A fully automatic welding production line for pads

Abstract

The present invention discloses a fully automatic welding production line for pads, and relates to the field of automation of welding of iron pads for railway track switches. The fully automatic welding production line for pads is mainly used for fully automatic welding production operations of flat pads for passenger dedicated lines and ordinary pads for research lines (heavy-load track type), and includes: visual recognition feeding components, secondary positioning devices, assembly tooling, spot welding positioning and stacking robots, spot welding robots, welding workbenches, full welding workstations, and finished product discharge positions. The fully automatic welding production line for pads is used to realize the automation and intelligent operation of the entire process of loading, assembly, welding, unloading and stacking of flat pads for passenger dedicated lines and ordinary pads for research lines, and can realize fully automatic material transfer and fully automatic welding, realize unmanned production, improve pad welding production efficiency, save labor costs, and improve the working environment.

Description

Technical Field

[0001] The invention relates to the field of welding automation of iron pads for railway track switches, and in particular to a full-automatic welding production line for pads. Background Art

[0002] In railway track construction, iron pads are an important track support component, which are often made of materials with strong earthquake and impact resistance. Commonly used iron pads can be classified into three types according to speed: ordinary speed (below 160 kilometers per hour), speed-up (above 160 kilometers per hour) and high-speed (above 250 kilometers per hour); according to structural characteristics, they can be classified into passenger dedicated lines, GLC and heavy-load turnouts, etc., hereinafter referred to as pads.

[0003] During the welding process of the pad, it is necessary to weld various small workpieces such as iron seats, table plates, guide irons, slide tables, etc. on the large bottom plate workpiece. Traditional pad welding is manual assembly, and then manual or semi-automatic welding is used after the assembly is completed, and then the key dimensions of the pad welding product are manually detected. Because there are many types of pads, the number of various workpieces combined will be thousands, and hundreds of manual tooling are required. The tooling needs to be maintained frequently. Even if the tooling is not often used, it is inevitable that the accuracy will be lost and it cannot be used again, so it must be replaced. Moreover, when manually or semi-automatically welding the pad, the transfer, transportation, clamping, welding, loading and unloading and stacking of the workpieces all require manual assistance. The transportation links of the workpiece materials are more and more complicated, the welding production efficiency is not high, the welding quality is unstable, and the labor intensity of the workers is high, and the labor cost is high. Summary of the invention

[0004] In order to solve the defects of the above-mentioned technology, the present invention provides a fully automatic welding production line for pads that can realize fully automated welding.

[0005] The technical solution adopted by the present invention to achieve the above technical effects is:

[0006] A fully automatic welding production line for backing plates, comprising:

[0007] Visual recognition loading component, based on machine vision recognition, completes the automatic destacking and loading of the bottom plate workpiece and the iron base workpiece at the preparation position;

[0008] A secondary positioning device, provided on one side of the visual recognition loading assembly, for accurately positioning the relative positions of the paired iron seat workpieces distributed to it by the visual recognition loading assembly;

[0009] A pairing tool, provided on one side of the visual recognition loading component, for fixing the bottom plate workpiece distributed to it by the visual recognition loading component;

[0010] A spot welding positioning and stacking robot is arranged on one side of the assembly tooling, and is used to position and grasp a pair of iron seat workpieces positioned on the secondary positioning device, and transfer them to the bottom plate workpiece on the assembly tooling for pressing and fixing;

[0011] A spot welding robot is arranged on one side of the assembly tooling and is used to perform spot welding and fix the bottom plate workpiece and the iron seat workpiece that are assembled and fixed on the assembly tooling;

[0012] A welding workbench, used for clamping and conveying spot welding workpieces and full welding workpieces, the spot welding workpieces are grabbed from the workpiece assembly to the welding workbench by the spot welding positioning and stacking robot;

[0013] A full welding workstation is connected to the welding workbench, and a full welding robot arranged inside the full welding workstation performs full welding on the workpiece sent in by the spot welding group;

[0014] The finished product discharge position is arranged on one side of the spot welding positioning stacking robot and is used for stacking the fully welded workpieces grasped by the spot welding positioning stacking robot.

[0015] Preferably, in the above-mentioned fully automatic welding production line for pads, the visual recognition and loading assembly includes a material preparation station, a 3D visual recognition device, a depalletizing and loading robot and a 3D visual recognition device. The material preparation station is supplied with base plate workpieces and iron base workpieces by an AGV trolley. The 3D visual recognition device is arranged at the material preparation station. Based on 3D visual recognition, the coordinates of the base plate workpiece and the iron base workpiece are positioned, the coordinate data of the workpiece to be taken is obtained, and the depalletizing and loading robot is guided to grab the corresponding workpiece. The 2D visual recognition device is arranged on one side of the depalletizing and loading robot, and is used to identify whether the base plate workpiece grabbed by the depalletizing and loading robot is compliant or upside down.

[0016] Preferably, in the above-mentioned fully automatic welding production line for the pad, the secondary positioning device includes a positioning bracket and a first iron seat positioning tool and a second iron seat positioning tool arranged on the top surface of the positioning bracket, the first iron seat positioning tool and the second iron seat positioning tool are both dihedral angle positioning structures with inclined surfaces, and the second iron seat positioning tool is movably arranged on the top surface of the positioning bracket through an adjustable base, and the lateral offset can be staggered and adjusted between the second iron seat positioning tool and the fixed first iron seat positioning tool.

[0017] Preferably, in the above-mentioned fully automatic welding production line for pads, the assembly tooling includes an assembly bracket and a customer-specific clamp for clamping and fixing the customer-specific base plate workpiece and a grinding line clamp for clamping and fixing the grinding line base plate workpiece arranged side by side on the assembly bracket.

[0018] Preferably, in the above-mentioned fully automatic welding production line for pads, the passenger-specific fixture includes a mounting base plate detachably mounted on the pair of brackets and a passenger-specific wear-resistant plate fixed on the mounting base plate for clamping the passenger-specific base plate workpiece, and a main positioning claw cylinder and an auxiliary positioning claw cylinder are respectively provided at both ends of the passenger-specific wear-resistant plate, and the auxiliary positioning claw cylinder cooperates with the main positioning claw cylinder to position the passenger-specific base plate workpiece placed on the passenger-specific wear-resistant plate.

[0019] Preferably, in the above-mentioned fully automatic welding production line for pads, through adjustment slots are provided on the two end plates of the passenger-only wear-resistant plate, and the mounting base plate is provided with a fine-adjustment mechanism at a position corresponding to the adjustment slot, and the cylinder bodies of the main positioning claw cylinder and the auxiliary positioning claw cylinder are respectively fixed on the fine-adjustment mechanism on the corresponding side, and the claws are located in the adjustment slots on the corresponding side and protrude from the upper surface of the passenger-only wear-resistant plate.

[0020] Preferably, in the above-mentioned fully automatic welding production line for pads, the wire grinding fixture includes a wire grinding wear-resistant plate detachably mounted on the pair of brackets for clamping the wire grinding base plate workpiece, and sliding positioning jaws and fixed limiting jaws are respectively provided at both ends of the wire grinding wear-resistant plate.

[0021] Preferably, in the above-mentioned fully automatic welding production line for pads, the welding workbench includes a linear frame platform whose half structure is located inside the full welding workstation, and at least one set of linear slide rails and a clamping platform are provided on the linear frame platform. The clamping platform is movably arranged on the linear slide rails, and the half portion located outside the full welding workstation constitutes a loading and unloading position, and the half portion located inside the full welding workstation constitutes a welding position. The spot welding group transfers the workpiece from the loading and unloading position to the welding position via the clamping platform, and the full welding group transfers the workpiece from the welding position to the loading and unloading position via the clamping platform.

[0022] Preferably, in the above-mentioned fully automatic welding production line for pads, the linear slide rails include two groups arranged in parallel, and each group of the linear slide rails is provided with the clamping platform for alternating operation.

[0023] Preferably, in the above-mentioned fully automatic welding production line for pads, the full welding workstation includes a welding room, and the interior of the welding room is composed of at least three independent welding rooms, each of the welding rooms is connected to a welding workbench, and each of the welding rooms is respectively provided with a full welding robot and a matching welding gun cleaner, and a welding smoke collection hood is provided on the top of the welding room.

[0024] The beneficial effects of the present invention are as follows: the fully automatic welding production line for pads of the present invention can realize the automation and intelligent operation of the entire process of loading, assembling, welding, unloading and stacking of passenger-dedicated flat pads and ordinary pads for research and development lines, realize unmanned production, improve the production efficiency of pad welding, save labor costs, and improve the working environment. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] Figure 1 A top view of the fully automatic welding production line for pads of the present invention;

[0026] Figure 2 This is a three-dimensional diagram of the fully automatic welding production line for the pads of the present invention;

[0027] Figure 3 This is a three-dimensional diagram of the fully automatic welding production line for backing plates of the present invention after the safety protection fence is removed;

[0028] Figure 4 This is a structural diagram of three welding chambers of a full welding workstation according to an embodiment of the present invention;

[0029] Figure 5 A three-dimensional diagram of a welding workbench and a full welding workstation according to an embodiment of the present invention;

[0030] Figure 6 A three-dimensional diagram of the assembly tool of the present invention;

[0031] Figure 7 A top view of the assembly tool of the present invention;

[0032] Figure 8 A three-dimensional diagram of a passenger-only fixture according to an embodiment of the present invention;

[0033] Fig. 9 This is a state diagram of the passenger-only clamp according to an embodiment of the present invention when clamping a passenger-only workpiece;

[0034] Fig.10 A three-dimensional diagram of a wire grinding fixture according to an embodiment of the present invention;

[0035] Fig.11 A state diagram of the wire grinding fixture according to an embodiment of the present invention when clamping a wire grinding workpiece;

[0036] Fig.12 A three-dimensional diagram of a welding workbench according to an embodiment of the present invention;

[0037] Fig.13 A three-dimensional diagram of a welding workbench and a full welding robot according to an embodiment of the present invention;

[0038] Fig.14 It is a structural diagram of the 3D visual recognition device, the depalletizing and loading robot and the 2D visual recognition device of the present invention;

[0039] Fig.15 It is a three-dimensional diagram of the secondary positioning device of the present invention;

[0040] Fig.16 It is a partial structural diagram of the secondary positioning device of the present invention;

[0041] Fig.17 It is a schematic diagram of the staggered adjustment of the second iron seat positioning tool and the first iron seat positioning tool of the present invention;

[0042] Fig.18 A three-dimensional diagram of a material preparation station according to an embodiment of the present invention;

[0043] Fig.19 This is a three-dimensional diagram of the finished product discharge position described in one embodiment of the present invention. DETAILED DESCRIPTION

[0044] In order to further understand the present invention, the present invention is further described below with reference to the accompanying drawings and specific embodiments:

[0045] In the description of the present invention, it should be noted that the terms "vertical", "upper", "lower", "horizontal" and the like indicate positions or positional relationships based on the positions or positional relationships shown in the 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 element referred to must have a specific position, be constructed and operated in a specific position, and therefore cannot be understood as limiting the present invention. In addition, "first", "second", "third", and "fourth" are only used for descriptive purposes and cannot be understood as indicating or implying relative importance.

[0046] In the description of the present invention, it is also necessary to explain that, unless otherwise clearly specified and limited, the terms "set", "install", "connect", and "connect" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection, a mechanical connection, an electrical connection, a direct connection, or a connection through an intermediate medium, or the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0047] See also Figure 1As shown in the figure, an embodiment of the present invention proposes a fully automatic welding production line for pads, which is mainly used for fully automatic welding production operations of flat pads for passenger-dedicated lines and ordinary pads for research lines (heavy-load rails). Specifically, the production line includes: a visual recognition loading component 1, a secondary positioning device 3, a pairing tool 2, a spot welding positioning stacking robot 5, a spot welding robot 4, a welding workbench 6, a full welding workstation 7, and a finished product discharge position 9. Among them, the visual recognition loading component 1 completes the automatic destacking and loading of the bottom plate workpiece and the iron seat workpiece at the preparation position based on machine vision recognition. In an embodiment of the present invention, the base plate workpiece includes a customer-specific base plate workpiece and a research line base plate workpiece. When producing customer-specific pads, the visual recognition loading component 1 is based on 3D visual recognition to locate the stacking position of the iron base workpiece and the stacking position of the customer-specific base plate workpiece, and respectively completes the grabbing of the iron base workpiece and the customer-specific base plate workpiece; when producing research line pads, the visual recognition loading component 1 is based on 3D visual recognition to locate the stacking position of the iron base workpiece and the stacking position of the research line base plate workpiece, and respectively completes the grabbing of the iron base workpiece and the research line base plate workpiece. Figure 1 As shown, the secondary positioning device 3 is arranged on one side of the visual recognition loading component 1, and is used to receive the iron base workpiece distributed to it by the visual recognition loading component 1, and accurately position the received iron base workpiece relative to the original position. Specifically, in an embodiment of the present invention, the secondary positioning device 3 is used to accurately position a pair of iron base workpieces relative to the original position. That is, in an embodiment of the present invention, when producing a passenger-only pad or a grinding line pad, two iron base workpieces need to be welded and fixed on the passenger-only bottom plate workpiece or the grinding line bottom plate workpiece. On bottom plate workpieces of different models and specifications, the relative positions of the two iron base workpieces are different, and the iron base workpiece needs to be accurately positioned by the secondary positioning device 3. Figure 1 As shown, the pairing jig 2 is disposed on one side of the visual recognition loading component 1, and is used to fix the base plate workpiece distributed to it by the visual recognition loading component 1. After the base plate workpiece is fixed on the pairing jig 2, the two positioned iron base workpieces are then placed on the fixed base plate workpiece to complete the pairing of the base plate workpiece and the iron base workpiece. In an embodiment of the present invention, the pairing jig 2 can adapt to passenger-only base plate workpieces and grinding line base plate workpieces, so that it can be flexibly applied according to different pad types, that is, the pairing of passenger-only base plate workpieces and iron base workpieces, or the pairing of grinding line base plate workpieces and iron base workpieces can be completed by one pairing jig 2. Figure 1As shown, the spot welding positioning stacking robot 5 is arranged on one side of the assembly tool 2, and is used to position and grasp a pair of iron base workpieces positioned on the secondary positioning device 3, and transfer them to the base plate workpiece on the assembly tool 2 and press and fix them. In the embodiment of the present invention, when the spot welding positioning stacking robot 5 grasps a pair of iron base workpieces positioned on the secondary positioning device 3, it can ensure the relative position between the two iron base workpieces, that is, the relative position between the two iron base workpieces after grasping is still the same as the positioning state on the secondary positioning device 3, so as to ensure the accuracy of the installation position of the two iron base workpieces when they are assembled with the base plate workpiece. Figure 1 As shown, the spot welding robot 4 is arranged on one side of the assembly tool 2, and is used to spot weld and fix the bottom plate workpiece and the iron seat workpiece that are assembled and fixed on the assembly tool 2. In an embodiment of the present invention, the specific assembly process of the bottom plate workpiece and the iron seat workpiece is as follows: first, the visual recognition loading component 1 locates and grabs the iron seat workpiece based on 3D visual recognition at the preparation position. In the process of grabbing and loading the iron seat workpiece, the visual recognition loading component 1 grabs a pair of iron seat workpieces, and then places the pair of iron seat workpieces on the secondary positioning device 3 to complete the fixation of the relative positions of the two iron seat workpieces. Next, the visual recognition loading component 1 scans and locates the corresponding bottom plate workpiece based on 3D visual recognition at the preparation position, and then grabs and locates the bottom plate workpiece for 2D visual recognition to check whether the bottom plate workpiece model is compliant or reversed. If the inspection is qualified, the grabbed bottom plate workpiece is loaded on the assembly tool 2 and fixed. If the inspection is unqualified, the non-compliant or reversed bottom plate workpiece is placed in the unqualified material position. Then, the spot welding positioning stacking robot 5 positions and grabs a pair of iron base workpieces positioned on the secondary positioning device 3 to the assembly tool 2, and presses and fixes the positioned pair of iron base workpieces on the surface of the base plate workpiece on the assembly tool 2. On the one hand, the spot welding positioning stacking robot 5 can accurately limit the relative spacing between the positioned pair of iron base workpieces, and on the other hand, by pressing the iron base workpiece on the surface of the base plate workpiece, the iron base workpiece and the base plate workpiece surface can be closely fitted, avoiding the problem of false surface contact between the two, and preventing subsequent cold welding. After completing the preliminary assembly and positioning of the iron base workpiece and the base plate workpiece, the spot welding robot 4 performs a spot welding operation, spot welding and fixing the iron base workpiece on the base plate workpiece, thereby completing the assembly of the two. At this time, the iron base workpiece fixed by spot welding and the base plate workpiece constitute a spot welding assembly workpiece.

[0048] After the iron base workpiece and the bottom plate workpiece are paired, the next step is to perform full welding, which is to completely weld the iron base workpiece fixed by spot welding to the bottom plate workpiece to form a fully welded paired workpiece, which is also the finished pad workpiece of the corresponding product line. Figure 1As shown, the welding workbench 6 is arranged on one side of the spot welding positioning stacking robot 5, which is used to clamp and convey the spot welding group workpieces and the full welding group workpieces, wherein the spot welding group workpieces are grabbed from the assembly tooling 2 by the spot welding positioning stacking robot 5 to the welding workbench 6. The full welding workstation 7 is connected with the welding workbench 6, and the full welding robot 8 arranged inside the full welding workstation 7 performs full welding welding on the sent spot welding group workpieces. The finished product discharge position 9 is arranged on one side of the spot welding positioning stacking robot 5, and is used to stack the full welding group workpieces grabbed by the spot welding positioning stacking robot 5. In an embodiment of the present invention, the spot welding group workpieces are transferred from the welding workbench 6 to the full welding workstation 7 for full welding operation, and the full welding group workpieces after full welding are transferred from the full welding workstation 7 to the outside by the welding workbench 6, and then the spot welding positioning stacking robot 5 grabs the full welding group workpieces and stacks them at the finished product discharge position 9.

[0049] Further, in a preferred embodiment of the present invention, Figure 1 , Figure 2 and Figure 3 As shown, the visual recognition loading component 1 includes a material preparation station 11, a 3D visual recognition device 12, a depalletizing loading robot 13 and a 2D visual recognition device 14. Among them, the material preparation station 11 is fed with bottom plate workpieces and iron base workpieces by an AGV trolley, and the 3D visual recognition device 12 is arranged at the material preparation station 11. It scans the bottom plate workpiece and the iron base workpiece based on 3D visual recognition to complete coordinate positioning, obtain the coordinate data of the workpiece to be taken, and guide the depalletizing loading robot 13 to grab the corresponding workpiece. The 2D visual recognition device 14 is arranged on one side of the depalletizing loading robot 13, and is used to identify whether the bottom plate workpiece grabbed by the depalletizing loading robot 13 is compliant or reversed.

[0050] Specifically, in an embodiment of the present invention, Fig.14 As shown, the 3D vision recognition device 12 includes a linear beam 121 with a high support leg 1211, and the extension direction of the linear beam 121 is the same as the arrangement direction of the material preparation station 11. The linear beam 121 is provided with a linear slide rail 122 and a slide seat 123 connected to the linear slide rail 122, and the slide seat 123 is provided with a servo motor. The linear beam 121 is provided with a stepping rack, and the slide seat 123 is driven to move along the linear slide rail 122 on the linear beam 121 through the transmission connection between the servo motor and the stepping rack. A scanning arm 124 extending horizontally toward the material preparation station 11 side is provided on the slide seat 123, and a 3D vision camera 125 is provided at the end of the scanning arm 124. The depalletizing and loading robot 13 includes a depalletizing and loading robot body 131 composed of a multi-axis robotic arm and a handling gripper 132 arranged at the end of the robotic arm. As shown Fig.18As shown, the material preparation station 11 includes three stations, namely, the iron base workpiece preparation station and two bottom plate workpiece preparation stations. The three preparation stations are arranged in a row, and the arrangement direction is the same as the extension direction of the linear beam frame 121. When loading, the slide 123 moves back and forth on the linear beam frame 121, takes pictures of the workpieces at the material preparation station, and is driven by a servo motor to ensure that the 3D vision camera 125 moves to the same position. The depth data and displacement data of the photos obtained by the 3D vision camera 125 are transmitted to the depalletizing and loading robot body 131. The depalletizing and loading robot body 131 calculates the three-dimensional coordinate data of the workpiece to be picked up based on the above data, and then accurately grabs the corresponding workpiece to be picked up.

[0051] When the process is set to grab the iron seat workpiece, the 3D visual camera 125 moves to the top of the iron seat workpiece preparation position, scans and photographs the iron seat workpiece on the iron seat workpiece preparation position, and transmits the obtained photo depth data and displacement data to the depalletizing and loading robot body 131. The depalletizing and loading robot body 131 calculates the three-dimensional coordinate data of the iron seat workpiece to be taken according to the above data, and then grabs the corresponding iron seat workpiece to be taken according to the three-dimensional coordinate data. In an embodiment of the present invention, when the depalletizing and loading robot 13 grabs the iron seat workpiece to the secondary positioning device 3, it grabs two iron seat workpieces to the secondary positioning device 3 at a time. As a preferred embodiment of the present invention, the handling gripper 132 on the depalletizing and loading robot 13 is an electrically controlled magnetic suction gripper, which has two independently controlled magnetic suction stations. The magnetic suction gripper can be rotatably connected to the end of the mechanical arm of the depalletizing and loading robot body 131, and the magnetic suction station can be converted by rotation control. When it is necessary to grab the first iron base workpiece, the depalletizing and loading robot body 131 performs a grabbing action to position the transport gripper 132 on the first iron base workpiece that needs to be grabbed at present, and then, the first magnetic suction station on the transport gripper 132 is powered on to generate magnetic suction force, and the other magnetic suction station remains in a power-off state to avoid interference with the grabbing of the current first iron base workpiece and mis-grasping of other iron base workpieces. After the first magnetic suction station on the magnetic suction gripper magnetically grabs the first iron base workpiece that needs to be grabbed at present, the depalletizing and loading robot body 131 controls the end of its mechanical arm to rise to a height so that the transport gripper 132 has a rotation operation space. Then, the transport gripper 132 rotates an angle, and the transport gripper 132 is positioned on the second iron base workpiece that needs to be grabbed at present, and then, the second magnetic suction station on the transport gripper 132 is powered on to generate magnetic suction force, and the second iron base workpiece is magnetically grabbed and fixed. After both iron base workpieces are grabbed, the destacking and loading robot 13 transfers the two iron base workpieces to the secondary positioning device 3 to complete the positioning of the two iron base workpieces.

[0052] Specifically, in a preferred embodiment of the present invention, the transport gripper 132 can be fixed to the end of the mechanical arm of the depalletizing and loading robot body 131 by a rotating cylinder, and the rotating end cover of the rotating cylinder is set to rotate 180°. When the 180° rotation is set, the two iron base workpieces respectively grabbed by the first magnetic suction station and the second magnetic suction station on the transport gripper 132 are located at the same XY coordinate position on the iron base workpiece preparation position, and only the Z coordinate position is different, that is, the two iron base workpieces are two adjacent iron base workpieces in height. In this way, it is possible to locate and grab two iron base workpieces at one time, reducing the amount of computation required for visual recognition and positioning when grabbing the iron base workpieces.

[0053] After completing the grabbing and positioning of the two iron base workpieces, the set bottom plate workpiece grabbing process is entered, and the 3D visual camera 125 moves to the top of the bottom plate workpiece preparation position, scans and photographs the bottom plate workpiece on the bottom plate workpiece preparation position, and transmits the obtained photo depth data and displacement data to the depalletizing and loading robot body 131. The depalletizing and loading robot body 131 calculates the three-dimensional coordinate data of the bottom plate workpiece to be taken according to the above data, and then grabs the corresponding bottom plate workpiece to be taken according to the three-dimensional coordinate data. After grabbing the bottom plate workpiece, the depalletizing and loading robot 13 sends it to the photographing field of the 2D visual recognition device 14 on the side, and recognizes the symbol on the bottom plate workpiece through the 2D visual camera of the 2D visual recognition device 14, and determines whether the grabbed bottom plate workpiece is consistent with the bottom plate workpiece required in the current set process. At the same time, the bottom plate workpiece is also detected to be placed upside down. If the detection meets the requirements, the depalletizing and loading robot 13 will proceed to the next step and send the grabbed bottom plate workpiece to the assembly tool 2 for fixing. If the detection does not meet the requirements, the depalletizing and loading robot 13 will place the bottom plate workpiece that does not meet the process setting or the bottom plate workpiece that is placed upside down to the unqualified material position. When the 2D visual recognition device 14 detects the bottom plate workpiece, it also includes the positioning of the workpiece hole on the bottom plate workpiece. The positioning data of the workpiece hole obtained can guide the parameter adjustment of the assembly tool 2 so that the assembly tool 2 can adapt to various types of bottom workpieces with workpiece holes on the plate.

[0054] In an embodiment of the present invention, Fig.18As shown, the two base plate workpiece preparation positions on the preparation station 11 include a passenger-only base plate loading rack 112 and a grinding line base plate loading rack 113. The passenger-only base plate loading rack 112 is stacked with passenger-only base plate workpieces 100 required for the production of passenger-only pads, and the grinding line base plate loading rack 113 is stacked with grinding line base plate workpieces 200 required for the production of grinding line pads. The iron base workpiece preparation position on the preparation station 11 includes an iron base loading rack 111, and the iron base loading rack 111 is stacked with iron base workpieces 300. Among them, the iron base loading rack 111, the grinding line base plate loading rack 113, and the passenger-only base plate loading rack 112 are arranged in a straight line. One preparation position can meet the welding operation needs of half a shift at a time, and a single station can meet 1 hour of output. The loading racks at each preparation position can be transferred by the AGV cart. When the visual recognition detects that the loading rack is empty, the AGV cart moves to the bottom of the empty loading rack, lifts up the empty loading rack and transfers it out, and transfers the loading rack with stacked workpieces to the corresponding preparation position to complete the automatic workpiece replenishment operation.

[0055] Further, in a preferred embodiment of the present invention, Fig.15 As shown, the secondary positioning device 3 includes a positioning bracket 31 and a first iron seat positioning fixture 32 and a second iron seat positioning fixture 33 arranged on the top table of the positioning bracket 31. Among them, the first iron seat positioning fixture 32 and the second iron seat positioning fixture 33 are both dihedral positioning structures with inclined surfaces. After the destacking and loading robot 13 grabs two iron seat workpieces, it places one iron seat workpiece on the first iron seat positioning fixture 32, and then places the other iron seat workpiece on the second iron seat positioning fixture 33. The two iron seat workpieces are positioned relative to each other in the first iron seat positioning fixture 32 and the second iron seat positioning fixture 33. Since the specifications of base plate workpieces of different models are different, the welding position of the iron seat workpiece on the base plate workpiece is also different. In order to adapt to the welding of iron seat workpieces of base plate workpieces of different models and specifications, the second iron seat positioning fixture 33 and the first iron seat positioning fixture 32 also have the function of adjusting the relative position and spacing. Specifically, as Fig.15 As shown, the second iron seat positioning fixture 33 is movably arranged on the top table of the positioning bracket 31 through an adjustment base 34. The relative position and spacing between the second iron seat positioning fixture 33 and the fixed first iron seat positioning fixture 32 can be flexibly adjusted through the adjustment base 34, that is, the two can be staggered to adjust the lateral offset. The specific staggering adjustment method is as follows Fig.17As shown, (a) is a positioning relationship between the two iron seat workpieces, at this time, there is no lateral offset between the second iron seat positioning fixture 33 and the first iron seat positioning fixture 32, (b) is another positioning relationship of the iron seat workpiece, at this time, the second iron seat positioning fixture 33 has a lateral left offset relative to the first iron seat positioning fixture 32, and (c) is another positioning relationship of the iron seat workpiece, at this time, the second iron seat positioning fixture 33 has a lateral right offset relative to the first iron seat positioning fixture 32.

[0056] Specifically, in an embodiment of the present invention, Fig.16 As shown, the first iron seat positioning tool 32 includes a support 321 and a dihedral angle slope 322 fixed on the support 321. The dihedral angle slope 322 realizes rapid alignment and positioning of the iron seat workpiece based on the side gravity. A first roller seat 323 and a second roller seat 324 are respectively provided at the two downwardly inclined edges of the dihedral angle slope 322. The first roller seat 323 and the second roller seat 324 form a 90° angle. The first roller seat 323 is provided with a first rotating bearing group 3231, and the second roller seat 324 is provided with a second rotating bearing group 3241. Two parallel and flexibly rotatable rollers 325 are provided on the dihedral angle slope 322 as rolling slopes. The rolling slope formed by the rollers 325 cooperates with the first rotating bearing group 3231 and the second rotating bearing group 3241 to form a dihedral angle slope for the iron seat workpiece to realize side gravity alignment positioning on the rolling slope. The dihedral angle slope of this structure can also reduce the sliding friction coefficient, so that the iron seat workpiece can quickly slide down to the 90° angle position formed by the two downward inclined edges.

[0057] Specifically, in an embodiment of the present invention, Fig.16 As shown, the roller axes of the two rollers 325 are directed toward the first roller seat 323. At the upper inclined edge relative to the first roller seat 323, a booster cylinder 326 is provided at the center line of the two rollers 325. A push plate is provided at the end of the push rod of the booster cylinder 326. Once the base workpiece slides due to casting defects, the booster cylinder 326 will start to push the base workpiece stuck on the dihedral angle slope to the positioning surface, that is, the 90° angle position formed by the two downward inclined edges.

[0058] Further, in a preferred embodiment of the present invention, Figure 6 and Figure 7 As shown, the assembly tool 2 includes an assembly bracket 21 and a customer-specific clamp 22 for clamping and fixing the customer-specific base plate workpiece and a grinding line clamp 23 for clamping and fixing the grinding line base plate workpiece. Through the assembly tool 2 with two types of clamps, the welding production line can synchronously complete the welding production of two types of pads. Specifically, as Figure 8As shown, the passenger-only fixture 22 includes a mounting base plate 221 detachably mounted on the assembly bracket 21 and a passenger-only wear plate 222 fixed on the mounting base plate 221 for clamping the passenger-only base plate workpiece. The two ends of the passenger-only wear plate 222 are respectively provided with a main positioning claw cylinder 223 and an auxiliary positioning claw cylinder 224, and the auxiliary positioning claw cylinder 224 cooperates with the main positioning claw cylinder 223 to position the passenger-only base plate workpiece placed on the passenger-only wear plate 222.

[0059] Furthermore, if Figure 8 As shown, the two end plates of the passenger-only wear-resistant plate 222 are provided with through adjustment slots, and the mounting base plate 221 is provided with a fine-tuning mechanism 225 at the position corresponding to the adjustment slot. The cylinder bodies of the main positioning claw cylinder 223 and the auxiliary positioning claw cylinder 224 are respectively fixed on the fine-tuning mechanism 225 on the corresponding side, and the claws are located in the adjustment slots on the corresponding side and protrude from the upper surface of the passenger-only wear-resistant plate 222. The relative positions of the main positioning claw cylinder 223 and the auxiliary positioning claw cylinder 224 can be adjusted respectively by the two fine-tuning mechanisms 225. In the embodiment of the present invention, different types of passenger-only base plate workpieces have different relative positions of the workpiece holes at both ends of the plate body, that is, there are different offsets, and the fine-tuning mechanism 225 can accurately adjust the claw position according to different passenger-only base plate workpieces to achieve clamping and fixing of different passenger-only base plate workpieces. In an embodiment of the present invention, the fine-tuning mechanism 225 includes a slide 2251 and a servo motor 2252 connected to the slide 2251. Through the precise drive of the servo motor 2252, the slide 2251 can be controlled to drive the claws thereon to move finely in the adjustment slot. The use of servo drive can effectively ensure that the offset accuracy is automatic and controllable, thereby realizing the function of automatic switching of products.

[0060] like Fig. 9 As shown, it is a state diagram of the passenger-specific clamp 22 clamping the passenger-specific workpiece 400, which is composed of the passenger-specific base plate workpiece 100 and two iron seat workpieces 300. At this time, the two iron seat workpieces 300 are fixed on the passenger-specific base plate workpiece 100 by spot welding. Workpiece holes 110 are formed on the two end plates of the passenger-specific base plate workpiece 100, and the claws of the main positioning claw cylinder 223 and the auxiliary positioning claw cylinder 224 clamp and position the workpiece holes 110 at both ends respectively.

[0061] Further, in an embodiment of the present invention, if Fig.10 As shown, the grinding wire fixture 23 includes a grinding wire wear-resistant plate 231 detachably mounted on the assembly bracket 21 for clamping the grinding wire base plate workpiece, and the two ends of the grinding wire wear-resistant plate 231 are respectively provided with a sliding positioning jaw 232 and a fixed limiting jaw 233, and the sliding positioning jaw 232 and the fixed limiting jaw 233 are used to clamp and fix the grinding wire base plate workpiece placed on the grinding wire wear-resistant plate 231. Specifically, in the embodiment of the present invention, as Fig.10 As shown, the sliding positioning jaw 232 includes a convex portion 2321 and a guide inclined portion 2322 symmetrically formed at the left and right ends of the convex portion 2321. A tightening cylinder 234 is provided on the grinding line wear-resistant plate 231 for driving the sliding positioning jaw 232 to slide relative to the fixed limiting jaw 233. In the embodiment of the present invention, the structure of the fixed limiting jaw 233 is the same as that of the sliding positioning jaw 232. Initially, there is an area between the sliding positioning jaw 232 and the fixed limiting jaw 233 that is large enough to accommodate the workpiece of the grinding line bottom plate. After the destacking and loading robot 13 places the workpiece of the grinding line bottom plate on the grinding line wear-resistant plate 231, the tightening cylinder 234 is started to drive the sliding positioning jaw 232 to approach the fixed limiting jaw 233 on the grinding line wear-resistant plate 231. At this time, the convex portions of the two jaws are in contact with the groove portion at the end of the grinding line bottom plate workpiece, and the guiding inclined portion guides and pre-positions the grinding line bottom plate workpiece during the clamping process of the grinding line bottom plate workpiece, so that the convex portion of the sliding positioning jaw 232 and the convex portion of the fixed limiting jaw 233 are respectively completely matched with the groove portion at the end of the grinding line bottom plate workpiece, thereby achieving the clamping of the grinding line bottom plate workpiece.

[0062] like Fig.11 As shown, it is a state diagram of the wire grinding fixture 23 clamping the wire grinding workpiece 500. The wire grinding workpiece 500 is composed of a wire grinding base plate workpiece 200 and two iron base workpieces 300. At this time, the two iron base workpieces 300 are fixed on the wire grinding base plate workpiece 200 by spot welding.

[0063] In order to ensure that the clamping state of the customer-specific workpiece 400 and the grinding workpiece 500 on the corresponding fixture is more stable, as shown in FIG. Figure 6 and Figure 7 As shown, the two ends of the passenger-specific wear-resistant plate 222 are respectively provided with a clamp 24 for clamping the passenger-specific workpiece 400, and the two ends of the grinding line wear-resistant plate 231 are respectively provided with a clamp 24 for clamping the grinding line workpiece 500. Figure 8 and Fig.10 As shown, the clamp 24 includes a clamp cylinder 242 and a pressure head 241 driven by the clamp cylinder 242 and capable of rotating 90°. When performing the clamping action, the clamp cylinder 242 drives the pressure head 241 to rotate 90° from a vertical upward position to a horizontal position, thereby completing the workpiece clamping. Fig. 9 As shown in FIG. 1 , the state of the customer-specific fixture 22 clamping the customer-specific workpiece 400 is shown, and the pressing head 241 is pressed tightly on both ends of the customer-specific bottom plate workpiece 100. Fig.11 As shown, the wire grinding fixture 23 is in a state of clamping the wire grinding workpiece 500, and the pressing head 241 is pressed on both ends of the wire grinding base plate workpiece 200.

[0064] In order to facilitate the replacement of the fixtures on the assembly tool 2, in the embodiment of the present invention, the customer-specific fixture 22 and the grinding fixture 23 are integrally detachably mounted on the assembly bracket 21 through positioning pins. When it is necessary to produce other types of pad products, the existing fixtures can be disassembled as a whole through positioning pins to replace the corresponding types of matching fixtures. In order to realize the detection of the base plate workpiece by the fixture on the assembly tool 2, such as Figure 8 and Fig.10 As shown, in an embodiment of the present invention, proximity switches (not marked in the figure) are respectively provided in the middle of the passenger-only wear-resistant plate 222 on the passenger-only fixture 22 and the middle of the grinding line wear-resistant plate 231 on the grinding line fixture 23. When producing the passenger-only pad, after the depalletizing loading robot 13 places the passenger-only base plate workpiece on the passenger-only wear-resistant plate 222 of the passenger-only fixture 22, the proximity switch on the passenger-only wear-resistant plate 222 is triggered, and the system drives the spot welding positioning stacking robot 5 to grab a pair of iron base workpieces on the secondary positioning device 2 to the passenger-only base plate workpiece according to the signal. When producing the grinding line pad, after the depalletizing loading robot 13 places the grinding line base plate workpiece on the grinding line wear-resistant plate 231 of the grinding line fixture 23, the proximity switch on the grinding line wear-resistant plate 231 is triggered, and the system drives the spot welding positioning stacking robot 5 to grab a pair of iron base workpieces on the secondary positioning device 2 to the grinding line base plate workpiece according to the signal.

[0065] In an embodiment of the present invention, Figure 6 As shown, an arc-proof shading cover 25 is installed on the upper part of the assembly bracket 21. After the base plate workpiece and the iron seat workpiece are assembled on the assembly tool 2, the spot welding robot 4 arranged beside the assembly tool 2 performs a spot welding operation to spot weld and fix the assembled iron seat workpiece on the base plate workpiece to obtain a spot-welded assembly workpiece. In an embodiment of the present invention, the spot welding robot 4 is equipped with a welding gun with a dust suction function, such as Figure 1 and Figure 2 As shown, the welding gun dust hood of the spot welding robot 4 is connected to a dedicated fume purifier device 10 through a specific pipeline, and the fume purifier device 10 can absorb the exhaust gas, fume, etc. generated by spot welding to the maximum extent.

[0066] Further, in an embodiment of the present invention, if Fig.12As shown, the welding workbench 6 includes a linear frame platform 63 of which half structure is located inside the full welding workstation 7, and at least one set of linear slide rails 64 and a clamping platform 65 are provided on the linear frame platform 63. Among them, the clamping platform 65 is movably arranged on the linear slide rail 64, and the half part located outside the full welding workstation 7 constitutes the loading and unloading position 61, and the half part located inside the full welding workstation 7 constitutes the welding position 62. The workpieces of the spot welding group are transferred from the loading and unloading position 61 to the welding position 62 via the clamping platform 65, and are fully welded by the full welding robot 8 inside the full welding workstation 7. After the full welding is completed, the clamping platform 65 transfers the workpieces of the full welding group from the welding position 62 to the loading and unloading position 61, and then the spot welding positioning stacking robot 5 grabs the workpieces of the full welding group and stacks them at the finished product discharge position 9. In an embodiment of the present invention, as Fig.19 As shown, the finished product discharge position 9 is provided with two workstations, including a No. 1 finished product discharge rack 91 and a No. 2 finished product discharge rack 92. The No. 1 finished product discharge rack 91 and the No. 2 finished product discharge rack 92 can be used to classify and stack different types of pad finished parts, or one can be used and the other can be used as a backup to stack one type of pad finished parts. When the No. 1 finished product discharge rack 91 is stacking, the No. 2 finished product discharge rack 92 can be transferred, wherein the No. 2 finished product discharge rack 92 can complete the transfer within the stacking cycle of the No. 1 finished product discharge rack 91, so that the full welding workstation 7 can realize the non-stop discharge position conversion. Specifically, as an exemplary illustration of the present invention, in an embodiment of the present invention, Fig.19 As shown, the No. 1 finished product unloading rack 91 is used for stacking and placing the grinding workpieces 500, that is, the grinding pad finished parts, and the No. 2 finished product unloading rack 92 is used for stacking and placing the passenger-only workpieces 400, that is, the passenger-only pad finished parts.

[0067] In an embodiment of the present invention, the No. 1 finished product discharge rack 91 and the No. 2 finished product discharge rack 92 are stacked to the set height as required. After reaching the set stacking height, the AGV car automatically transports and pulls away the full discharge rack, and then replaces it with an empty discharge rack within the set time.

[0068] Further, in an embodiment of the present invention, if Fig.12 As shown, the linear guide rail 64 includes two groups arranged in parallel, and each group of linear guide rails 64 is provided with a clamping platform 65 for alternate operation. Through this structure, two welding stations can be constructed on the welding workbench 6. When the clamping platform 65 on one station enters the welding position 62 and performs full welding inside the full welding workstation 7, the clamping platform 65 on the other station can freely enter and exit the full welding workstation 7, move to the loading and unloading position 61, and wait to receive the next spot welding group to workpiece, so as to achieve uninterrupted welding operation. Fig.13As shown, the full welding robot 8 is arranged at one end near the welding position 62, and a welding gun cleaner 81 is provided on the full welding robot 8, and the welding gun cleaner 81 is used to regularly clean the welding slag of the welding gun of the full welding robot 8. Figure 3 As shown, a matching welding gun cleaner is also provided on one side of the spot welding robot 4. In an embodiment of the present invention, the welding gun cleaner 81 adopts a mature gun cleaning device in the prior art, which is mainly composed of a gun cleaning mechanism, a wire cutting mechanism, a splash-proof liquid spraying mechanism, and a main body base. The welding gun cleaner can automatically fix the welding gun on the welding gun cleaner after the welding gun is working and start cleaning. When cleaning the gun, the reamer extends into the welding gun nozzle and surrounds the nozzle at the same time, so that the welding slag inside the welding gun nozzle and the conductive nozzle can be cleaned. After the gun cleaning work is completed, the anti-splash agent is sprayed on the welding gun head. After the gun cleaning work is completed, the fixing device releases the welding gun, and the welding robot enters the welding work to ensure the welding quality. As an exemplary illustration, the welding gun cleaner 81 of the present invention can adopt the welding gun cleaner of Madel MDE-006.

[0069] Further, in an embodiment of the present invention, if Figure 3 , Figure 4 and Figure 5 As shown, the full welding workstation 7 includes a welding room 71, and at least three independent welding chambers 72 are formed inside the welding room 71. Each welding chamber 72 is connected to a welding workbench 6, and a full welding robot 8 and a matching welding gun cleaner 81 are respectively arranged inside each welding chamber 72. An inlet and outlet 711 is arranged at the front of the welding room 71 at the position corresponding to each welding chamber 72, and a lifting door 712 is arranged at the inlet and outlet 711. The welding workbench 6 is connected to the welding chamber 72 through the inlet and outlet 711, and the loading and unloading position 61 on the welding workbench 6 is located outside the inlet and outlet 711, and the welding position 62 on the welding workbench 6 is located inside the inlet and outlet 711. When the clamping platform 65 is about to pass through the inlet and outlet 711, the lifting door 712 at the inlet and outlet 711 is induced to rise, so that the clamping platform 65 can pass through the inlet and outlet 711 without hindrance. When the non-clamping platform 65 passes through the entrance 711, the lifting door 712 remains in the down state, and the lifting door 712 closes the entrance 711 to prevent the smoke generated during welding in the welding room 72 from overflowing to the outside of the welding room 71. Figure 1 and Figure 2 As shown, a welding fume collecting hood 73 is also provided on the top of the welding room 71 , through which the fume generated by welding can be collected and discharged to prevent the fume from accumulating in the welding room 71 .

[0070] In an embodiment of the present invention, the visual recognition loading component 1, the secondary positioning device 3, the assembly tooling 2, the spot welding positioning and stacking robot 5, the spot welding robot 4, the welding workbench 6, and the finished product discharge position 9 are all arranged in a safety protection fence 30, and the full welding workstation 7 is arranged outside the safety protection fence 30. An equipment placement rack 20 is also provided outside the safety protection fence 30, and a PLC control cabinet, a robot control cabinet and a welding power supply cabinet are placed on the equipment placement rack 20.

[0071] As a preferred embodiment of the present invention, the full welding robot 8 adopts a FANUC M-10iD / 8L automatic welding robot with an arm span of 2m. It has an intelligent positioning function, the ability to locate at the starting point of the weld and start arc welding, and the ability to track the arc. During the welding process, this type of welding robot can sample the current signal in the welding in real time, analyze the path correction data in the horizontal and vertical directions according to the welding current deviation value and trend at both ends of the swing, and transmit it to the robot control cabinet in time. Then, the robot control cabinet corrects the movement trajectory of the robot in real time to ensure that the stable welding requirements are met. During the overall welding, this type of welding robot completes the welding of the workpiece through the starting point positioning function and the arc tracking function. When there is a slight tolerance in the outer dimensions of the workpiece, it can also be solved by arc tracking.

[0072] The above shows and describes the basic principles, main features and advantages of the present invention. Those skilled in the art should understand that the present invention is not limited to the above embodiments, and the above embodiments and descriptions only describe the principles of the present invention. The present invention may have various changes and improvements without departing from the spirit and scope of the present invention, and these changes and improvements fall within the scope of the present invention to be protected, and the scope of protection claimed by the present invention is defined by the attached claims and their equivalents.

Claims

1. A fully automatic welding production line for backing plates, characterized in that: include: A visual recognition loading component (1) automatically destacking and loading the bottom plate workpiece and the iron base workpiece at the material preparation position based on machine vision recognition; A secondary positioning device (3) is provided on one side of the visual recognition loading component (1) and is used to accurately position the relative positions of the paired iron seat workpieces distributed to it by the visual recognition loading component (1); An assembly tool (2) is arranged on one side of the visual recognition loading component (1) and is used to fix the bottom plate workpiece distributed to it by the visual recognition loading component (1); A spot welding positioning stacking robot (5) is arranged on one side of the assembly tool (2) and is used to position and grasp a pair of iron seat workpieces positioned on the secondary positioning device (3), and transfer them to the bottom plate workpiece on the assembly tool (2) for pressing and fixing; A spot welding robot (4) is arranged on one side of the assembling tool (2) and is used to perform spot welding on the base plate workpiece and the iron base workpiece assembled and fixed on the assembling tool (2); A welding workbench (6) is used for clamping and conveying spot welding workpieces and full welding workpieces. The spot welding workpieces are grabbed from the assembly tool (2) to the welding workbench (6) by the spot welding positioning and stacking robot (5); A full welding workstation (7) is connected to the welding workbench (6), and a full welding robot (8) arranged inside the full welding workstation (7) performs full welding on the workpiece sent by the spot welding group; A finished product discharge position (9) is provided on one side of the spot welding positioning stacking robot (5) and is used for stacking fully welded workpieces grasped by the spot welding positioning stacking robot (5).

2. The fully automatic welding production line for backing plates according to claim 1 is characterized in that: The visual recognition loading component (1) comprises a material preparation station (11), a 3D visual recognition device (12), a depalletizing loading robot (13) and a 2D visual recognition device (14). The material preparation station (11) is provided with an AGV trolley for rotating the feeding of the base plate workpiece and the iron base workpiece. The 3D visual recognition device (12) is arranged at the material preparation station (11) and performs coordinate positioning of the base plate workpiece and the iron base workpiece based on 3D visual recognition, obtains coordinate data of the workpiece to be picked up, and guides the depalletizing loading robot (13) to grab the corresponding workpiece. The 2D visual recognition device (14) is arranged on one side of the depalletizing loading robot (13) and is used to identify whether the base plate workpiece grabbed by the depalletizing loading robot (13) is in compliance with regulations or is placed upside down.

3. The fully automatic welding production line for backing plates according to claim 1 is characterized in that: The secondary positioning device (3) comprises a positioning bracket (31) and a first iron seat positioning fixture (32) and a second iron seat positioning fixture (33) arranged on the top surface of the positioning bracket (31); the first iron seat positioning fixture (32) and the second iron seat positioning fixture (33) are both dihedral positioning structures with inclined surfaces; the second iron seat positioning fixture (33) is movably arranged on the top surface of the positioning bracket (31) via an adjustment base (34) and can be staggered with the fixed first iron seat positioning fixture (32) to adjust the lateral offset.

4. The fully automatic welding production line for backing plates according to claim 1 is characterized in that: The assembly tool (2) comprises an assembly bracket (21) and a customer-specific clamp (22) for clamping and fixing a customer-specific base plate workpiece and a grinding line clamp (23) for clamping and fixing a grinding line base plate workpiece, which are arranged side by side on the assembly bracket (21).

5. The fully automatic welding production line for backing plates according to claim 4 is characterized in that: The passenger-only clamp (22) comprises a mounting base plate (221) detachably mounted on the pair of brackets (21) and a passenger-only wear-resistant plate (222) fixed on the mounting base plate (221) for clamping a passenger-only base plate workpiece. A main positioning claw cylinder (223) and an auxiliary positioning claw cylinder (224) are respectively provided at both ends of the passenger-only wear-resistant plate (222). The auxiliary positioning claw cylinder (224) cooperates with the main positioning claw cylinder (223) to position the passenger-only base plate workpiece placed on the passenger-only wear-resistant plate (222).

6. The fully automatic welding production line for backing plates according to claim 5 is characterized in that: Through adjustment slots are provided on the two end plates of the passenger-only wear-resistant plate (222); the mounting base plate (221) is provided with a fine-tuning mechanism (225) at a position corresponding to the adjustment slot; the cylinder bodies of the main positioning claw cylinder (223) and the auxiliary positioning claw cylinder (224) are respectively fixed on the fine-tuning mechanism (225) on the corresponding side; the claws are located in the adjustment slots on the corresponding side and protrude from the upper surface of the passenger-only wear-resistant plate (222).

7. The fully automatic welding production line for backing plates according to claim 4 is characterized in that: The wire grinding clamp (23) comprises a wire grinding wear-resistant plate (231) detachably mounted on the assembly bracket (21) and used for clamping a wire grinding base plate workpiece, wherein two ends of the wire grinding wear-resistant plate (231) are respectively provided with a sliding positioning clamping claw (232) and a fixed limiting clamping claw (233).

8. The fully automatic welding production line for backing plates according to claim 1 is characterized in that: The welding workbench (6) includes a linear frame platform (63) with half of its structure located inside the full welding workstation (7). The linear frame platform (63) is provided with at least one set of linear slide rails (64) and a clamping platform (65). The clamping platform (65) is movably arranged on the linear slide rails (64). The half portion located outside the full welding workstation (7) constitutes a loading and unloading position (61), and the half portion located inside the full welding workstation (7) constitutes a welding position (62). The spot welding group transfers the workpiece from the loading and unloading position (61) to the welding position (62) via the clamping platform (65), and the full welding group transfers the workpiece from the welding position (62) to the loading and unloading position (61) via the clamping platform (65).

9. The fully automatic welding production line for backing plates according to claim 8 is characterized in that: The linear slide rails (64) include two groups arranged in parallel, and each group of the linear slide rails (64) is provided with a clamping platform (65) for alternate operation.

10. The fully automatic welding production line for backing plates according to claim 1 is characterized in that: The full welding workstation (7) comprises a welding room (71), wherein the welding room (71) is internally formed with at least three independent welding chambers (72), each of the welding chambers (72) is respectively connected to a welding workbench (6), each of the welding chambers (72) is respectively internally provided with a full welding robot (8) and a matching welding gun cleaner (81), and a welding fume collection hood (73) is provided on the top of the welding room (71).

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