Welding workstation

Abstract

The invention provides a welding workstation, and relates to the technical field of robot welding. The ground rail is arranged on the working platform; the first welding positioner is arranged on the ground rail; the second welding positioner is arranged on the ground rail; the welding robot system comprises a stand column arranged on the working platform; the first beam is arranged on the stand column; a second beam movable relative to the first beam in a first direction; the third beam can move relative to the second beam in the second direction, and the third beam is arranged in the third direction; the robot assembly can move relative to the third beam in the third direction; and the double-wire welding equipment is arranged on the robot assembly, and the double-wire welding equipment is used for welding the frame. According to the technical scheme, through mutual cooperation of the first beam, the second beam, the third beam and the robot assembly, the movement range of the double-wire welding equipment is increased, efficient welding of multiple welding seams can be achieved, the situation that the welding position cannot be reached is effectively solved, the automation degree is high, and the manual repair welding amount is small.

Description

Technical Field

[0001] The invention relates to the technical field of robot welding, and in particular to a welding workstation. Background Art

[0002] With the vigorous development of mining machinery manufacturing industry, efficient and automated welding has become the main development direction of the industry.

[0003] In the welding of large structural parts, especially large and complex workpieces such as wide-body vehicle frames, higher requirements are placed on welding technology. Wide-body vehicles are usually designed according to the personalized needs of customers, and their tonnage is generally between 60t and 70t, and the corresponding frame models will also change accordingly. This change leads to many technical difficulties in the welding of wide-body vehicle frames.

[0004] In the related art, when welding the frame of a wide-body vehicle, the welding equipment is directly installed on the ground rail, the welding automation level is low, some welding positions are inaccessible, and the workload of manual repair welding is large. Summary of the invention

[0005] In order to solve or improve at least one of the above technical problems, an object of the present invention is to provide a welding workstation.

[0006] To achieve the above-mentioned purpose, the present invention provides a welding workstation for welding a vehicle frame. The welding workstation includes a working platform, a ground rail, a first welding positioner, a second welding positioner and a welding robot system. Among them, the ground rail is arranged on the working platform. The first welding positioner is movably arranged on the ground rail; the second welding positioner is movably arranged on the ground rail. The second welding positioner and the first welding positioner are close to or away from each other along the ground rail. The second welding positioner cooperates with the first welding positioner to clamp the vehicle frame. In addition, the welding robot system includes a column, a first beam, a second beam, a third beam, a robot assembly and a double-wire welding device. The column is arranged on the working platform. The first beam is arranged on the column, and the first beam is arranged along a first direction. The second beam is movably arranged on the first beam, and the second beam can move relative to the first beam along the first direction. The second beam is arranged along a second direction, and the second direction is perpendicular to the first direction. The third beam is movably arranged on the second beam, and the third beam can move relative to the second beam along the second direction. The third beam is arranged along a third direction, the third direction is perpendicular to the first direction, and the third direction is perpendicular to the second direction. The robot assembly is movably arranged on the third beam, and the robot assembly can move relative to the third beam along the third direction. The double-wire welding device is arranged on the robot assembly, and the double-wire welding device is used to weld the vehicle frame.

[0007] The present invention aims to provide a welding workstation, which is conducive to greatly increasing the moving range of the double-wire welding equipment through the mutual cooperation of the first beam, the second beam, the third beam and the robot assembly, and can achieve efficient welding of a large number of welds for large and complex workpieces (frames of wide-body vehicles), effectively solving the problem of inaccessible welding positions, with a high degree of automation and a small amount of manual repair welding, which is conducive to reducing the labor intensity of the staff. In addition, the welding workstation of the present invention adopts double-wire welding equipment. Compared with traditional single-wire (welding wire diameter 1.2mm) gas shielded welding, double-wire welding can complete welding tasks more efficiently, reduce workpiece welding time, and meet high-intensity welding requirements.

[0008] In addition, the above technical solution provided by the present invention may also have the following additional technical features:

[0009] In some technical schemes, optionally, the welding robot system includes at least one of the following or a combination thereof: a first limiting device, arranged on the first beam, and the first limiting device is used to limit the moving range of the second beam; a second limiting device, arranged on the second beam, and the second limiting device is used to limit the moving range of the third beam; a third limiting device, arranged on the third beam, and the third limiting device is used to limit the moving range of the robot assembly.

[0010] In this technical solution, by providing the first limiting device, the movement range of the second beam can be limited to ensure that the second beam can move relative to the first beam along the first direction between two extreme positions (the first extreme position and the second extreme position).

[0011] By providing the second limiting device, the movement range of the third beam can be limited, ensuring that the third beam can move relative to the second beam along the second direction between two extreme positions (the third extreme position and the fourth extreme position).

[0012] By providing the third limiting device, the moving range of the robot assembly can be limited, ensuring that the robot assembly can move relative to the third beam along the third direction between two extreme positions (the fifth extreme position and the sixth extreme position).

[0013] This design method is beneficial to improving the safety performance of the welding robot system.

[0014] In some technical solutions, optionally, the welding robot system further includes a first anti-falling device. The first anti-falling device is arranged at the bottom of the third beam.

[0015] In this technical solution, by arranging the first anti-falling device at the bottom of the third beam, the robot assembly can be prevented from falling to a great extent, which is beneficial to improving the safety performance.

[0016] In some technical solutions, optionally, the robot assembly includes a six-axis robot. The six-axis robot has a fixed end and a movable end, the fixed end is connected to the third beam, and the movable end is connected to the double-wire welding device.

[0017] In this technical solution, the robot assembly is installed in an inverted manner (upside down installation) on the third beam. Compared with the upright installation method, it can effectively increase the effective operating range of the robot, improve the adaptability of the robot welding to the workpiece, improve the welding automation rate and welding efficiency, and thus improve the welding quality.

[0018] In some technical schemes, optionally, the number of second beams is at least two, and each second beam can be movably disposed on the first beam; the number of third beams is at least two, and each third beam can be movably disposed on a corresponding second beam; the number of robot assemblies is at least two, and each robot assembly can be movably disposed on a corresponding third beam; the number of double-wire welding devices is at least two, and each double-wire welding device is disposed on a corresponding robot assembly.

[0019] In this technical solution, at least two welding robot systems are designed for the welding workstation, and at least two welding robot systems share the column and the first beam. This design method is conducive to optimizing the spatial layout and can further improve the welding efficiency.

[0020] In some technical solutions, optionally, the double-wire welding equipment includes a double-wire welding gun and a laser tracker. The double-wire welding gun is provided in the robot assembly, and the double-wire welding gun is used to perform double-wire welding on the vehicle frame. The laser tracker is provided in the robot assembly, and the laser tracker is used to determine the weld position of the vehicle frame.

[0021] In this technical solution, the control system first obtains detailed information about the position of the frame weld through a laser tracker, including the coordinates, shape, length, and specific position of the weld in the three-dimensional space of the frame. Based on these precise data, the control system then systematically controls the operation of the first drive member, the second drive member, the third drive member, the fourth drive member, the fifth drive member, and the sixth drive member. These drives work together to accurately adjust the position and posture of the robot assembly and the double-wire welding gun, ensuring that the double-wire welding gun can gradually approach the position where the frame needs to be welded.

[0022] In some technical solutions, optionally, the ground rail is arranged along a fourth direction, the fourth direction is perpendicular to the second direction, and the fourth direction is perpendicular to the third direction, and the angle between the fourth direction and the first direction is the first angle.

[0023] In this technical solution, when the first angle is 0 degrees, the length direction of the ground rail is consistent with the length direction of the first beam, and the moving directions of the first welding positioner and the second welding positioner are consistent with the length direction of the first beam. At this time, the fourth direction is consistent with the first direction.

[0024] When the first angle is not 0 degrees, the length direction of the ground rail is inconsistent with the length direction of the first beam, and the moving directions of the first welding positioner and the second welding positioner are inconsistent with the length direction of the first beam. At this time, the fourth direction is inconsistent with the first direction. In this case, through the coordinated control of each drive component and the double-wire welding equipment by the control system, the double-wire welding equipment can more easily reach the welds in various parts of the frame, whether it is the complex internal structure of the frame, the side or the bottom welds, efficient welding can be achieved. The problem of inaccessible welding positions in the past has been effectively solved, greatly improving the degree of automation of welding.

[0025] In some technical solutions, optionally, the ground rail includes a first ground rail and a second ground rail. The first ground rail is arranged on the working platform. The first welding positioner is movably arranged on the first ground rail. The second ground rail is arranged on the working platform, the second ground rail is parallel to the first ground rail, and the second welding positioner is movably arranged on the second ground rail.

[0026] In this technical solution, by dividing the ground rail into two sections, the previously long section is changed into two shorter sections, which is conducive to optimizing the spatial layout, reducing the space occupied by the ground rail, and reducing material costs.

[0027] In some technical solutions, optionally, the welding workstation further includes a first positioner tool and a second positioner tool. The first positioner tool is rotatably provided on the first welding positioner, and the first welding positioner is used to drive the first positioner tool to rotate. When the first positioner tool abuts against the frame, the first positioner tool is used to position the frame. The second positioner tool is rotatably provided on the second welding positioner, and when the second positioner tool abuts against the frame, the second positioner tool is used to position the frame.

[0028] In this technical solution, the welding positioner and the positioner tooling cooperate with each other to achieve the clamping of the vehicle frame. Specifically, the welding positioner can move along the ground rail (the first welding positioner can move along the first ground rail, and the second welding positioner can move along the second ground rail), and then the two welding positioners can drive the two positioner toolings to move closer to or away from each other to achieve the clamping of the vehicle frame.

[0029] During the welding process, the two positioner fixtures (the first positioner fixture and the second positioner fixture) are respectively abutted against the vehicle frame, so that the vehicle frame can be positioned.

[0030] During the welding process, the welding positioner and the positioner tooling cooperate with each other to achieve the flipping of the frame. Specifically, the first welding positioner provides power to drive the first positioner tooling to rotate, thereby driving the frame to rotate. During the flipping of the frame, the first welding positioner is the active device and the second welding positioner is the passive device.

[0031] In some technical solutions, optionally, the first positioner tooling includes a first tooling bracket and a first taper pin assembly. The first tooling bracket is rotatably provided on the first welding positioner. The first taper pin assembly is movably provided on the first tooling bracket, and when the first positioner tooling abuts against the frame, the first taper pin assembly is used to position the frame. Optionally, the second positioner tooling includes a second tooling bracket and a positioning assembly. The second tooling bracket is rotatably provided on the second welding positioner. The positioning assembly is movably provided on the second tooling bracket, and when the second positioner tooling abuts against the frame, the positioning assembly is used to position the frame.

[0032] In this technical solution, during the welding process, after the two positioner fixtures (the first positioner fixture and the second positioner fixture) are respectively abutted against the frame, the frame is positioned by cooperating with the holes on the frame through the taper pin assembly.

[0033] Additional aspects and advantages of the technical solutions of the present invention will become apparent in the following description or will be understood through the practice of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0034] Figure 1 A schematic diagram of a welding workstation according to an embodiment of the present invention is shown;

[0035] Figure 2 A schematic diagram of a welding robot system according to an embodiment of the present invention is shown;

[0036] Figure 3 A schematic diagram of a first welding positioner according to an embodiment of the present invention is shown;

[0037] Figure 4 A schematic diagram of a second welding positioner according to an embodiment of the present invention is shown;

[0038] Figure 5 A schematic diagram of a first positioner tooling according to an embodiment of the present invention is shown;

[0039] Figure 6 A schematic diagram of a second positioner tooling according to an embodiment of the present invention is shown;

[0040] Figure 7 A schematic diagram of the connection structure of a robot assembly and a double-wire welding device according to an embodiment of the present invention is shown;

[0041] Figure 8 A schematic diagram showing a first angle between a first direction and a fourth direction according to an embodiment of the present invention is shown;

[0042] Fig. 9 A schematic diagram of a welding workstation according to another embodiment of the present invention is shown.

[0043] in, Figures 1 to 9 The corresponding relationship between the reference numerals and the component names is as follows:

[0044] 100: welding workstation; 110: working platform; 120: ground rail; 121: first ground rail; 122: second ground rail; 130: first welding positioner; 131: headstock positioner body; 132: headstock slewing bearing; 133: first driving member; 140: second welding positioner; 141: tailstock positioner body; 142: tailstock slewing bearing; 143: second driving member; 150: welding robot system; 151: column; 152: first beam; 153: second beam; 154: third beam; 155: robot assembly; 156: six-axis robot; 1561: fixed end; 1562: movable end; 157: double-wire welding equipment; 1571: double-wire welding gun; 1572: laser tracker; 1581: double-wire Bucket seat assembly; 1582: accordion cover assembly; 1583: welding wire tube hanger; 1584: maintenance platform; 1585: gantry escalator; 161: first limit device; 162: second limit device; 163: third limit device; 164: first anti-fall device; 170: first positioner tooling; 171: first tooling bracket; 172: first cone pin assembly; 173: head frame turntable; 174: head frame counterweight; 175: first connecting piece; 176: first slide assembly; 180: second positioner tooling; 181: second tooling bracket; 182: positioning assembly; 184: tail frame counterweight; 191: gun cleaning station assembly; 200: frame; a: first direction; b: second direction; c: third direction; d: fourth direction. DETAILED DESCRIPTION

[0045] In order to more clearly understand the above-mentioned purposes, features and advantages of the embodiments of the present invention, the embodiments of the present invention are further described in detail below in conjunction with the accompanying drawings and specific implementation methods. It should be noted that the embodiments of the present application and the features in the embodiments can be combined with each other without conflict.

[0046] In the following description, many specific details are set forth to facilitate a full understanding of the present application. However, the embodiments of the present invention may also be implemented in other ways different from those described herein. Therefore, the scope of protection of the present application is not limited to the specific embodiments disclosed below.

[0047] Refer to the following Figures 1 to 9 A welding workstation 100 is described according to some embodiments of the present invention.

[0048] The welding workstation 100 is used to weld the frame 200 of a wide-body vehicle. The frame 200 of a wide-body vehicle is a large and complex workpiece. For such a workpiece, a large number of welds is a notable feature, and these welds are distributed in various parts of the frame 200, some are in conspicuous planes, and some are hidden inside complex structures. When faced with such a large number of welds, traditional welding equipment and methods often have problems such as low efficiency and unstable quality. The welding workstation 100 provided in the present application has excellent performance and can efficiently complete the welding of large and complex workpieces such as the frame 200 of a wide-body vehicle.

[0049] In one embodiment according to the present invention, Figure 1 and Fig. 9 As shown, the welding workstation 100 includes a ground rail 120, a first welding positioner 130, a second welding positioner 140 and a welding robot system 150. Among them, the working platform 110 can be understood as a pad, and some devices or components of the welding workstation 100 are directly or indirectly arranged on the pad. The ground rail 120 is arranged on the working platform 110 in the workshop. Optionally, the top surface of the working platform 110 is provided with a groove, and the ground rail 120 is arranged in the groove.

[0050] like Figure 1 and Figure 3 As shown, the first welding positioner 130 is movably disposed on the ground rail 120. Figure 1 and Figure 4 As shown, the second welding positioner 140 is movably disposed on the ground rail 120. Optionally, the first welding positioner 130 can move relative to the ground rail 120 along the length direction of the ground rail 120. The second welding positioner 140 can move relative to the ground rail 120 along the length direction of the ground rail 120.

[0051] The second welding positioner 140 and the first welding positioner 130 are moved closer to or farther away from each other along the ground rail 120. The second welding positioner 140 and the first welding positioner 130 cooperate with each other to clamp the vehicle frame 200.

[0052] Before welding the vehicle frame 200 of the wide-body vehicle, the second welding positioner 140 and the first welding positioner 130 are moved closer to each other along the ground rail 120 until they abut against the vehicle frame 200 of the wide-body vehicle, so as to clamp and fix the vehicle frame 200. After welding the vehicle frame 200 of the wide-body vehicle, the second welding positioner 140 and the first welding positioner 130 are moved away from each other along the ground rail 120, so as to release the clamping and fixing of the vehicle frame 200.

[0053] By arranging the ground rail 120 in the groove, the side wall of the groove can play a limiting role to a great extent, and can limit the movement range of the first welding positioner 130 or the second welding positioner 140. In addition, by arranging the ground rail 120 in the groove, the ground rail 120 can also be protected to a certain extent, which is conducive to improving the service life of the ground rail 120.

[0054] like Figure 1 and Figure 2 As shown, the welding robot system 150 includes a column 151, a first beam 152, a second beam 153, a third beam 154, a robot assembly 155 and a double-wire welding device 157. The column 151 is arranged on the working platform 110, and the column 151 is detachably connected to the working platform 110. Optionally, a flange plate is provided at the bottom of the column 151, and the flange plate is detachably connected to the top surface of the working platform 110 through a connecting member. The connecting member can be a bolt or a pin. By providing the flange plate, it is beneficial to increase the contact area between the bottom of the column 151 and the working platform 110, thereby improving the connection strength between the two.

[0055] The pillars 151 mainly play the role of supporting and installing the carrier. Optionally, there are at least two pillars 151, that is, the number of pillars 151 can be two or more, and the pillars 151 are flexibly arranged according to actual needs in consideration of factors such as support stability, occupied space size and cost.

[0056] Optionally, the length of the column 151 is 3m to 4m.

[0057] In a specific embodiment, the length of the column 151 is 3.5 m.

[0058] The first beam 152 is disposed on the column 151 . The first beam 152 is disposed along the first direction a. The length direction of the first beam 152 is consistent with the first direction a. Optionally, the length direction of the first beam 152 is perpendicular to the length direction of the column 151 .

[0059] The first beam 152 is an X beam. Optionally, the length of the first beam 152 is 7 m to 9 m.

[0060] In a specific embodiment, the length of the first beam 152 is 8 m.

[0061] The second beam 153 is movably disposed on the first beam 152, and the second beam 153 can move relative to the first beam 152 along the first direction a. The second beam 153 is disposed along the second direction b, which is perpendicular to the first direction a. The length direction of the second beam 153 is consistent with the second direction b.

[0062] The second beam 153 is a Y beam. Optionally, the length of the second beam 153 is 1.5 m to 2.5 m.

[0063] In a specific embodiment, the length of the second beam 153 is 2 m.

[0064] The third beam 154 is movably disposed on the second beam 153, and the third beam 154 can move relative to the second beam 153 along the second direction b. The third beam 154 is disposed along a third direction c, and the third direction c is perpendicular to the first direction a, and the third direction c is perpendicular to the second direction b. The length direction of the third beam 154 is consistent with the third direction c.

[0065] The third beam 154 is a Z beam. Optionally, the length of the third beam 154 is 1 m to 2 m.

[0066] In a specific embodiment, the length of the third beam 154 is 1.5 m.

[0067] The robot assembly 155 is movably disposed on the third beam 154 , and the robot assembly 155 can move relative to the third beam 154 along the third direction c. The double-wire welding device 157 is disposed on the robot assembly 155 , and the double-wire welding device 157 is used to weld the vehicle frame 200 .

[0068] Optionally, the robot assembly 155 is a six-axis robot 156. The six-axis robot 156 is an industrial robot with six rotating joints (axes). These six axes enable the end effector (such as a welding gun) of the robot assembly 155 to achieve a complex motion trajectory in three-dimensional space, thereby completing a precise welding task.

[0069] Each axis has its own range of motion and degrees of freedom, and they work together to allow the robot assembly 155 to accurately position and orient the end effector. For example, the first axis allows the robot arm to rotate on the base, the second axis controls the arm's pitch motion, the third axis controls the arm's extension and retraction, and the subsequent axes are used for more refined end posture adjustments.

[0070] The movement of the six-axis robot 156 is achieved by driving each joint axis with a motor. Each joint axis is equipped with a high-precision reducer to ensure the accuracy and stability of the movement. The robot's control system accurately controls the movement angle and speed of each axis according to pre-programmed instructions or feedback information from external sensors (such as visual sensors and force sensors).

[0071] It should be noted that the range of motion of the robot assembly 155 is limited. In the present invention, the first beam 152, the second beam 153, the third beam 154 and the robot assembly 155 cooperate with each other to form a more complex and comprehensive motion architecture. Under this mutual cooperation, the range of motion of the double-wire welding device 157 has been greatly increased. For large workpieces such as the frame 200 of a wide-body vehicle with a large number of welds, this increased range of motion has extraordinary significance. It can ensure that the double-wire welding device 157 can easily reach the welds of various parts of the frame 200, whether it is the complex internal structure of the frame 200, the side or the bottom of the weld, can achieve efficient welding. The problem of inaccessible welding positions in the past has been effectively solved, greatly improving the degree of automation of welding. Compared with traditional welding methods, this innovative cooperation method significantly reduces the amount of manual repair welding. Workers no longer need to spend a lot of time and energy to deal with parts that the robot cannot weld, and the labor intensity has been effectively reduced, thereby greatly improving working conditions and efficiency.

[0072] In a specific embodiment, the first beam 152, the second beam 153 and the third beam 154 can be understood as three external axes, which cooperate with the six-axis robot 156 to form a nine-axis robot workstation. This design can increase the motion range of the double-wire welding device 157, have a higher degree of automation, and help improve welding efficiency.

[0073] In the double-wire welding device 157, double wire specifically refers to the use of two welding wires for welding. This double-wire welding technology is mainly used in double-wire gas shielded welding. The double-wire welding device 157 welds the vehicle frame 200 by double-wire welding.

[0074] Twin-wire welding has significant advantages, including high cladding efficiency and fast welding speed. In the process of welding large structural parts such as the frame 200 of a wide-body vehicle, twin-wire welding can greatly save welding time and improve welding efficiency. Compared with traditional single-wire (welding wire diameter 1.2mm) gas shielded welding, twin-wire welding can complete welding tasks more efficiently, reduce workpiece welding time, and meet high-strength welding requirements.

[0075] Optionally, the first welding positioner 130 includes a first driving member 133. The first driving member 133 is used to drive the first welding positioner 130 to move along the ground rail 120. The first driving member 133 can drive the first welding positioner 130 away from or close to the second welding positioner 140.

[0076] In a specific embodiment, the first driving member 133 is a servo motor.

[0077] Optionally, the second welding positioner 140 includes a second driving member 143. The second driving member 143 is used to drive the second welding positioner 140 to move along the ground rail 120. The second driving member 143 can drive the second welding positioner 140 away from or close to the first welding positioner 130.

[0078] In a specific embodiment, the second driving member 143 is a servo motor.

[0079] Optionally, the welding workstation 100 further includes a control system. The control system is electrically connected to the first driving member 133, and the control system is electrically connected to the second driving member 143. The control system controls the first driving member 133 and the second driving member 143 to move the first welding positioner 130 and the second welding positioner 140 closer to or farther from each other.

[0080] Optionally, the welding workstation 100 further includes a third driving member. The third driving member is disposed on the second beam 153. The third driving member is used to drive the second beam 153 to move relative to the first beam 152 along the first direction a. The third driving member is electrically connected to the control system. The control system controls the second beam 153 to move relative to the first beam 152 along the first direction a through the third driving member.

[0081] In a specific embodiment, the third driving member is a servo motor.

[0082] Optionally, the welding workstation 100 further includes a fourth driving member. The fourth driving member is disposed on the third beam 154. The fourth driving member is used to drive the third beam 154 to move relative to the second beam 153 along the second direction b. The fourth driving member is electrically connected to the control system. The control system controls the third beam 154 to move relative to the second beam 153 along the second direction b through the fourth driving member.

[0083] In a specific embodiment, the fourth driving member is a servo motor.

[0084] Optionally, the welding workstation 100 further includes a fifth driving member. The fifth driving member is disposed on the robot assembly 155. The fifth driving member is used to drive the robot assembly 155 to move relative to the third beam 154 along the third direction c. The fifth driving member is electrically connected to the control system. The control system controls the robot assembly 155 to move relative to the third beam 154 along the third direction c through the fifth driving member.

[0085] In a specific embodiment, the fifth driving member is a servo motor.

[0086] Alternatively, if Figure 7As shown, the robot assembly 155 is a six-axis robot 156, including multiple joint axes and multiple sixth driving members. Each sixth driving member is used to drive the movement and / or rotation between at least two joint axes. The sixth driving member is electrically connected to the control system. The control system controls the movement and / or rotation between the joint axes through the multiple sixth driving members.

[0087] In a specific embodiment, the sixth driving member is a servo motor.

[0088] Alternatively, if Figure 7 As shown, the double-wire welding device 157 includes a double-wire welding gun 1571 and a laser tracker 1572. The double-wire welding gun 1571 is provided in the robot assembly 155. The double-wire welding gun 1571 is used to perform double-wire welding on the vehicle frame 200. Optionally, the double-wire welding gun 1571 is electrically connected to the control system. The laser tracker 1572 is provided in the robot assembly 155, and the laser tracker 1572 is used to determine the weld position of the vehicle frame 200. The laser tracker 1572 is electrically connected to the control system.

[0089] The control system determines the weld position of the vehicle frame 200 through the laser tracker 1572, and controls the first driving member 133, the second driving member 143, the third driving member, the fourth driving member, the fifth driving member, and the sixth driving member to operate so that the double-wire welding gun 1571 is close to the position where the vehicle frame 200 needs to be welded. When the double-wire welding gun 1571 is close to the position where the vehicle frame 200 needs to be welded, the control system controls the double-wire welding gun 1571 to perform double-wire welding on the vehicle frame 200.

[0090] This design ensures that the double-wire welding device 157 can easily reach the welds at various parts of the frame 200, and can achieve efficient welding regardless of the complex internal structure, side or bottom welds of the frame 200. The previous problem of inaccessible welding positions has been effectively solved, greatly improving the degree of automation of welding.

[0091] Alternatively, if Figure 2 As shown, the welding workstation 100 also includes a gun cleaning station assembly 191. The gun cleaning station assembly 191 is arranged on the column 151. The gun cleaning station assembly 191 can perform ultrasonic cleaning on the double-wire welding gun 1571 in the double-wire welding device 157. The gun cleaning station assembly 191 is cleverly arranged on the column 151. This layout design not only makes full use of the space, but also facilitates the operation during the welding process. The main function of the gun cleaning station assembly 191 is to perform professional ultrasonic cleaning on the double-wire welding gun 1571 in the double-wire welding device 157 to ensure that the welding gun can still maintain a good working condition after multiple uses.

[0092] Optionally, the gun cleaning station assembly 191 includes a cooling water pool and an ultrasonic cleaning unit. The ultrasonic cleaning unit is provided with a gun cleaning port. The cooling water pool is provided at the column 151, and a coolant is provided in the cooling water pool. The ultrasonic cleaning unit is provided at the column 151. After use, the double-wire welding gun 1571 needs to be soaked in the cooling water pool first, and the spatter on the double-wire welding gun 1571 is loosened by the principle of thermal expansion and contraction, and then the double-wire welding gun 1571 is placed in the gun cleaning port to remove the spatter through ultrasonic vibration, and anti-splash liquid is sprayed on the double-wire welding gun 1571.

[0093] The ultrasonic cleaning section is equipped with a specially designed cleaning nozzle, whose structure and size are perfectly matched to the twin-wire welding gun 1571.

[0094] In actual operation, after the double-wire welding gun 1571 completes a welding operation, it needs to be carefully cleaned and maintained. First, the double-wire welding gun 1571 is placed in the cooling water pool for soaking. During the soaking process, the low temperature environment of the coolant is in sharp contrast with the high temperature state of the welding gun. According to the physical principle of thermal expansion and contraction, the spatter generated by the welding process on the welding gun will gradually loosen. This process is a key step in the subsequent cleaning, which lays the foundation for the complete removal of spatter. Then, the cooled and soaked double-wire welding gun 1571 is taken out of the cooling water pool and carefully placed in the cleaning gun mouth of the ultrasonic cleaning part. At this time, the ultrasonic cleaning function is started, and the powerful ultrasonic shock wave will act on the surface of the welding gun to completely separate the loose spatter from the welding gun. At the same time, the cleaning gun mouth also has the function of spraying anti-splash liquid. In the process of cleaning the spatter, the anti-splash liquid will evenly cover the surface of the welding gun to form a protective film, which effectively prevents the spatter from attaching again in the subsequent welding process, thereby further improving the welding quality and the service life of the welding gun.

[0095] It should be noted that the gun cleaning station assembly 191 has a gun cleaning and wire cutting system for ultrasonically cleaning the double-wire welding gun 1571 and removing spatter to achieve the purpose of gun cleaning and wire cutting.

[0096] Optionally, the gun cleaning station assembly 191 also has a temperature control system (TCS, Temperature Control System). The temperature control system is used to control the temperature during the gun cleaning process, for example, in the heating or cooling link of the cleaning liquid (coolant) to achieve a better cleaning effect.

[0097] In a specific embodiment, the gun cleaning station assembly 191 is installed on the column 151, so that the double-wire welding gun 1571 can be cleaned and the wire cut at any time in different working positions and working postures.

[0098] The present invention aims to provide a welding workstation 100, which is conducive to greatly increasing the moving range of the double-wire welding equipment 157 through the mutual cooperation of the first beam 152, the second beam 153, the third beam 154 and the robot assembly 155, and can achieve efficient welding of a large number of welds for large and complex workpieces (the frame 200 of a wide-body vehicle), effectively solving the problem of inaccessible welding positions, with a high degree of automation and a small amount of manual repair welding, which is conducive to reducing the labor intensity of the staff. In addition, the welding workstation 100 of the present invention adopts the double-wire welding equipment 157. Compared with the traditional single-wire (welding wire diameter 1.2mm) gas shielded welding, the double-wire welding can complete the welding task more efficiently, reduce the welding time of the workpiece, and meet the high-intensity welding requirements.

[0099] In some embodiments, optionally, Figure 2 As shown, the welding robot system 150 includes a first limiting device 161. The first limiting device 161 is disposed on the first beam 152, and the first limiting device 161 is used to limit the moving range of the second beam 153.

[0100] It should be noted that the movement range of the second beam 153 needs to be limited. During the movement of the second beam 153 relative to the first beam 152 along the first direction a, the second beam 153 has a first limit position and a second limit position. The second beam 153 can move relative to the first beam 152 along the first direction a between the two limit positions (the first limit position and the second limit position).

[0101] There are at least two first limit devices 161. At least one first limit device 161 is disposed at the first limit position (a certain position on the first beam 152); at least one first limit device 161 is disposed at the second limit position (a certain position on the first beam 152).

[0102] By setting the first limit device 161, the movement range of the second beam 153 can be limited to ensure that the second beam 153 can move relative to the first beam 152 along the first direction a between two limit positions (the first limit position and the second limit position). This design method is conducive to improving the safety performance of the welding robot system 150.

[0103] In a specific embodiment, the first limit device 161 is a first limit block. The first limit block is set at the first limit position and / or the second limit position. The first limit block is detachably connected to the first beam 152, which is convenient for staff to disassemble and assemble the first limit block, which is conducive to maintenance or replacement.

[0104] In a specific embodiment, the first limit device 161 is a first proximity switch. The first proximity switch is set at the first limit position and / or the second limit position. The first proximity switch is electrically connected to the control system.

[0105] In some embodiments, optionally, Figure 2 As shown, the welding robot system 150 includes a second limiting device 162 . The second limiting device 162 is disposed on the second beam 153 , and is used to limit the moving range of the third beam 154 .

[0106] It should be noted that the movement range of the third beam 154 needs to be limited. During the movement of the third beam 154 relative to the second beam 153 along the second direction b, the third beam 154 has a third limit position and a fourth limit position. The third beam 154 can move relative to the second beam 153 along the second direction b between the two limit positions (the third limit position and the fourth limit position).

[0107] There are at least two second limit devices 162. At least one second limit device 162 is disposed at the third limit position (a certain position on the second beam 153); at least one second limit device 162 is disposed at the fourth limit position (a certain position on the second beam 153).

[0108] By setting the second limit device 162, the movement range of the third beam 154 can be limited, ensuring that the third beam 154 can move relative to the second beam 153 along the second direction b between two limit positions (the third limit position and the fourth limit position). This design method is conducive to improving the safety performance of the welding robot system 150.

[0109] In a specific embodiment, the second limiting device 162 is a second limiting block. The second limiting block is set at the third limit position and / or the fourth limit position. The second limiting block is detachably connected to the second beam 153, which is convenient for staff to disassemble and assemble the second limiting block, which is conducive to maintenance or replacement.

[0110] In a specific embodiment, the second limit device 162 is a second proximity switch. The second proximity switch is set at the third limit position and / or the fourth limit position. The second proximity switch is electrically connected to the control system.

[0111] In some embodiments, optionally, Figure 2 As shown, the welding robot system 150 includes a third limiting device 163. The third limiting device 163 is disposed on the third beam 154, and is used to limit the movement range of the robot assembly 155.

[0112] It should be noted that the range of movement of the robot assembly 155 needs to be limited. When the robot assembly 155 moves relative to the third beam 154 along the third direction c, the robot assembly 155 has a fifth limit position and a sixth limit position. The robot assembly 155 can move relative to the third beam 154 along the third direction c between the two limit positions (the fifth limit position and the sixth limit position).

[0113] There are at least two third limit devices 163. At least one third limit device 163 is set at the fifth limit position (a certain position on the third beam 154); at least one third limit device 163 is set at the sixth limit position (a certain position on the third beam 154).

[0114] By setting the third limit device 163, the moving range of the robot assembly 155 can be limited, ensuring that the robot assembly 155 can move relative to the third beam 154 along the third direction c between two limit positions (the fifth limit position and the sixth limit position). This design method is conducive to improving the safety performance of the welding robot system 150.

[0115] In a specific embodiment, the third limiting device 163 is a third limiting block. The third limiting block is set at the fifth limit position and / or the sixth limit position. The third limiting block is detachably connected to the third beam 154, which is convenient for staff to disassemble and assemble the third limiting block, which is conducive to maintenance or replacement.

[0116] In a specific embodiment, the third limit device 163 is a third proximity switch. The third proximity switch is set at the fifth limit position and / or the sixth limit position. The third proximity switch is electrically connected to the control system.

[0117] It should be noted that by setting the first limit device 161, the second limit device 162 and the third limit device 163, the movement range of the robot assembly 155 in the X-axis direction, the Y-axis direction and the Z-axis direction can be limited, thereby reducing the risk of the robot assembly 155 derailing.

[0118] In some embodiments, optionally, Figure 2 As shown, the welding robot system 150 further includes a first fall prevention device 164. The first fall prevention device 164 is disposed at the bottom of the third beam 154.

[0119] By providing the first anti-falling device 164 at the bottom of the third beam 154 , the robot assembly 155 can be prevented from falling to a great extent, which is beneficial to improving the safety performance.

[0120] In a specific embodiment, the first anti-falling device 164 includes an anti-falling support plate. The anti-falling support plate is arranged at the bottom of the third beam 154, and can support the robot assembly 155 during its falling process to prevent the robot assembly 155 from being damaged.

[0121] Optionally, the anti-fall support plate is detachably connected to the third beam 154, which is convenient for workers to disassemble and assemble, and is conducive to maintenance or replacement.

[0122] In some embodiments, optionally, the welding robot system 150 further includes a second anti-falling device. The second anti-falling device is disposed on the second beam 153. The second anti-falling device is used to prevent the third beam 154 from falling off during the movement.

[0123] By adding anti-fall devices on the Z-axis and the Y-axis, the risk of the two axes falling when the bearings fail can be eliminated, thereby improving the safety performance of the welding workstation 100.

[0124] In some embodiments, optionally, Figure 7 As shown, the robot assembly 155 includes a six-axis robot 156 . The six-axis robot 156 has a fixed end 1561 and a movable end 1562 , wherein the fixed end 1561 is connected to the third beam 154 , and the movable end 1562 is connected to the double-wire welding device 157 .

[0125] The six-axis robot 156 is an industrial robot with six rotating joints (axes). These six axes enable the end effector (such as a welding gun) of the robot assembly 155 to achieve a complex motion trajectory in three-dimensional space, thereby completing a precise welding task.

[0126] Each axis has its own range of motion and degrees of freedom, and they work together to allow the robot assembly 155 to accurately position and orient the end effector. For example, the first axis allows the robot arm to rotate on the base, the second axis controls the arm's pitch motion, the third axis controls the arm's extension and retraction, and the subsequent axes are used for more refined end posture adjustments.

[0127] In the technical solution defined in the present invention, the fixed end 1561 of the six-axis robot 156 is connected to the third beam 154, and the movable end 1562 is connected to the double-wire welding equipment 157. Therefore, the robot assembly 155 is installed on the third beam 154 in an inverted manner (upside down installation). Compared with the upright installation method, it can effectively increase the effective operating range of the robot, improve the adaptability of the robot welding to the workpiece, improve the welding automation rate and welding efficiency, and thus improve the welding quality.

[0128] In some embodiments, optionally, the number of second beams 153 is at least two, and each second beam 153 can be movably disposed on the first beam 152; the number of third beams 154 is at least two, and each third beam 154 can be movably disposed on a corresponding second beam 153; the number of robot assemblies 155 is at least two, and each robot assembly 155 can be movably disposed on a corresponding third beam 154; the number of double-wire welding devices 157 is at least two, and each double-wire welding device 157 is disposed on a corresponding robot assembly 155.

[0129] It can be understood that the welding workstation 100 is designed with at least two welding robot systems 150, and at least two welding robot systems 150 share the column 151 and the first beam 152. This design method is conducive to optimizing the spatial layout and can further improve the welding efficiency.

[0130] In a specific embodiment, the number of second beams 153 is two, and each second beam 153 is movably disposed on the first beam 152. The number of third beams 154 is two, and each third beam 154 is movably disposed on a corresponding second beam 153. The number of robot assemblies 155 is two, and each robot assembly 155 is movably disposed on a corresponding third beam 154. The number of double-wire welding devices 157 is two, and each double-wire welding device 157 is disposed on a corresponding robot assembly 155.

[0131] The welding workstation 100 includes two welding robot systems 150. This design can improve welding efficiency while ensuring that the structure of the welding workstation 100 is not too complicated, and effectively avoids motion interference caused by too many movable parts.

[0132] In some embodiments, the welding workstation 100 may further include at least one anti-collision limiting device, which is disposed on the first beam 152 and between two adjacent second beams 153 to prevent motion interference between the two adjacent second beams 153 .

[0133] In a specific embodiment, the anti-collision limiting device is a limiting baffle. The limiting baffle is detachably connected to the first beam 152, which is convenient for staff to disassemble and assemble the limiting baffle, and is conducive to maintenance or replacement.

[0134] In some embodiments, optionally, Figure 7 As shown, the double-wire welding device 157 includes a double-wire welding gun 1571 and a laser tracker 1572. The double-wire welding gun 1571 is provided on the robot assembly 155, and is used to perform double-wire welding on the vehicle frame 200. The laser tracker 1572 is provided on the robot assembly 155, and is used to determine the weld position of the vehicle frame 200.

[0135] The control system determines the weld position of the vehicle frame 200 through the laser tracker 1572, and controls the first driving member 133, the second driving member 143, the third driving member, the fourth driving member, the fifth driving member, and the sixth driving member to operate so that the double-wire welding gun 1571 is close to the position where the vehicle frame 200 needs to be welded. When the double-wire welding gun 1571 is close to the position where the vehicle frame 200 needs to be welded, the control system controls the double-wire welding gun 1571 to perform double-wire welding on the vehicle frame 200.

[0136] The control system first obtains detailed information about the position of the weld of the vehicle frame 200 through the laser tracker 1572, including the coordinates, shape, length and specific position of the weld in the three-dimensional space of the vehicle frame 200. Based on these precise data, the control system then systematically controls the operation of the first drive member 133, the second drive member 143, the third drive member, the fourth drive member, the fifth drive member and the sixth drive member. These drives cooperate with each other to accurately adjust the position and posture of the robot assembly 155 and the double-wire welding gun 1571, ensuring that the double-wire welding gun 1571 can gradually approach the position of the vehicle frame 200 that needs to be welded.

[0137] When the double-wire welding gun 1571 smoothly approaches the welding position of the frame 200 under the precise guidance of the control system, the control system will further accurately control the various welding parameters of the double-wire welding gun 1571, including welding current, voltage, welding speed, etc., so as to start the double-wire welding gun 1571 to perform high-quality double-wire welding on the frame 200. This design method has significant advantages, and the welding system it constructs has high flexibility and adaptability. Through the perfect cooperation between the robot assembly 155 and the double-wire welding equipment 157, it can ensure that the double-wire welding equipment 157 easily breaks through the limitations of traditional welding and smoothly reaches the welds of various parts of the frame 200. Whether it is the complex internal structure of the frame 200, its narrow space and intricate distribution of welds, or the side and bottom of the frame 200, which are usually difficult to reach, efficient welding can be achieved under the operation of this system. In the past, when welding large frames 200, the problem of inaccessible welding positions, which has long plagued welding operations, has been effectively solved through this innovative design. This method not only improves the degree of automation of welding and reduces the need for manual intervention, but also greatly improves welding efficiency and quality, bringing a new solution to the frame 200 welding operation.

[0138] It should be noted that, in the twin-wire welding equipment 157, the twin-wire welding gun 1571 and the laser tracker 1572 constitute a welding gun laser assembly.

[0139] Optionally, the twin-wire welding device 157 further includes a water cooling system, a welding power source and a wire feeding system. The water cooling system is used to cool the twin-wire welding gun 1571 when necessary. The welding power source is used to provide electrical energy to the welding gun laser assembly (including the twin-wire welding gun 1571 and the laser tracker 1572). The wire feeding system is used to provide welding wire to the twin-wire welding gun 1571.

[0140] In some embodiments, optionally, Figure 2 As shown, the welding robot system 150 also includes a double wire bucket seat assembly 1581. The double wire bucket seat assembly 1581 is a device for placing a welding wire roll. Because double wire welding requires two welding wires to participate in welding at the same time, two independent positions are required to install the welding wire roll. The double wire bucket seat assembly 1581 can provide such space to ensure that the double wire welding device 157 has a stable supply of welding wire during operation.

[0141] When the welding robot system 150 is performing welding, the twin-wire welding gun 1571 needs to smoothly obtain the welding wire. The twin-wire barrel seat assembly 1581 is the starting position for the welding wire supply and is connected to the twin-wire welding gun 1571 through the wire feeding system. It can support and guide the welding wire, ensuring that the welding wire can be delivered to the twin-wire welding gun 1571 at a suitable angle and path, avoiding problems such as knotting and entanglement of the welding wire during the delivery process, thereby ensuring the continuity and stability of the twin-wire welding.

[0142] In some embodiments, optionally, Figure 2 As shown, the welding robot system 150 also includes an accordion cover assembly 1582. The accordion cover assembly 1582 is provided on the first beam 152 and / or the second beam 153 and / or the third beam 154. In the welding robot system 150, there are numerous precision components, such as the robot assembly 155, the external shaft (the first beam 152, the second beam 153 and the third beam 154) and various pipelines (welding wire tubes, electric wires, etc.) connecting them. The accordion cover assembly 1582 is used to protect the above components.

[0143] The welding working environment is usually harsh, with contaminants such as welding spatter, dust, and oil. The bellows assembly 1582 can protect the precision parts and pipelines inside the welding robot system 150 from being corroded by these contaminants. For example, if welding spatter falls on the joints or electrical circuits of the robot assembly 155, it may damage the parts or cause electrical failures, and the bellows assembly 1582 can effectively block the spatter and reduce this risk.

[0144] In a specific embodiment, the bellows cover assembly 1582 optionally includes a folding structure having good flexibility and scalability. The folding structure of the bellows cover assembly 1582 can be extended or contracted with the movement of the robot assembly 155.

[0145] During the movement of the robot assembly 155, the accordion cover component 1582 can be deformed accordingly, and will not limit the range of motion of the robot assembly 155. Moreover, it can always keep the internal parts covered and protected, ensuring that the protection function will not fail.

[0146] In some embodiments, optionally, Figure 2 As shown, the welding robot system 150 also includes a wire tube hanger 1583. When the welding robot system 150 performs welding operations, the welding wire needs to be transported from the double wire barrel seat assembly 1581 to the double wire welding gun 1571 through the wire feeding system. The wire tube hanger 1583 plays a supporting role for the external wire feeding tube.

[0147] The double-wire welding device 157 moves in multiple axes (along the X-axis, Y-axis and Z-axis) during welding, and this complex movement can easily cause the wire feeding tube to shake or bend. The wire tube hanger 1583 can effectively prevent the welding wire of the double-wire welding device 157 from being bent during movement, ensuring smooth wire feeding.

[0148] In a specific embodiment, the wire tube hanger 1583 includes a suspension structure and a support structure, wherein the suspension structure is used to suspend the wire feeding tube; and the support structure is used to support the wire feeding tube. The wire tube hanger 1583 can keep the wire feeding tube in a suitable position and shape, ensuring that the welding wire can be continuously and stably delivered to the welding gun.

[0149] In some embodiments, optionally, Figure 2 As shown, the welding robot system 150 further includes a maintenance platform 1584. The maintenance platform 1584 is disposed on the first beam 152. By providing the maintenance platform 1584, it is convenient for the staff to perform regular inspection and maintenance on the welding robot system.

[0150] The maintenance platform 1584 can be used as a centralized work area for placing tools, spare parts, and testing equipment, etc. When the staff performs maintenance on the welding workstation 100, they can quickly obtain the required tools and materials without frequently getting on and off the equipment or going back and forth between the tool storage and the equipment, thereby improving the efficiency of the maintenance work.

[0151] In some embodiments, optionally, Figure 2 As shown, the welding robot system 150 further includes a gantry ladder 1585. The gantry ladder 1585 is connected to the first beam 152, and the gantry ladder 1585 is connected to the maintenance platform 1584. By providing the gantry ladder 1585, it is convenient for workers to climb.

[0152] In some embodiments, optionally, the ground rail 120 is arranged along a fourth direction d, the fourth direction d is perpendicular to the second direction b, and the fourth direction d is perpendicular to the third direction c. Figure 8 As shown, the angle between the fourth direction d and the first direction a is the first angle θ.

[0153] It can be understood that the angle between the length direction (fourth direction d) of the ground rail 120 and the length direction (first direction a) of the first beam 152 is the first angle θ.

[0154] It should be emphasized that the first welding positioner 130 and the second welding positioner 140 move along the length direction of the ground rail 120 , and therefore, the angle between their moving directions and the first direction a is also the first angle θ.

[0155] When the first angle θ is 0 degrees, the length direction of the ground rail 120 is consistent with the length direction of the first beam 152, and the moving directions of the first welding positioner 130 and the second welding positioner 140 are consistent with the length direction of the first beam 152. At this time, the fourth direction d is consistent with the first direction a.

[0156] When the first angle θ is not 0 degrees, the length direction of the ground rail 120 is inconsistent with the length direction of the first beam 152, and the moving directions of the first welding positioner 130 and the second welding positioner 140 are inconsistent with the length direction of the first beam 152. At this time, the fourth direction d is inconsistent with the first direction a. In this case, through the overall control of each driving member and the double-wire welding device 157 by the control system, the double-wire welding device 157 can more easily reach the welds of various parts of the frame 200, whether it is the complex internal structure of the frame 200, the side or the bottom welds, can achieve efficient welding. The problem of inaccessible welding positions in the past has been effectively solved, greatly improving the degree of automation of welding.

[0157] Optionally, the first angle θ is greater than or equal to 0 degrees and less than or equal to 30 degrees.

[0158] In a specific embodiment, the first angle θ is 15 degrees.

[0159] In some embodiments, optionally, Figure 1 As shown, the ground rail 120 includes a first ground rail 121 and a second ground rail 122. The first ground rail 121 is provided on the working platform 110. The first welding positioner 130 is movably provided on the first ground rail 121. The second ground rail 122 is provided on the working platform 110, the second ground rail 122 is parallel to the first ground rail 121, and the second welding positioner 140 is movably provided on the second ground rail 122.

[0160] Optionally, the ground rail 120 includes a first ground rail 121 and a second ground rail 122, and the second ground rail 122 is parallel to the first ground rail 121. In other words, the length direction of the first ground rail 121 is consistent with the length direction of the second ground rail 122. The first welding positioner 130 is movably disposed on the first ground rail 121, and the first welding positioner 130 can move relative to the first ground rail 121 along the length direction of the first ground rail 121. The second welding positioner 140 is movably disposed on the second ground rail 122. The second welding positioner 140 can move relative to the second ground rail 122 along the length direction of the second ground rail 122.

[0161] Optionally, the length direction of the first ground rail 121 is consistent with the fourth direction d, and the length direction of the second ground rail 122 is consistent with the fourth direction d.

[0162] By dividing the ground rail 120 into two sections, since the previous long section is changed into two shorter sections, it is helpful to optimize the spatial layout, reduce the space occupied by the ground rail 120, and reduce the material cost.

[0163] Optionally, the number of grooves is two, and the two grooves are specifically a first groove and a second groove. The first ground rail 121 is disposed in the first groove, and the second ground rail 122 is disposed in the second groove. This design method is conducive to further clarifying and limiting the movement range of the first welding positioner 130 or the second welding positioner 140.

[0164] In some embodiments, optionally, Figure 3 As shown, the first welding positioner 130 includes a head frame positioner body 131, a head frame swivel support 132 and a first driving member 133. Among them, the head frame swivel support 132 is rotatably arranged on the head frame positioner body 131, and the head frame swivel support 132 can rotate relative to the head frame positioner body 131. The head frame swivel support 132 is used to connect with the first positioner tooling 170. Optionally, the first welding positioner 130 also includes a driving motor, which is arranged on the head frame positioner body 131 and can drive the head frame swivel support 132 to rotate relative to the head frame positioner body 131, so that the first positioner tooling 170 rotates together with the head frame swivel support 132.

[0165] The head frame positioner body 131 is movably disposed on the first ground rail 121. The first driving member 133 is disposed on the head frame positioner body 131 and is used to drive the head frame positioner body 131 to move along the first ground rail 121.

[0166] The first ground rail 121 can be understood as a head frame ground rail.

[0167] In some embodiments, optionally, Figure 4As shown, the second welding positioner 140 includes a tailstock positioner body 141, a tailstock slewing support 142 and a second driving member 143. The tailstock slewing support 142 is rotatably disposed on the tailstock positioner body 141, and the tailstock slewing support 142 can rotate relative to the tailstock positioner body 141. However, the tailstock slewing support 142 is not driven by the driving member.

[0168] The tailstock positioner body 141 is movably disposed on the second ground rail 122. The second driving member 143 is disposed on the tailstock positioner body 141 and is used to drive the tailstock positioner body 141 to move along the second ground rail 122.

[0169] The second ground rail 122 can be understood as a head frame ground rail.

[0170] As welding auxiliary equipment, the welding positioner is used in conjunction with the ground rail 120. It is suitable for welding position displacement during rotary work to adapt to the welding of workpieces from 7m to 10m, obtain ideal welding positions, and improve welding quality. Its maximum load-bearing capacity can reach 10T.

[0171] It should be noted that the headstock slewing bearing 132 and the tailstock slewing bearing 142 can simultaneously bear large axial and radial loads and overturning moments, so that the positioner tooling and the welding positioner can realize slewing motion. The first welding positioner is an active device, and the second welding positioner is a driven device.

[0172] In a specific embodiment, the driving motor is a servo motor.

[0173] In some embodiments, optionally, Figure 5 and Figure 6 As shown, the welding workstation 100 further includes a first positioner fixture 170 and a second positioner fixture 180. The first positioner fixture 170 is rotatably disposed on the first welding positioner 130, and the first positioner fixture 170 can rotate relative to the first welding positioner 130. The first welding positioner 130 is used to drive the first positioner fixture 170 to rotate.

[0174] The second positioner fixture 180 is rotatably provided on the second welding positioner 140. The second positioner fixture 180 can rotate relative to the second welding positioner 140.

[0175] When the first positioner tool 170 abuts against the frame 200 , the first positioner tool 170 is used to position the frame 200 . When the second positioner tool 180 abuts against the frame 200 , the second positioner tool 180 is used to position the frame 200 .

[0176] The welding positioner and the positioner tooling cooperate with each other to achieve clamping of the vehicle frame 200. Specifically, the welding positioner can move along the ground rail 120 (the first welding positioner 130 can move along the first ground rail 121, and the second welding positioner 140 can move along the second ground rail 122), and then the two welding positioners can drive the two positioner toolings to move closer to or farther from each other to achieve clamping of the vehicle frame 200.

[0177] During the welding process, the two positioner fixtures (the first positioner fixture 170 and the second positioner fixture 180 ) are respectively abutted against the vehicle frame 200 , so that the vehicle frame 200 can be positioned.

[0178] During the welding process, the welding positioner and the positioner tooling cooperate with each other to achieve the flipping of the frame 200. Specifically, the first welding positioner 130 provides power to drive the first positioner tooling 170 to rotate, thereby driving the frame 200 to rotate. During the flipping of the frame 200, the first welding positioner 130 is an active device, and the second welding positioner 140 is a driven device.

[0179] In some embodiments, optionally, Figure 5 As shown, the first positioner tool 170 includes a first tool support 171 and a first cone pin assembly 172. The first tool support 171 is rotatably disposed on the first welding positioner 130. The first tool support 171 can rotate relative to the first welding positioner 130. The first welding positioner 130 is used to drive the first tool support 171 to rotate.

[0180] The first taper pin assembly 172 is movably disposed on the first fixture bracket 171. The first taper pin assembly 172 can move relative to the first fixture bracket 171. When the first positioner fixture 170 abuts against the vehicle frame 200, the first taper pin assembly 172 is used to position the vehicle frame 200.

[0181] Optionally, when the first positioner tooling 170 abuts against the frame 200 , the first taper pin assembly 172 can extend into a hole on the frame 200 , thereby positioning the frame 200 .

[0182] In a specific embodiment, the first cone pin assembly 172 includes a first cone pin. The first cone pin is a cone. When the first positioner tool 170 abuts against the frame 200, the first cone pin cooperates with the hole on the frame 200 to achieve positioning of the frame 200.

[0183] In some embodiments, optionally, Figure 6As shown, the second positioner tool 180 includes a second tool support 181 and a positioning assembly 182. The second tool support 181 is rotatably disposed on the second welding positioner 140. The second tool support 181 can rotate relative to the second welding positioner 140. The second welding positioner 140 is used to drive the second tool support 181 to rotate.

[0184] The positioning assembly 182 is movably disposed on the second tool support 181. The positioning assembly 182 can move relative to the second tool support 181. When the second positioner tool 180 abuts against the vehicle frame 200, the positioning assembly 182 is used to position the vehicle frame 200.

[0185] Optionally, when the second positioner tooling 180 abuts against the frame 200 , the positioning assembly 182 abuts against a certain position on the frame 200 and is locked, thereby positioning the frame 200 .

[0186] In a specific embodiment, the positioning assembly 182 includes a positioning block. When the second positioner tool 180 abuts against the frame 200, the positioning block can be in close contact with the frame 200, and the frame 200 is positioned under the action of friction.

[0187] In a specific embodiment, the positioning assembly 182 includes a hydraulic component, and the frame 200 is positioned by extending and retracting a piston rod in the hydraulic component.

[0188] During the welding process, after the two positioner fixtures (the first positioner fixture 170 and the second positioner fixture 180 ) are respectively abutted against the frame 200 , the first cone pin assembly 172 and the positioning assembly 182 are respectively matched with the frame 200 , thereby positioning the frame 200 .

[0189] It should be noted that the first tooling bracket 171 is a head frame tooling bracket; the second tooling bracket 181 is a tail frame tooling bracket.

[0190] In some embodiments, optionally, Figure 5 As shown, the first positioner tooling 170 also includes a headstock turntable 173, and the headstock turntable 173 is relatively fixed to the first tooling bracket 171. The headstock turntable 173 is connected to the headstock slewing support 132 of the first welding positioner 130. The headstock turntable 173 can rotate relative to the first welding positioner 130. The first welding positioner 130 is used to drive the headstock turntable 173 to rotate, and then the first tooling bracket 171 can rotate with the headstock turntable 173.

[0191] Optionally, the head frame turntable 173 and the head frame slewing support 132 are detachably connected via a first connecting member 175 .

[0192] In a specific embodiment, the first connecting member 175 is a bolt or a positioning pin.

[0193] In some embodiments, optionally, Figure 5 As shown, the first positioner tool 170 also includes a head frame counterweight 174, which is arranged on the head frame turntable 173. By arranging the head frame counterweight 174, the center of gravity of the first positioner tool 170 is located on the rotation axis, ensuring that the first positioner tool 170 can rotate stably.

[0194] In some embodiments, optionally, Figure 5 As shown, the first positioner tool 170 further includes a first carriage assembly 176, which is disposed on the first tool support 171. The first cone pin assembly 172 is movably disposed on the first carriage assembly 176, and the first cone pin assembly 172 can move along the length direction of the first carriage assembly 176.

[0195] In some embodiments, optionally, the second positioner tooling 180 further includes a tailstock turntable ( Figure 6 The tailstock turntable is relatively fixed to the second tooling bracket 181. The tailstock turntable is connected to the tailstock slewing support 142 of the second welding positioner 140. The tailstock turntable can rotate relative to the second welding positioner 140. The second welding positioner 140 is used to drive the tailstock turntable to rotate, and then the second tooling bracket 181 can rotate with the tailstock turntable.

[0196] In some embodiments, optionally, Figure 6 As shown, the second positioner tool 180 also includes a tailstock counterweight 184, which is arranged on the tailstock turntable. By arranging the tailstock counterweight 184, the center of gravity of the second positioner tool 180 is located on the rotation axis, ensuring that the second positioner tool 180 can rotate stably.

[0197] In the present invention, the terms "first", "second", and "third" are used for descriptive purposes only and should not be understood as indicating or implying relative importance; the term "plurality" refers to two or more, unless otherwise clearly defined. The terms "installed", "connected", "connected", "fixed", etc. should be understood in a broad sense. For example, "connected" can be a fixed connection, a detachable connection, or an integral connection; "connected" can be a direct connection or an indirect connection through an intermediate medium. 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.

[0198] In the description of the present invention, it is necessary to understand that the directions or positional relationships indicated by terms such as “upper”, “lower”, “left”, “right”, “front” and “back” are based on the directions or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or unit referred to must have a specific direction, be constructed and operated in a specific orientation, and therefore, cannot be understood as a limitation on the present invention.

[0199] In the description of this specification, the description of the terms "one embodiment", "some embodiments", "specific embodiments", etc. means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic representation of the above terms does not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described can be combined in any one or more embodiments or examples in a suitable manner.

[0200] The above are only preferred embodiments of the present invention and are not intended to limit the present invention. For those skilled in the art, the present invention may have various modifications and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. A welding workstation, characterized in that: Used for welding a vehicle frame (200), the welding workstation comprises: Working platform (110); A ground rail (120) is provided on the working platform (110); A first welding positioner (130) is movably disposed on the ground rail (120); A second welding positioner (140) is movably arranged on the ground rail (120), the second welding positioner (140) and the first welding positioner (130) are moved closer to or farther away from each other along the ground rail (120), and the second welding positioner (140) and the first welding positioner (130) cooperate with each other to clamp the vehicle frame (200); A welding robot system (150), comprising: A column (151) disposed on the working platform (110); A first beam (152) is disposed on the column (151), and the first beam (152) is disposed along a first direction; a second beam (153) movably disposed on the first beam (152), the second beam (153) being capable of moving relative to the first beam (152) along the first direction, the second beam (153) being disposed along a second direction, the second direction being perpendicular to the first direction; a third beam (154) movably disposed on the second beam (153), the third beam (154) being movable relative to the second beam (153) along the second direction, the third beam (154) being disposed along a third direction, the third direction being perpendicular to the first direction, and the third direction being perpendicular to the second direction; A robot assembly (155) is movably disposed on the third beam (154), and the robot assembly (155) is capable of moving relative to the third beam (154) along the third direction; A double-wire welding device (157) is provided on the robot assembly (155), and the double-wire welding device (157) is used to weld the vehicle frame (200).

2. The welding workstation according to claim 1, characterized in that: The welding robot system (150) includes at least one of the following or a combination thereof: A first limiting device (161) is provided on the first beam (152), and the first limiting device (161) is used to limit the movement range of the second beam (153); a second limiting device (162), provided on the second beam (153), the second limiting device (162) being used to limit the movement range of the third beam (154); A third limiting device (163) is provided on the third beam (154), and the third limiting device (163) is used to limit the moving range of the robot assembly (155).

3. The welding workstation according to claim 1, characterized in that: The welding robot system (150) further comprises: A first anti-falling device (164) is arranged at the bottom of the third beam (154).

4. The welding workstation according to claim 1, characterized in that: The robot assembly (155) comprises: The six-axis robot (156) has a fixed end (1561) and a movable end (1562), wherein the fixed end (1561) is connected to the third beam (154), and the movable end (1562) is connected to the double-wire welding device (157).

5. The welding workstation according to any one of claims 1 to 4, characterized in that: The number of the second beams (153) is at least two, and each of the second beams (153) is movably disposed on the first beam (152); The number of the third beams (154) is at least two, and each of the third beams (154) is movably disposed on a corresponding second beam (153); The number of the robot assemblies (155) is at least two, and each of the robot assemblies (155) is movably disposed on a corresponding third beam (154); The number of the double-wire welding devices (157) is at least two, and each of the double-wire welding devices (157) is arranged on a corresponding robot assembly (155).

6. The welding workstation according to any one of claims 1 to 4, characterized in that: The double-wire welding device (157) comprises: A double-wire welding gun (1571), provided on the robot assembly (155), the double-wire welding gun (1571) being used for double-wire welding the vehicle frame (200); A laser tracker (1572) is provided on the robot assembly (155), and the laser tracker (1572) is used to determine the weld position of the frame (200).

7. The welding workstation according to any one of claims 1 to 4, characterized in that: The ground rail (120) is arranged along a fourth direction, the fourth direction is perpendicular to the second direction, and the fourth direction is perpendicular to the third direction, and the angle between the fourth direction and the first direction is a first angle.

8. The welding workstation according to any one of claims 1 to 4, characterized in that: The ground rail (120) comprises: A first ground rail (121) is disposed on the working platform (110), and the first welding positioner (130) is movably disposed on the first ground rail (121); A second ground rail (122) is arranged on the working platform (110); the second ground rail (122) is parallel to the first ground rail (121); and the second welding positioner (140) is movably arranged on the second ground rail (122).

9. The welding workstation according to any one of claims 1 to 4, characterized in that: Also includes: A first positioner tool (170) is rotatably disposed on the first welding positioner (130), the first welding positioner (130) being used to drive the first positioner tool (170) to rotate, and when the first positioner tool (170) abuts against the vehicle frame (200), the first positioner tool (170) is used to position the vehicle frame (200); The second positioner tool (180) is rotatably disposed on the second welding positioner (140); when the second positioner tool (180) abuts against the vehicle frame (200), the second positioner tool (180) is used to position the vehicle frame (200).

10. The welding workstation according to claim 9, characterized in that: The first positioner tooling (170) comprises: A first tool support (171) rotatably disposed on the first welding positioner (130); a first cone pin assembly (172) movably disposed on the first tool support (171), and when the first positioner tool (170) abuts against the vehicle frame (200), the first cone pin assembly (172) is used to position the vehicle frame (200); and / or The second positioner tooling (180) comprises: A second tool support (181) rotatably disposed on the second welding positioner (140); A positioning assembly (182) is movably disposed on the second tooling bracket (181); when the second positioner tooling (180) abuts against the vehicle frame (200), the positioning assembly (182) is used to position the vehicle frame (200).

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