Flexible automatic welding workstation and method for cockpit robot
By using visual detection and radio frequency identification technology in cockpit robot welding workstations, combining three-axis displacement machine and gantry trusses, automatic adaptation and welding of different cockpits is achieved, and stability and compatibility in the existing technology is solved The problem of insufficient sexuality improves welding efficiency and safety.
Patent Information
- Application Number
- CN202411512635.X
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2024-10-28
- Publication Date
- 2024-12-27
AI Technical Summary
The existing automated welding technology is inadequate in stability and compatibility with different cockpit models during the cockpit transport process, resulting in low welding efficiency and safety risks.
A flexible automated welding workstation of cockpit robot is designed, using visual inspection and radio frequency identification technology to identify cockpit models, and the automatic adaptation and welding of multi-model cockpits is achieved through three-axis displacement machine and gantry truss, combining adjustable pallets and The slide rail structure ensures the stability and compatibility of the welding station.
Vision detection and radio frequency identification technology prevent untightened product falls and mismatched models, improving the stability of the welding process and compatibility of multiple cockpits, ensuring the central position of the welding station, and reducing manual intervention and the possibility of errors occur.
Smart Images
Figure CN119187997A_ABST
Abstract
Description
Technical Field
[0001] The present invention relates to the technical field of welding, and in particular to a cockpit robot flexible automated welding workstation and method. Background Art
[0002] Welding technology is widely used, but manual welding not only requires a lot of manpower costs, but also poses safety risks. Robots use automation technology to weld the cockpit, which can effectively improve welding efficiency. At present, the automatic recognition welding technology of the cockpit weld position through laser equipment has matured. However, the existing automated welding technology needs to improve the stability of the cockpit during transportation and the compatibility with different models of cockpits.
[0003] In view of this, we propose a cockpit robot flexible automated welding workstation and method to solve the existing problems. Summary of the invention
[0004] The object of the present invention is to provide a cockpit robot flexible automated welding workstation and method to solve the problems raised in the above background technology.
[0005] To achieve the above-mentioned purpose, the present invention provides the following technical solutions: a cockpit robot flexible automated welding workstation, comprising a workbench, a conveyor line, a three-axis positioner, and a gantry truss, the conveyor line comprising a first conveyor line and a second conveyor line, the first conveyor line and the second conveyor line are both arranged inside the workbench, the upper surfaces of the first conveyor line and the second conveyor line are exposed on the upper surface of the workbench, the positions of the first conveyor line and the second conveyor line are collinear with each other, the upper surfaces of the first conveyor line and the second conveyor line are equidistantly fixedly connected with a plurality of groups of limit blocks, four limit blocks form a group, and the four limit blocks of each group are arranged in a rhombus, the longer diagonal line of the rhombus is perpendicular to the corresponding conveyor line, the size of each group of rhombuses is consistent, and the upper surface of the first conveyor line is equidistantly connected with a plurality of groups of limit blocks, four limit blocks form a group, and the four limit blocks of each group are arranged in a rhombus shape, the longer diagonal line of the rhombus is perpendicular to the corresponding conveyor line, the size of each group of rhombuses is consistent, and the upper surface of the first conveyor line is equidistantly connected with a plurality of groups of limit blocks, Several first pallets are placed at an interval, and several second pallets are placed at an equal interval on the upper surface of the second conveyor line, the bottoms of the first pallet and the second pallet are rectangles of the same size, the longer sides of the rectangles are perpendicular to the corresponding conveyor lines, the bottoms of the first pallet and the second pallet are placed inside each group of four limit blocks, several rollers are provided under the shorter sides of the bottoms of the first pallet and the second pallet, the tops of the first pallet and the second pallet are both adjustable telescopic sliding devices, the position between the first conveyor line and the second conveyor line is a welding station, a first inclined slide rail is provided between the welding station and the first conveyor line, a second inclined slide rail is provided between the welding station and the second conveyor line, and the three-axis positioner and the gantry truss are provided on the same side of the conveyor line.
[0006] Furthermore, the higher end of the first inclined slide rail is arranged on one side of the first conveyor line, the lower end of the first inclined slide rail is arranged on one side of the welding station, the higher end of the second inclined slide rail is arranged on one side of the second conveyor line, and the lower end of the second inclined slide rail is arranged on one side of the welding station.
[0007] Furthermore, both the first tray and the second tray are provided with chips.
[0008] Furthermore, the three-axis positioner includes a positioner column, a lifting and sliding device is provided on the surface of the positioner column, a flipping device is provided on the surface of the lifting and sliding device, an L-arm is provided on the surface of the flipping device, a rotating device is provided on the surface of the L-arm, a bottom plate is provided at the bottom of the positioner column, a positioner maintenance platform is provided on the top of the positioner column, a positioner ladder is provided on one side of the positioner maintenance platform, a third pallet is fixedly connected to the upper surface of the rotating device, the third pallet is rectangular and its size is consistent with the size of the bottom rectangle of the first pallet and the second pallet, and the centers of the rotating device and the third pallet are both in the center of the plane of the welding station.
[0009] Furthermore, the gantry truss includes a first truss column and a second truss column, a first gun cleaner is provided on the surface of the first truss column, a second gun cleaner is provided on the surface of the second truss column, the tops of the first truss column and the second truss column are connected by a sliding platform, a first sliding device and a second sliding device are provided on the surface of the sliding platform, a first robot is provided at one end of the first sliding device, a second robot is provided at one end of the second sliding device, a first laser control box is provided on one side of the first sliding device, a second laser control box is provided on one side of the second sliding device, a truss maintenance platform is provided on one side of the sliding platform, and a truss ladder is provided on one side of the truss maintenance platform.
[0010] Furthermore, a safety fence is provided on the upper surface of the workbench, and the first conveyor line and the second conveyor line both vertically penetrate the safety fence. The safety fence is provided with a first gate at the vertical penetration of the first conveyor line, and the safety fence is provided with a second gate at the vertical penetration of the second conveyor line. The three-axis positioner and the gantry truss are both arranged inside the safety fence.
[0011] Furthermore, the surface of the safety fence is provided with a first safety gate, a second safety gate, a first HMI human-machine interface, a second HMI human-machine interface, and a third HMI human-machine interface. The first gate, the first safety gate, and the first HMI human-machine interface are on the same side of the safety fence, the second gate, the second safety gate, and the second HMI human-machine interface are on the same side of the safety fence, and the third HMI human-machine interface is arranged on the side close to the welding station.
[0012] Furthermore, a first visual sensor is provided on one side of the first conveyor line within the safety fence, and the position detected by the first visual sensor is the first detection station. A second visual sensor is provided on one side of the second conveyor line within the safety fence, and the position detected by the second visual sensor is the second detection station.
[0013] Furthermore, an industrial control computer, a programmable logic controller, a first robot control cabinet welding machine, a second robot control cabinet welding machine, a first welding wire barrel, and a second welding wire barrel are arranged inside the safety fence.
[0014] A cockpit robot flexible automatic welding method, if both the first type cockpit and the second type cockpit need to be welded, the steps are:
[0015] S1: Select the model corresponding to the first model cockpit on the first HMI human-machine interface, and select the model corresponding to the second model cockpit on the second HMI human-machine interface;
[0016] S2: The first model cockpit is placed on the upper surface of the first tray, the first tray locks the first model cockpit, the second model cockpit is placed on the upper surface of the second tray, the second tray locks the second model cockpit, the radio frequency identification technology records the model corresponding to the first model cockpit as a radio frequency signal into the chip provided on the first tray, and the radio frequency identification technology records the model corresponding to the second model cockpit as a radio frequency signal into the chip provided on the second tray;
[0017] S3: The first conveyor line conveys the first model cockpit and the first pallet to the first inspection station, and the first visual sensor detects and identifies the first model cockpit and the first pallet to confirm whether the first model cockpit and the first pallet are locked and whether the cockpit model is correct. The second conveyor line conveys the second model cockpit and the second pallet to the second inspection station, and the second visual sensor detects and identifies the second model cockpit and the second pallet to confirm whether the second model cockpit and the second pallet are locked and whether the cockpit model is correct.
[0018] S4: If the visual sensor detects that the corresponding cockpit and the corresponding pallet are not locked or the corresponding cockpit model is incorrect, an alarm is sounded; if the visual sensor detects that the corresponding cockpit and the corresponding pallet are locked and the corresponding cockpit model is correct, the first conveyor line and the second conveyor line alternately convey the corresponding pallet and the cockpit to the welding station;
[0019] S5: After the pallet and the cockpit are transported to the welding station, they are positioned and clamped, and the cabin type information of the chip on the pallet is read through the radio frequency identification technology and compared with the system model. The third HMI human-machine interface displays the comparison result. If it is confirmed to be correct, the corresponding welding program is automatically called to perform welding work;
[0020] In S2, the adjustment width of the top of the first tray and the second tray is consistent with the width of the corresponding cockpit;
[0021] In S4, the first tray transfers the first type of cockpit to the third tray via the rollers at the bottom along the first inclined rail, and the second tray transfers the second type of cockpit to the third tray via the rollers at the bottom along the second inclined rail;
[0022] In S5, the three-axis positioner adjusts the third pallet and the placement of the corresponding cockpit and pallet through the lifting sliding device, flipping device and rotating device. The gantry truss adjusts the welding position through the sliding platform, the first sliding device, the second sliding device, the first robot and the second robot. The first robot and the second robot determine the welding position through laser positioning.
[0023] Compared with the prior art, the present invention has the following beneficial effects:
[0024] 1. The present invention uses visual detection technology to identify the model of the cockpit placed on the conveyor line and the locking status of the cockpit and the pallet, and uses radio frequency identification technology to read the model of the cockpit placed at the welding station to prevent accidental falling when welding unfastened products and mismatching of the actual product model with the welding procedure, resulting in problems such as wrong welding and collision.
[0025] 2. The present invention fixes a limit block on the upper surface of the conveyor line so that after the pallet and the cockpit are conveyed to the inspection station for temporary delivery, the pallet and the cockpit will not slide due to inertia, thereby ensuring that the pallet and the cockpit are all within the detection range of the visual sensor, while also improving the stability of the cockpit during the conveying process.
[0026] 3. The present invention sets the top of the pallet as an adjustable telescopic sliding device to enable the pallet to load various types of cockpits, and sets the bottom of the pallet to a fixed size, so that the limit blocks fixedly arranged on the upper surface of the conveyor line can limit the various types of cockpits, thereby improving the compatibility of the pallet and the limit blocks on the upper surface of the conveyor line with different types of cockpits.
[0027] 4. The present invention sets up a slide rail between the conveyor line and the welding station, sets up rollers at the bottom of the pallet, and sets the size of the pallet of the welding station to be consistent with the size of the bottom of the pallet loaded with the cockpit, so that cockpits of various models can be automatically moved to the center of the welding station, thereby improving the compatibility of the welding station with cockpits of different models. BRIEF DESCRIPTION OF THE DRAWINGS
[0028] Figure 1 It is a schematic diagram of a three-dimensional structure from a first angle of the present invention;
[0029] Figure 2 A schematic diagram of a three-dimensional structure from a second angle of the present invention;
[0030] Figure 3 It is a schematic diagram of the top plan structure of the present invention;
[0031] Figure 4 It is a three-dimensional structural schematic diagram of the three-axis positioner of the present invention;
[0032] Figure 5 It is a schematic diagram of the three-dimensional structure of the gantry truss of the present invention;
[0033] Figure 6 It is a schematic diagram of the top plan structure of the first tray on the first conveyor line when the width of the first model cockpit of the present invention is consistent with the width of the bottom rectangle of the first tray;
[0034] Figure 7 It is a schematic diagram of the top plan structure of the second pallet on the second conveyor line when the width of the second model cockpit of the present invention is greater than the width of the bottom rectangle of the second pallet;
[0035] Figure 8 It is a schematic diagram of the top plan structure of the first model of the cockpit of the present invention when the width is consistent with the width of the bottom rectangle of the first tray after the first tray slides along the first inclined slide rail to the welding station;
[0036] Fig. 9 It is a schematic diagram of the top plan structure of the second type of cockpit of the present invention when the width is greater than the width of the bottom rectangle of the second pallet after the second pallet slides along the second inclined slide rail to the welding station.
[0037] In the figure: 1. workbench; 101. safety fence; 102. first gate; 103. second gate; 104. first safety door; 105. second safety door; 106. first HMI human-machine interface; 107. second HMI human-machine interface; 108. third HMI human-machine interface; 109. first visual sensor; 110. second visual sensor; 111. industrial control computer; 112. programmable logic controller; 113. first robot control cabinet welding machine; 114. second robot control cabinet welding machine; 115. first welding wire barrel; 116. second welding wire barrel; 2. conveyor line; 201. first conveyor line; 202. second conveyor line; 203. stopper; 204. first tray; 205. second tray; 206. roller; 207. first inclined slide rail ; 208, second inclined slide rail; 3, three-axis positioner; 301, column; 302, lifting slide device; 303, flip device; 304, L-arm; 305, rotation device; 306, bottom plate; 307, positioner maintenance platform; 308, positioner ladder; 309, third pallet; 4, gantry truss; 401, first truss column; 402, second truss column; 403, first gun cleaner; 404, second gun cleaner; 405, sliding platform; 406, first sliding device; 407, second sliding device; 408, first robot; 409, second robot; 410, first laser control box; 411, second laser control box; 412, truss maintenance platform; 413, truss ladder; 5, first model cockpit; 6, second model cockpit. DETAILED DESCRIPTION
[0038] The technical solution of the present invention is further described below in conjunction with the accompanying drawings and specific embodiments.
[0039] Embodiment 1
[0040] like Figure 1 , Figure 2 , Figure 3 , Figure 4 , Figure 5 , Figure 6 , Figure 7 , Figure 8 , Fig. 9As shown, a cockpit robot flexible automated welding workstation includes a workbench 1, a conveyor line 2, a three-axis positioner 3, and a gantry truss 4. The conveyor line 2 includes a first conveyor line 201 and a second conveyor line 202. The first conveyor line 201 and the second conveyor line 202 are both arranged inside the workbench 1. The upper surfaces of the first conveyor line 201 and the second conveyor line 202 are exposed on the upper surface of the workbench 1. The positions of the first conveyor line 201 and the second conveyor line 202 are collinear with each other. The upper surfaces of the first conveyor line 201 and the second conveyor line 202 are equidistantly fixedly connected with a plurality of groups of limit blocks 203. Four limit blocks 203 form a group. The four limit blocks 203 of each group are arranged in a rhombus shape. The longer diagonal of the rhombus is perpendicular to the corresponding conveyor line. The size of each group of rhombuses is consistent. A plurality of first trays 204 are equidistantly placed on the upper surface of the first conveyor line 201. A number of second pallets 205 are placed equidistantly on the upper surface of the second conveyor line 202, the bottoms of the first pallet 204 and the second pallet 205 are rectangles of identical size, the longer sides of the rectangles are perpendicular to the corresponding conveyor lines, the bottoms of the first pallet 204 and the second pallet 205 are placed inside each group of four limit blocks 203, a number of rollers 206 are provided under the shorter sides of the bottoms of the first pallet 204 and the second pallet 205, the tops of the first pallet 204 and the second pallet 205 are adjustable telescopic sliding devices, the position between the first conveyor line 201 and the second conveyor line 202 is a welding station, a first inclined slide rail 207 is provided between the welding station and the first conveyor line 201, a second inclined slide rail 208 is provided between the welding station and the second conveyor line 202, the three-axis positioner 3 and the gantry truss 4 are provided on the same side of the conveyor line 2.
[0041] Furthermore, the higher end of the first inclined slide rail 207 is arranged on one side of the first conveyor line 201, the lower end of the first inclined slide rail 207 is arranged on one side of the welding station, the higher end of the second inclined slide rail 208 is arranged on one side of the second conveyor line 202, and the lower end of the second inclined slide rail 208 is arranged on one side of the welding station.
[0042] Furthermore, both the first tray 204 and the second tray 205 are provided with chips.
[0043] Furthermore, the three-axis positioner 3 includes a positioner column 301, a lifting and sliding device 302 is provided on the surface of the positioner column 301, a flipping device 303 is provided on the surface of the lifting and sliding device 302, an L-arm 304 is provided on the surface of the flipping device 303, a rotating device 305 is provided on the surface of the L-arm 304, a bottom plate 306 is provided at the bottom of the positioner column 301, a positioner maintenance platform 307 is provided on the top of the positioner column 301, a positioner ladder 308 is provided on one side of the positioner maintenance platform 307, a third pallet 309 is fixedly connected to the upper surface of the rotating device 305, the third pallet 309 is rectangular and its size is consistent with the size of the bottom rectangle of the first pallet 204 and the second pallet 205, and the centers of the rotating device 305 and the third pallet 309 are both at the center of the plane of the welding station.
[0044] Furthermore, the gantry truss 4 includes a first truss column 401 and a second truss column 402, a first gun cleaner 403 is provided on the surface of the first truss column 401, a second gun cleaner 404 is provided on the surface of the second truss column 402, the first truss column 401 and the top of the second truss column 402 are connected by a sliding platform 405, a first sliding device 406 and a second sliding device 407 are provided on the surface of the sliding platform 405, a first robot 408 is provided at one end of the first sliding device 406, a second robot 409 is provided at one end of the second sliding device 407, a first laser control box 410 is provided on one side of the first sliding device 406, a second laser control box 411 is provided on one side of the second sliding device 407, a truss maintenance platform 412 is provided on one side of the sliding platform 405, and a truss ladder 413 is provided on one side of the truss maintenance platform 412.
[0045] Furthermore, a safety fence 101 is provided on the upper surface of the workbench 1, and the first conveyor line 201 and the second conveyor line 202 both vertically penetrate the safety fence 101. The safety fence 101 is provided with a first gate 102 at the vertical penetration of the first conveyor line 201, and the safety fence 101 is provided with a second gate 103 at the vertical penetration of the second conveyor line 202. The three-axis positioner 3 and the gantry truss 4 are both arranged inside the safety fence 101.
[0046] Furthermore, the surface of the safety fence 101 is provided with a first safety door 104, a second safety door 105, a first HMI human-machine interface 106, a second HMI human-machine interface 107, and a third HMI human-machine interface 108; the first gate 102, the first safety door 104, and the first HMI human-machine interface 106 are on the same side of the safety fence 101; the second gate 103, the second safety door 105, and the second HMI human-machine interface 107 are on the same side of the safety fence 101; and the third HMI human-machine interface 108 is arranged on a side close to the welding station.
[0047] Furthermore, a first visual sensor 109 is provided on one side of the first conveyor line 201 in the safety fence 101, and the position detected by the first visual sensor 109 is the first detection station. A second visual sensor 110 is provided on one side of the second conveyor line 202 in the safety fence 101, and the position detected by the second visual sensor 110 is the second detection station.
[0048] Furthermore, an industrial control computer 111 , a programmable logic controller 112 , a first robot control cabinet welder 113 , a second robot control cabinet welder 114 , a first welding wire barrel 115 , and a second welding wire barrel 116 are provided inside the safety fence 101 .
[0049] The working principle of the cockpit robot flexible automated welding workstation based on the first embodiment is:
[0050] If both the first type cockpit 5 and the second type cockpit 6 need to be welded, the steps are as follows:
[0051] S1: Selecting a model corresponding to the first model cockpit 5 on the first HMI human-machine interface 106 and selecting a model corresponding to the second model cockpit 6 on the second HMI human-machine interface 107;
[0052] S2: The first model cockpit 5 is placed on the upper surface of the first tray 204, which locks the first model cockpit 5. The second model cockpit 6 is placed on the upper surface of the second tray 205, which locks the second model cockpit 6. The radio frequency identification technology records the model corresponding to the first model cockpit 5 as a radio frequency signal into the chip provided on the first tray 204, and the radio frequency identification technology records the model corresponding to the second model cockpit 6 as a radio frequency signal into the chip provided on the second tray 205.
[0053] S3: The first conveyor line 201 conveys the first model cockpit 5 and the first pallet 204 to the first inspection station, and the first visual sensor 109 detects and identifies the first model cockpit 5 and the first pallet 204 to confirm whether the first model cockpit 5 and the first pallet 204 are locked and whether the cockpit model is correct. The second conveyor line 202 conveys the second model cockpit 6 and the second pallet 205 to the second inspection station, and the second visual sensor 110 detects and identifies the second model cockpit 6 and the second pallet 205 to confirm whether the second model cockpit 6 and the second pallet 205 are locked and whether the cockpit model is correct.
[0054] S4: If the visual sensor detects that the corresponding cockpit and the corresponding pallet are not locked or the corresponding cockpit model is incorrect, an alarm is sounded; if the visual sensor detects that the corresponding cockpit and the corresponding pallet are locked and the corresponding cockpit model is correct, the first conveyor line 201 and the second conveyor line 202 alternately convey the corresponding pallet and the cockpit to the welding station;
[0055] S5: After the pallet and the cockpit are transported to the welding station, they are positioned and clamped, and the cabin type information of the chip on the pallet is read through the radio frequency identification technology and compared with the system model. The third HMI human-machine interface 108 displays the comparison result. If it is confirmed to be correct, the corresponding welding program is automatically called to perform welding work;
[0056] In S2, the adjustment width of the top of the first tray 204 and the second tray 205 is consistent with the width of the corresponding cockpit;
[0057] In S4, the first tray 204 transfers the first type of cockpit 5 to the third tray 309 along the first inclined rail 207 via the bottom rollers 206, and the second tray 205 transfers the second type of cockpit 6 to the third tray 309 along the second inclined rail 208 via the bottom rollers 206;
[0058] In S5, the three-axis positioner 3 adjusts the third pallet 309 and the placement of the corresponding cockpit and the pallet through the lifting sliding device 302, the flipping device 303, and the rotating device 305. The gantry truss 4 adjusts the welding position through the sliding platform 405, the first sliding device 406, the second sliding device 407, the first robot 408, and the second robot 409. The first robot 408 and the second robot 409 determine the welding position by laser positioning.
[0059] Furthermore, the rotation action of the three-axis positioner 3 is realized by the corresponding external shaft motor, RV reducer and slewing bearing structure, the flipping action is realized by the corresponding external shaft motor, RV reducer and slewing bearing structure, and the lifting action is realized by the corresponding external shaft motor, reducer and ball screw structure; the two sets of robot automatic welding systems equipped with the gantry truss 4 are respectively installed on the servo sliding assembly, so as to realize the extension of the welding space and improve the flexibility of the whole system. The servo sliding assembly adopts the mechanism of external shaft motor, planetary reducer, gear rack and guide rail to realize the sliding action of the two sets of robot automatic welding systems; the three-axis positioner 3 and the gantry truss 4 realize collaborative welding.
[0060] The above-mentioned specific embodiments are only several preferred embodiments of the present invention. Based on the technical solutions of the present invention and the relevant inspirations of the above-mentioned embodiments, those skilled in the art can make various alternative improvements and combinations to the above-mentioned specific embodiments.
Claims
1. A cockpit robot flexible automated welding workstation, comprising a workbench (1), a conveyor line (2), a three-axis positioner (3), and a gantry truss (4), characterized in that: The conveyor line (2) comprises a first conveyor line (201) and a second conveyor line (202), the first conveyor line (201) and the second conveyor line (202) are both arranged inside the workbench (1), the upper surfaces of the first conveyor line (201) and the second conveyor line (202) are exposed on the upper surface of the workbench (1), the positions of the first conveyor line (201) and the second conveyor line (202) are mutually collinear, a plurality of groups of limit blocks (203) are equidistantly fixedly connected to the upper surfaces of the first conveyor line (201) and the second conveyor line (202), four limit blocks (203) form a group, the four limit blocks (203) of each group are arranged in a rhombus shape, the longer diagonal line of the rhombus is perpendicular to the corresponding conveyor line, the size of each group of rhombuses is consistent, a plurality of first trays (204) are equidistantly placed on the upper surface of the first conveyor line (201), and a plurality of second trays (204) are equidistantly placed on the upper surface of the second conveyor line (202) 205), the bottoms of the first tray (204) and the second tray (205) are rectangles of the same size, the longer sides of the rectangles are perpendicular to the corresponding conveyor lines, the bottoms of the first tray (204) and the second tray (205) are placed inside each group of four limit blocks (203), a plurality of rollers (206) are provided below the shorter sides of the bottoms of the first tray (204) and the second tray (205), the tops of the first tray (204) and the second tray (205) are adjustable telescopic sliding devices, the position between the first conveyor line (201) and the second conveyor line (202) is a welding station, a first inclined slide rail (207) is provided between the welding station and the first conveyor line (201), a second inclined slide rail (208) is provided between the welding station and the second conveyor line (202), and the three-axis positioner (3) and the gantry truss (4) are provided on the same side of the conveyor line (2).
2. The cockpit robot flexible automated welding workstation according to claim 1, characterized in that: The higher end of the first inclined slide rail (207) is arranged on one side of the first conveying line (201), and the lower end of the first inclined slide rail (207) is arranged on one side of the welding station; the higher end of the second inclined slide rail (208) is arranged on one side of the second conveying line (202), and the lower end of the second inclined slide rail (208) is arranged on one side of the welding station.
3. The cockpit robot flexible automated welding workstation according to claim 1, characterized in that: The first tray (204) and the second tray (205) are both provided with chips.
4. The cockpit robot flexible automated welding workstation according to claim 1, characterized in that: The three-axis positioner (3) comprises a positioner column (301), a lifting and sliding device (302) is provided on the surface of the positioner column (301), a flipping device (303) is provided on the surface of the lifting and sliding device (302), an L-arm (304) is provided on the surface of the flipping device (303), a rotating device (305) is provided on the surface of the L-arm (304), a bottom plate (306) is provided at the bottom of the positioner column (301), a positioner maintenance platform (307) is provided at the top of the positioner column (301), a positioner ladder (308) is provided on one side of the positioner maintenance platform (307), a third pallet (309) is fixedly connected to the upper surface of the rotating device (305), the third pallet (309) is rectangular and its size is consistent with the size of the bottom rectangle of the first pallet (204) and the second pallet (205), and the centers of the rotating device (305) and the third pallet (309) are both at the center of the plane of the welding station.
5. The cockpit robot flexible automated welding workstation according to claim 1, characterized in that: The gantry truss (4) comprises a first truss column (401) and a second truss column (402), the surface of the first truss column (401) is provided with a first gun cleaner (403), the surface of the second truss column (402) is provided with a second gun cleaner (404), the tops of the first truss column (401) and the second truss column (402) are connected by a sliding platform (405), and the surface of the sliding platform (405) is provided with a first sliding device (406) and a second sliding device (407). A first robot (408) is provided at one end of the first sliding device (406), a second robot (409) is provided at one end of the second sliding device (407), a first laser control box (410) is provided at one side of the first sliding device (406), a second laser control box (411) is provided at one side of the second sliding device (407), a truss maintenance platform (412) is provided at one side of the sliding platform (405), and a truss ladder (413) is provided at one side of the truss maintenance platform (412).
6. The cockpit robot flexible automated welding workstation according to claim 1, characterized in that: A safety fence (101) is provided on the upper surface of the workbench (1); a first conveyor line (201) and a second conveyor line (202) both vertically penetrate the safety fence (101); a first gate (102) is provided at the vertical penetration point of the first conveyor line (201) of the safety fence (101); a second gate (103) is provided at the vertical penetration point of the second conveyor line (202) of the safety fence (101); and a three-axis positioner (3) and a gantry truss (4) are both arranged inside the safety fence (101).
7. The cockpit robot flexible automated welding workstation according to claim 6, characterized in that: The surface of the safety fence (101) is provided with a first safety door (104), a second safety door (105), a first HMI human-machine interface (106), a second HMI human-machine interface (107), and a third HMI human-machine interface (108); the first gate (102), the first safety door (104), and the first HMI human-machine interface (106) are on the same side of the safety fence (101); the second gate (103), the second safety door (105), and the second HMI human-machine interface (107) are on the same side of the safety fence (101); and the third HMI human-machine interface (108) is arranged on a side close to a welding station.
8. The cockpit robot flexible automated welding workstation according to claim 6, characterized in that: A first visual sensor (109) is provided on one side of a first conveying line (201) in a safety fence (101), and the position detected by the first visual sensor (109) is a first detection station. A second visual sensor (110) is provided on one side of a second conveying line (202) in the safety fence (101), and the position detected by the second visual sensor (110) is a second detection station.
9. The cockpit robot flexible automated welding workstation according to claim 6, characterized in that: An industrial control computer (111), a programmable logic controller (112), a first robot control cabinet welding machine (113), a second robot control cabinet welding machine (114), a first welding wire barrel (115), and a second welding wire barrel (116) are arranged inside the safety fence (101).
10. A cockpit robot flexible automatic welding method, implemented on a cockpit robot flexible automatic welding workstation according to any one of claims 1 to 9, characterized in that: If both the first type cockpit (5) and the second type cockpit (6) need to be welded, the steps are as follows: S1: selecting a model corresponding to a first-model cockpit (5) on a first HMI human-machine interface (106), and selecting a model corresponding to a second-model cockpit (6) on a second HMI human-machine interface (107); S2: a first-model cockpit (5) is placed on the upper surface of a first tray (204), the first tray (204) locks the first-model cockpit (5), a second-model cockpit (6) is placed on the upper surface of a second tray (205), the second tray (205) locks the second-model cockpit (6), the radio frequency identification technology records the model corresponding to the first-model cockpit (5) as a radio frequency signal into a chip provided on the first tray (204), and the radio frequency identification technology records the model corresponding to the second-model cockpit (6) as a radio frequency signal into a chip provided on the second tray (205); S3: The first conveyor line (201) conveys the first model cockpit (5) and the first pallet (204) to the first inspection station, and the first visual sensor (109) detects and identifies the first model cockpit (5) and the first pallet (204) to confirm whether the first model cockpit (5) and the first pallet (204) are locked and whether the cockpit model is correct; the second conveyor line (202) conveys the second model cockpit (6) and the second pallet (205) to the second inspection station, and the second visual sensor (110) detects and identifies the second model cockpit (6) and the second pallet (205) to confirm whether the second model cockpit (6) and the second pallet (205) are locked and whether the cockpit model is correct; S4: If the visual sensor detects that the corresponding cockpit and the corresponding pallet are not locked or the corresponding cockpit model is incorrect, an alarm is triggered; if the visual sensor detects that the corresponding cockpit and the corresponding pallet are locked and the corresponding cockpit model is correct, the first conveyor line (201) and the second conveyor line (202) alternately convey the corresponding pallet and the cockpit to the welding station; S5: After the pallet and the cockpit are transported to the welding station, they are positioned and clamped, and the cabin type information of the chip on the pallet is read through the radio frequency identification technology and compared with the system model. The third HMI human-machine interface (108) displays the comparison result. If it is confirmed to be correct, the corresponding welding program is automatically called to perform welding work; In S2, the adjustment width of the top of the first tray (204) and the second tray (205) is consistent with the width of the corresponding cockpit; In S4, the first tray (204) transfers the first type of cockpit (5) to the third tray (309) via the rollers (206) at the bottom along the first inclined rail (207), and the second tray (205) transfers the second type of cockpit (6) to the third tray (309) via the rollers (206) at the bottom along the second inclined rail (208); In S5, the three-axis positioner (3) adjusts the placement of the third pallet (309) and the corresponding cockpit and the pallet through the lifting sliding device (302), the flipping device (303), and the rotating device (305); the gantry truss (4) adjusts the welding position through the sliding platform (405), the first sliding device (406), the second sliding device (407), the first robot (408), and the second robot (409); the first robot (408) and the second robot (409) determine the welding position by laser positioning.