Automatic gun-changing structure, gun-changing system and gun-changing method

Abstract

The present invention belongs to the technical field of welding equipment, and discloses an automatic gun changing structure, an automatic gun changing system and a gun changing method. The automatic gun changing structure includes a gun changing joint, a positioning joint and a gun changing station. The gun changing joint is arranged at the end of the cable. The gun changing joint includes a gun changing seat and a locking buckle. The gun changing seat is provided with a through connection channel, and the end of the cable can extend into the connection channel. The positioning joint is arranged at the input end of the welding torch. The positioning joint includes a gun changing seat, a locking buckle and a first driving mechanism. The positioning seat is provided with an input interface, and the input interface can be connected to the cable in the connection channel. The locking buckle can extend into the connection channel and lock the input interface in the connection channel. The gun changing station includes a bearing plate, and a plurality of limiting holes are formed in the bearing plate. Each limiting hole is a gun changing position. When the input interface is unlocked from the connection channel, the positioning plate can be pressed against the bearing plate. It has a high degree of automation, high operation efficiency and low error rate.

Description

Technical Field

[0001] The present invention relates to the technical field of welding equipment, and in particular to an automatic gun-changing structure, a gun-changing system and a gun-changing method. Background Art

[0002] With the rapid development of industrial automation, the production line has higher and higher requirements for the efficiency of welding operations. On a production line, the welding requirements of different products or workpieces are different. When performing welding operations, it is necessary to quickly switch different types of welding torches, such as welding torches with different loads, as well as welding torches with different angles or lengths.

[0003] During the welding operation in the prior art, the degree of automation is insufficient, and a large amount of manual labor is required to replace the welding torch, which is difficult to meet the diverse and efficient production requirements. At the same time, the accuracy of manual operation is low and mistakes are prone to occur. Summary of the Invention

[0004] The purpose of the present invention is to provide an automatic gun-changing structure, an automatic gun-changing system and a gun-changing method, which have high gun-changing efficiency, save labor and have a low error rate.

[0005] To achieve this purpose, the present invention adopts the following technical solutions:

[0006] The automatic gun-changing structure includes:

[0007] A gun-changing joint is arranged at the end of the cable. The gun-changing joint includes: a gun-changing seat, a locking buckle and a first driving mechanism. The gun-changing seat is provided with a through connection channel, and the end can extend into the connection channel.

[0008] A positioning joint is arranged at the input end of the welding torch. The positioning joint includes a positioning seat and a positioning plate. The positioning seat is provided with an input interface. When the gun-changing seat is sleeved on the outer peripheral side of the input interface under the drive of the robot, the input interface can be connected to the cable in the connection channel, and the locking buckle can extend into the connection channel under the drive of the first driving mechanism and lock the input interface in the connection channel.

[0009] A gun-changing station, the gun-changing station includes a bearing plate, and a plurality of limiting holes are arranged on the bearing plate. Each limiting hole is a gun-changing position. When the welding torch extends into the limiting hole under the drive of the robot, the positioning plate can press against the bearing plate.

[0010] Preferably, the gun-changing joint further includes a seesaw, a push plate is arranged at the output end of the first driving mechanism, the middle position of the seesaw is rotatably connected to the gun-changing seat, at both ends in the length direction of the seesaw, one end is rotatably connected to the push plate, and the other end is rotatably connected to the locking buckle. The gun-changing seat is provided with a through groove communicating with the connection channel, and the locking buckle can extend into the through groove.

[0011] Preferably, a first locking groove is formed on the outer peripheral side of the input interface, a second locking groove is formed on the locking buckle. When the input interface extends into the connection channel, the bottom of the second locking groove can press against the outer peripheral side of the input interface, and the locking buckle can press against the inner wall of the first locking groove.

[0012] Preferably, the gun-changing joint includes a reinforcing frame, the reinforcing frame is fixedly arranged between the gun-changing seat and the first driving mechanism, and the seesaw can pass through the reinforcing frame.

[0013] Preferably, the gun-changing station includes:

[0014] A vertical plate, the bearing plate is fixedly arranged on one side of the vertical plate;

[0015] A pressing assembly, including a second driving mechanism, a pressing block and a mounting seat. The second driving mechanism is arranged on the side of the vertical plate facing away from the bearing plate. The pressing block is connected to the output end of the second driving mechanism. The mounting seat is buried in the vertical plate and is provided with a through hole. The positioning plate is provided with a first pressing inclined surface, and the pressing block is provided with a second pressing inclined surface. When the pressing block passes through the through hole under the drive of the second driving mechanism, the first pressing inclined surface can press against the second pressing inclined surface.

[0016] Preferably, a first positioning pin is arranged on the bearing plate, a positioning hole is formed on the positioning plate. When the positioning plate presses against the bearing plate, the first positioning pin passes through the positioning hole.

[0017] Preferably, a second positioning pin is arranged on the positioning seat, a positioning groove is formed on the gun-changing seat. When the input interface extends into the connection channel, the second positioning pin can extend into the positioning groove.

[0018] An automatic gun-changing system, characterized by including:

[0019] Multiple welding guns;

[0020] A robot;

[0021] In the above automatic gun-changing structure, the robot is communicatively connected to the first driving mechanism.

[0022] Preferably, it further includes a first monitoring mechanism. The transmitting end is arranged at the fixed end of the first driving mechanism, and the receiving end is arranged at the output end of the first driving mechanism. The first monitoring mechanism is configured to monitor the distance between the fixed end and the output end, and the first monitoring mechanism is communicatively connected to the robot.

[0023] A gun-changing method using the above automatic gun-changing system includes the following steps:

[0024] S1. The robot moves the gun-changing joint to the gun-changing position, and the positioning plate presses against the bearing plate.

[0025] S2. The input interface unlocks the connection channel.

[0026] S3. The robot moves the gun-changing joint to another gun-changing position.

[0027] S4. The input interface of another welding gun locks the connection channel.

[0028] Advantages of the present invention:

[0029] The gun-changing joint and the positioning joint cooperate with each other to realize the connection and separation of the welding gun and the cable. The setting of the locking buckle can realize the locking and unlocking of the input interface and the connection channel. The gun-changing station can accommodate multiple welding guns of different models to meet the operation requirements. When the welding gun needs to be replaced, the robot moves the welding gun to the gun-changing position, so that the welding gun extends into the limiting hole and the positioning plate presses against the bearing plate. The first driving mechanism drives the locking buckle to separate from the connection channel, so that the input interface unlocks the connection channel. The robot moves the gun-changing seat to another gun-changing position and sleeves the gun-changing seat on the outer peripheral side of the input interface. The first driving mechanism drives the locking buckle to extend into the connection channel, so that the input interface locks the connection channel, and the replacement of the welding gun can be completed. It has a high degree of automation, high operation efficiency and low error rate. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] Figure 1 is a schematic structural diagram of the automatic gun-changing system of the present invention;

[0031] Figure 2 is a schematic structural diagram of the welding gun and the positioning joint of the present invention;

[0032] Figure 3 is a schematic structural diagram of the gun-changing joint and the cable of the present invention;

[0033] Figure 4 is an exploded view of the structure of the gun-changing joint of the present invention;

[0034] Figure 5 is a schematic structural diagram of the positioning plate of the present invention;

[0035] Figure 6It is a schematic structural diagram of the gun-changing station according to the present invention;

[0036] Figure 7 It is a schematic structural diagram of the locking buckle according to the present invention;

[0037] Figure 8 It is a schematic structural diagram of the gun-changing seat according to the present invention;

[0038] Figure 9 It is an exploded structural view of the pressing assembly according to the present invention.

[0039] In the figure:

[0040] 100, cable;

[0041] 200, welding torch;

[0042] 300, robot;

[0043] 1, gun-changing joint; 11, gun-changing seat; 110, connecting channel; 111, through groove; 112, positioning groove; 12, locking buckle; 120, second locking groove; 13, first driving mechanism; 131, push plate; 14, rocker; 15, reinforcement frame; 16, base; 17, dust cover;

[0044] 2, positioning joint; 210, input interface; 2101, first locking groove; 21, positioning seat; 211, second positioning pin; 22, positioning plate; 220, first pressing inclined surface; 221, positioning hole; 222, positioning notch;

[0045] 3, gun-changing station; 310, limiting hole; 31, bearing plate; 311, first positioning pin; 32, vertical plate; 33, pressing assembly; 331, second driving mechanism; 332, pressing block; 333, mounting seat; 3320, second pressing inclined surface;

[0046] 4, first monitoring mechanism;

[0047] 5, second monitoring mechanism. Detailed implementation manners

[0048] The embodiments of the present invention will be described in detail below. The examples of the embodiments are shown in the drawings, in which the same or similar reference numerals denote the same or similar components or components with the same or similar functions from beginning to end. The embodiments described below with reference to the drawings are exemplary and are intended to explain the present invention, and should not be construed as limiting the present invention.

[0049] In the description of the present invention, unless otherwise clearly defined and limited, the terms "connected", "connected to", and "fixed" shall be understood in a broad sense. For example, it may be a fixed connection, a detachable connection, a mechanical connection, or an electrical connection. It may be directly connected or indirectly connected through an intermediate medium. It may be the communication inside two components or the interaction relationship between two components. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0050] In the description of the present invention, unless otherwise clearly defined and limited, the first feature being "above" or "below" the second feature may include the first feature and the second feature being in direct contact, or may include the first feature and the second feature not being in direct contact but being in contact through other features therebetween. Moreover, the first feature being "above", "above", and "on" the second feature includes the first feature being directly above and obliquely above the second feature, or merely indicating that the first feature has a higher horizontal height than the second feature. The first feature being "below", "below", and "under" the second feature includes the first feature being directly below and obliquely below the second feature, or merely indicating that the first feature has a lower horizontal height than the second feature.

[0051] The technical solution of the present invention will be further described below with reference to the accompanying drawings and specific embodiments.

[0052] As Figures 1-9 shown, the present invention provides an automatic gun-changing structure for automatically changing between multiple welding guns 200. The automatic gun-changing structure includes a gun-changing joint 1, a positioning joint 2, and a gun-changing station 3. Among them, the gun-changing joint 1 is provided at the end of the cable 100. The gun-changing joint 1 includes a gun-changing seat 11, a locking buckle 12, and a first driving mechanism 13. The gun-changing seat 11 is provided with a through connection channel 110, and the end of the cable 100 can extend into the connection channel 110. The positioning joint 2 is provided at the input end of the welding gun 200. The positioning joint 2 includes a positioning seat 21 and a positioning plate 22. The positioning seat 21 is provided with an input interface 210. When the gun-changing seat 11 is sleeved on the outer peripheral side of the input interface 210 under the drive of the robot 300, the input interface 210 can be connected to the cable 100 in the connection channel 110, and the locking buckle 12 can extend into the connection channel 110 under the drive of the first driving mechanism 13 and lock the input interface 210 in the connection channel 110. The gun-changing station 3 includes a bearing plate 31. The bearing plate 31 is provided with a plurality of limiting holes 310. Each limiting hole 310 is a gun-changing position. When the welding gun 200 extends into the limiting hole 310 under the drive of the robot 300, the positioning plate 22 can press against the bearing plate 31.

[0053] The gun-changing joint 1 and the positioning joint 2 cooperate with each other to realize the connection and separation of the welding gun 200 and the cable 100. The setting of the locking buckle 12 can realize the locking and unlocking of the input interface 210 and the connection channel 110. The gun-changing station 3 can accommodate multiple welding guns 200 of different models to meet the operation requirements. When the welding gun 200 needs to be replaced, the robot 300 moves the welding gun 200 to the gun-changing position, so that the welding gun 200 extends into the limiting hole 310 and the positioning plate 22 presses against the bearing plate 31. The first driving mechanism 13 drives the locking buckle 12 to separate from the connection channel 110, so that the input interface 210 is unlocked from the connection channel 110. The robot 300 moves the gun-changing seat 11 to another gun-changing position and sleights the gun-changing seat 11 on the outer peripheral side of the input interface 210. The first driving mechanism 13 drives the locking buckle 12 to extend into the connection channel 110, so that the input interface 210 is locked in the connection channel 110, and the replacement of the welding gun 200 can be completed. It has a high degree of automation, high operation efficiency and low error rate.

[0054] It can be understood that the positioning joint 2 is connected to the input end of the welding gun 200 through the input interface 210. Positioning joints of different sizes can be set for different models of welding guns 200 to ensure their versatility.

[0055] It should be noted that the first driving mechanism 13 is a commonly used linear driving mechanism in the art, such as a cylinder or an oil cylinder, etc. Its specific principle and structure will not be elaborated here.

[0056] Specifically, the gun-changing joint 1 further includes a rocker 14. A push plate 131 is arranged at the output end of the first driving mechanism 13. The middle position of the rocker 14 is rotatably connected to the gun-changing seat 11. At both ends in the length direction of the rocker 14, one end is rotatably connected to the push plate 131 and the other end is rotatably connected to the locking buckle 12. The gun-changing seat 11 is provided with a through groove 111 communicating with the connection channel 110, and the locking buckle 12 can extend into the through groove 111.

[0057] Specifically, a first locking groove 2101 is opened on the outer peripheral side of the input interface 210, and a second locking groove 120 is opened on the locking buckle 12. When the input interface 210 extends into the connection channel 110, the bottom of the second locking groove 120 can press against the outer peripheral side of the input interface 210, and the locking buckle 12 can press against the inner wall of the first locking groove 2101. With the above settings, the contact area between the locking buckle 12 and the input interface 210 can be increased, so that the input interface 210 can be more stably locked in the connection channel 110. With the above setting of the gun-changing seat 11, the stability of the movement of the push plate 131 can be improved and the vibration can be reduced.

[0058] Specifically, the gun-changing joint 1 includes a reinforcement frame 15. The reinforcement frame 15 is fixedly arranged between the gun-changing seat 11 and the first driving mechanism 13, and the rocker 14 can pass through the reinforcement frame 15. The arrangement of the above-mentioned reinforcement frame 15 can improve the stability of the movement of the push plate 131 and reduce vibration.

[0059] Exemplarily, in this embodiment, the reinforcement frame 15 is connected to the gun-changing seat 11 by bolts. The fixed end of the first driving mechanism 13 is fixedly connected to one side of the reinforcement frame 15, and the rocker 14 can abut against the other side of the reinforcement frame 15 to offset the inertia during the movement of the rocker 14 and further improve stability.

[0060] Exemplarily, in this embodiment, there are two rockers 14 arranged at intervals, and the push plate 131 corresponds to the rocker 14 one by one. With the above arrangement, the two rockers 14 are correspondingly arranged on both sides of the locking buckle 12, making the force on the locking buckle 12 more uniform.

[0061] More specifically, a second positioning pin 211 is arranged on the positioning seat 21, and a positioning groove 112 is formed in the gun-changing seat 11. When the input interface 210 extends into the connection channel 110, the second positioning pin 211 can extend into the positioning groove 112. With the above arrangement, the second positioning pin 211 and the positioning groove 112 cooperate with each other to prevent relative rotation between the two when the input interface 210 extends into the connection channel 110 and improve stability.

[0062] Preferably, in this embodiment, there are two positioning grooves 112 arranged at intervals, which are distributed in a triangle with the opening of the connection channel 110, and the second positioning pin 211 corresponds to the positioning groove 112 one by one, further improving stability.

[0063] Specifically, the gun-changing joint 1 further includes a base 16. One side of the base 16 is detachably connected to the robot 300, and the other side is detachably connected to the gun-changing seat 11. The arrangement of the above-mentioned base 16 enables the gun-changing joint 1 to be adapted to different models of robots 300.

[0064] Specifically, the gun-changing joint 1 further includes a dust cover 17. One end of the dust cover 17 is rotatably connected to the gun-changing seat 11, and the other end is detachably connected to the gun-changing seat 11 by a buckle. The dust cover 17 covers the fixed end of the first driving mechanism 13 to enhance the durability of the first driving mechanism 13.

[0065] Specifically, the gun-changing station 3 includes a vertical plate 32 and a pressing component 33. Among them, the bearing plate 31 is fixedly arranged on one side of the vertical plate 32; the pressing component 33 includes a second driving mechanism 331, a pressing block 332 and a mounting seat 333. The second driving mechanism 331 is arranged on the side of the vertical plate 32 facing away from the bearing plate 31. The pressing block 332 is connected to the output end of the second driving mechanism 331. The mounting seat 333 is buried in the vertical plate 32 and is provided with a through hole. The positioning plate 22 is provided with a first pressing inclined surface 220, and the pressing block 332 is provided with a second pressing inclined surface 3320. When the pressing block 332 passes through the through hole under the drive of the second driving mechanism 331, the first pressing inclined surface 220 can press against the second pressing inclined surface 3320. The setting of the above-mentioned pressing component 33 can improve the connection strength between the positioning plate 22 and the bearing plate 31 and improve the stability.

[0066] It should be noted that the second driving mechanism 331 is a commonly used linear driving mechanism in the art, such as a cylinder or an oil cylinder, etc. Its specific principle and structure will not be elaborated here.

[0067] Specifically, a first positioning pin 311 is arranged on the bearing plate 31, and a positioning hole 221 is opened on the positioning plate 22. When the positioning plate 22 presses against the bearing plate 31, the first positioning pin 311 passes through the positioning hole 221.

[0068] More specifically, a plurality of first positioning pins 311 are arranged. A positioning notch 222 is opened on the positioning plate 22. One first positioning pin 311 passes through the positioning hole 221, and the remaining first positioning pins 311 can pass through the positioning notch 222, thereby further improving the stability of the positioning plate 22.

[0069] Preferably, in this embodiment, two positioning notches 222 are provided and are distributed in a triangle with the positioning hole 221.

[0070] The present invention also provides an automatic gun-changing system, which includes a robot 300, a plurality of welding guns 200 and the above automatic gun-changing structure. Among them, the robot 300 is communicatively connected to the first driving mechanism 13.

[0071] It can be understood that this automatic gun-changing system has all the beneficial effects of the above automatic gun-changing structure and will not be elaborated here.

[0072] Specifically, the automatic gun-changing system further includes a first monitoring mechanism 4. The transmitting end is arranged at the fixed end of the first driving mechanism 13, and the receiving end is arranged at the output end of the first driving mechanism 13. The first monitoring mechanism 4 is configured to monitor the distance between its own fixed end and its own output end, and the first monitoring mechanism 4 is communicatively connected to the robot 300. With the above arrangement of the first monitoring mechanism 4, the first monitoring mechanism 4 and the robot 300 cooperate with each other. By measuring the distance between its own fixed end and its own output end, the first monitoring mechanism 4 determines whether the locking buckle 12 extends into the connection channel 110.

[0073] It can be understood that when the distance between the fixed end and the output end is less than a certain preset threshold, the locking buckle 12 extends into the connection channel 110. At this time, the input interface 210 is locked in the connection channel 110, and the robot 300 can drive the welding torch 200 to perform welding operations; conversely, when the distance between the fixed end and the output end is greater than a certain preset threshold, the locking buckle 12 separates from the connection channel 110. At this time, the input interface 210 is unlocked in the connection channel 110, and the robot 300 can drive the gun-changing joint 1 to move to another gun-changing position, so that the gun-changing seat 11 is sleeved on the outer peripheral side of the input interface 210 of the welding torch 200 corresponding to this gun-changing position.

[0074] Specifically, the automatic gun-changing system further includes a second monitoring mechanism 5. The transmitting end is arranged at the fixed end of the second driving mechanism 331, and the receiving end is arranged on the pressing block 332. The second monitoring mechanism 5 is configured to monitor the distance between the fixed end and the output end, and the second monitoring mechanism 5 is communicatively connected to the robot 300. With the above arrangement of the second monitoring mechanism 5, the second monitoring mechanism 5 and the robot 300 cooperate with each other. By measuring the distance between its own fixed end and its own output end, the second monitoring mechanism 5 determines whether the first pressing inclined surface 220 presses against the second pressing inclined surface 3320.

[0075] It can be understood that when the distance between the fixed end and the output end of the second monitoring mechanism 5 is greater than a certain preset threshold, the first pressing inclined surface 220 separates from the second pressing inclined surface 3320. At this time, the positioning plate 22 can separate from the bearing plate 31, and the robot 300 can drive the welding torch 200 to perform welding operations; conversely, when the distance between the fixed end and the output end of the second monitoring mechanism 5 is less than or equal to the above threshold, the first pressing inclined surface 220 presses against the second pressing inclined surface 3320. At this time, the robot 300 can drive the gun-changing joint 1 to move to another gun-changing position, so that the gun-changing seat 11 is sleeved on the outer peripheral side of the input interface 210 of the welding torch 200 corresponding to this gun-changing position.

[0076] It should be noted that both the first monitoring mechanism 4 and the second monitoring mechanism 5 are common position sensors or distance sensors in the art, and their structures and principles will not be elaborated here.

[0077] The present invention also provides a gun-changing method, which uses the above automatic gun-changing system and includes the following steps:

[0078] S1. The robot 300 moves the gun-changing joint 1 to the gun-changing position, and the positioning plate 22 presses against the bearing plate 31;

[0079] In this step, the robot 300 moves the gun-changing joint 1 connected to the welding torch 200 to the gun-changing position, so that the welding torch 200 extends into the limiting hole 310 corresponding to the gun-changing position until the positioning plate 22 presses against the bearing plate 31, and the first positioning pins 311 respectively extend into the positioning holes 221 and the positioning notches 222; the second driving mechanism 331 drives the pressing block 332 to extend into the through hole of the mounting seat 333 until the second pressing inclined surface 3320 presses against the first pressing inclined surface 220.

[0080] S2. The input interface 210 is unlocked from the connection channel 110.

[0081] In this step, the first driving mechanism 13 drives the push plate 131 to move, drives the locking buckle 12 to separate from the connection channel 110 through the rocker 14, so that the input interface 210 is unlocked from the connection channel 110; the first monitoring mechanism 4 sends a control signal to the robot 300, and the robot 300 drives the gun-changing seat 11 to move, so that the connection channel 110 separates from the input interface 210.

[0082] S3. The robot 300 moves the gun-changing joint 1 to another gun-changing position.

[0083] In this step, according to the actual requirements of the operation, the robot 300 moves the gun-changing seat 11 not connected to the welding torch 200 to another gun-changing position where the welding torch 200 is provided.

[0084] S4. The input interface 210 of another welding torch 200 is locked to the connection channel 110.

[0085] In this step, the first driving mechanism 13 drives the push plate 131 to move, drives the locking buckle 12 to extend into the connection channel 110 through the rocker 14, so that the bottom of the second locking groove 120 presses against the outer peripheral side of the input interface 210, and the locking buckle 12 presses against the inner wall of the first locking groove 2101; the first monitoring mechanism 4 sends a control signal to the robot 300 to complete the gun-changing operation, and the robot 300 can drive the gun-changing seat 11 to perform other welding operations.

[0086] Obviously, the above embodiments of the present invention are merely examples for clearly illustrating the present invention, rather than limitations on the implementation manners of the present invention. For those of ordinary skill in the art, other different forms of changes or modifications can be made based on the above description. It is not necessary and impossible to enumerate all implementation manners here. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principle of the present invention shall be included within the protection scope of the claims of the present invention.

Claims

1. Automatic gun changing structure, characterized in that: include: A gun-changing connector (1) is arranged at the end of the cable (100), the gun-changing connector (1) comprising: a gun-changing seat (11), a locking buckle (12) and a first driving mechanism (13), the gun-changing seat (11) is provided with a through connection channel (110), and the end can extend into the connection channel (110); A positioning joint (2) is arranged at the input end of the welding gun (200), the positioning joint (2) comprising a positioning seat (21) and a positioning plate (22), the positioning seat (21) being provided with an input interface (210), and when the gun changing seat (11) is sleeved on the outer peripheral side of the input interface (210) under the drive of the robot (300), the input interface (210) can be connected to the cable (100) in the connecting channel (110), and the locking buckle (12) can extend into the connecting channel (110) under the drive of the first driving mechanism (13) and lock the input interface (210) in the connecting channel (110); A gun changing station (3), the gun changing station (3) comprising a bearing plate (31), the bearing plate (31) being provided with a plurality of limiting holes (310), each of the limiting holes (310) being a gun changing position, and when the welding gun (200) is driven by the robot (300) to extend into the limiting hole (310), the positioning plate (22) can be pressed against the bearing plate (31); The gun-changing joint (1) further comprises a seesaw (14); a push plate (131) is provided at the output end of the first driving mechanism (13); a middle position of the seesaw (14) is rotatably connected to the gun-changing seat (11); one end of the seesaw (14) in the length direction is rotatably connected to the push plate (131), and the other end is rotatably connected to the locking buckle (12); the gun-changing seat (11) is provided with a through slot (111) connected to the connecting channel (110), and the locking buckle (12) can extend into the through slot (111); The outer peripheral side of the input interface (210) is provided with a first locking groove (2101), and the locking buckle (12) is provided with a second locking groove (120); when the input interface (210) extends into the connecting channel (110), the groove bottom of the second locking groove (120) can press against the outer peripheral side of the input interface (210), and the locking buckle (12) can press against the inner wall of the first locking groove (2101); The contact area between the locking buckle (12) and the input interface (210) can be increased, so that the input interface (210) can be locked in the connection channel (110) more stably.

2. The automatic gun changing structure according to claim 1, characterized in that: The gun-changing joint (1) comprises a reinforcement frame (15), the reinforcement frame (15) being fixedly arranged between the gun-changing seat (11) and the first driving mechanism (13), and the seesaw (14) being able to pass through the reinforcement frame (15).

3. The automatic gun changing structure according to claim 1, characterized in that: The gun changing station (3) comprises: A vertical plate (32), wherein the bearing plate (31) is fixedly arranged on one side of the vertical plate (32); The clamping assembly (33) comprises a second driving mechanism (331), a pressing block (332) and a mounting seat (333), wherein the second driving mechanism (331) is arranged on a side of the vertical plate (32) facing away from the supporting plate (31), the pressing block (332) is connected to the output end of the second driving mechanism (331), the mounting seat (333) is buried in the vertical plate (32) and is provided with a through hole, the positioning plate (22) is provided with a first pressing inclined surface (220), the pressing block (332) is provided with a second pressing inclined surface (3320), and when the pressing block (332) passes through the through hole under the drive of the second driving mechanism (331), the first pressing inclined surface (220) can press against the second pressing inclined surface (3320).

4. The automatic gun changing structure according to claim 3, characterized in that: The bearing plate (31) is provided with a first positioning pin (311), and the positioning plate (22) is provided with a positioning hole (221). When the positioning plate (22) is pressed against the bearing plate (31), the first positioning pin (311) passes through the positioning hole (221).

5. The automatic gun changing structure according to claim 1, characterized in that: A second positioning pin (211) is provided on the positioning seat (21), and a positioning groove (112) is provided on the gun changing seat (11), and when the input interface (210) extends into the connecting channel (110), the second positioning pin (211) can extend into the positioning groove (112).

6. Automatic gun changing system, characterized in that: include: Multiple welding guns (200); Robot (300); In the automatic gun changing structure described in any of claims 1 to 5 above, the robot (300) is communicatively connected to the first driving mechanism (13).

7. The automatic gun changing system according to claim 6, characterized in that: It also includes a first monitoring mechanism (4), a transmitting end being arranged at a fixed end of the first driving mechanism (13), a receiving end being arranged at an output end of the first driving mechanism (13), the first monitoring mechanism (4) being configured to monitor the distance between the fixed end and the output end, and the first monitoring mechanism (4) being communicatively connected to the robot (300).

8. A gun changing method, characterized in that: The automatic gun changing system according to any one of claims 6 to 7 comprises the following steps: S1, the robot (300) moves the gun-changing joint (1) to the gun-changing position, and the positioning plate (22) presses against the bearing plate (31); S2, the input interface (210) is unlocked on the connection channel (110); S3, the robot (300) moves the gun changing joint (1) to another gun changing position; S4. The input interface (210) of another welding gun (200) is locked to the connection channel (110).

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