the conveying direction of the conveyor line; the mounting frame includes a mounting beam arranged above the conveyor line, and the projection of the mounting beam on the conveying plane of the conveyor line intersects with the conveying direction of the conveyor line; the handling robot and the welding robot are both installed on the mounting beam, and the handling robot and the welding robot can move along the mounting beam respectively.

7. A method for automatic spot welding of ship workpieces, using the automatic spot welding system for ship workpieces as claimed in any one of claims 1 to 6, characterized in that: The automatic spot welding method for ship workpieces comprises: Control the conveyor line to convey the first workpiece to be assembled to the working area, control the positioning device to position the first workpiece to be assembled to a preset position of the conveyor line, and determine the marking position information of the first workpiece to be assembled; Acquire the category information and storage location information of the second workpiece in the stockpile by means of a visual recognition device; According to the category information and storage location information of the second workpiece in the stock piece, under the guidance of the visual guidance device, the handling robot is controlled to transfer the second workpiece to be assembled from the stock piece to the secondary positioning mechanism; Control the secondary positioning mechanism to locate the origin of the second workpiece to be assembled; Control the handling robot to pick up the second workpiece to be assembled after the origin is positioned, and under the guidance of the visual guidance device, transport the second workpiece to be assembled to the marked position of the first workpiece to be assembled for assembly; The welding robot is controlled to perform spot welding operation on the assembled first workpiece and the second workpiece.

8. The method for automatic spot welding of ship workpieces according to claim 7, characterized in that: The method of transferring the second workpiece to be assembled to the marking position of the first workpiece to be assembled under the guidance of the visual guidance device for assembly includes: Determine the posture information of the second workpiece to be assembled according to the posture information of the end of the handling robot and the category information of the second workpiece to be assembled, and control the handling robot to place the second workpiece to be assembled at the marking position of the first workpiece to be assembled according to the marking position information of the first workpiece to be assembled; An image of the first workpiece to be assembled is obtained through a visual guidance device. Based on the image of the first workpiece to be assembled, the handling robot is controlled to adjust the angle and relative position between the end face of the second workpiece and the marking line of the first workpiece, so that the end face of the second workpiece coincides with the marking line of the first workpiece, thereby completing the assembly of the first workpiece and the second workpiece.

9. The method for automatic spot welding of ship workpieces according to claim 7, characterized in that: After the controlling secondary positioning mechanism performs origin positioning on the second workpiece to be assembled, the method further comprises: Obtaining the flatness of the second workpiece to be assembled; When the flatness of the second workpiece to be assembled meets the requirements, the step of controlling the handling robot to pick up the second workpiece to be assembled after the origin positioning, and under the guidance of the visual guidance device, transferring the second workpiece to be assembled to the marked position of the first workpiece to be assembled for assembly is executed; when the flatness of the second workpiece to be assembled does not meet the requirements, the handling robot is controlled to remove the second workpiece on the secondary positioning mechanism, and returns to the step of controlling the handling robot to transfer the second workpiece to be assembled from the stock piece to the secondary positioning mechanism according to the category information and storage location information of the second workpiece in the stock piece under the guidance of the visual guidance device.

10. The automatic spot welding method for ship workpieces according to claim 7, characterized in that: After the control positioning device positions the first workpiece to be assembled to a preset position of the conveyor line, the control also includes: Acquiring thickness information of a first workpiece to be assembled; The welding parameters are automatically matched according to the thickness information of the first workpiece to be assembled.

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