Robot automatic welding device and method thereof

Abstract

The invention discloses an automatic robot welding device and method. The automatic robot welding device comprises a welding system, a feeding and discharging system and a master control system. The welding system comprises a welding robot and two rotary headstocks, the feeding and discharging system comprises a carrying robot and a feeding and discharging table, the carrying robot comprises a first gripper and a second gripper, and the feeding and discharging table comprises two stations, a material disc borne by the stations, a secondary positioning platform located between the two stations and a laser detection device. The first gripper grabs the workpieces to be welded in the material disc and places the workpieces in the secondary positioning platform for secondary positioning, and the laser detection device identifies models; the first gripper grabs a to-be-welded workpiece and places the to-be-welded workpiece on the rotary headstock, the welding robot welds the to-be-welded workpiece, and if the rotary headstock has the welded workpiece, the second gripper grabs the welded workpiece and places the welded workpiece in the material disc. And the feeding and discharging system repeats the operation to place the workpieces on the two rotary headstocks in sequence, so that the welding robot continuously works without stop.

Description

Technical Field

[0001] The invention relates to the technical field of hydraulic valve core surfacing, and in particular to a highly efficient robot automatic welding device and a method thereof. Background Art

[0002] The hydraulic valve core adopts an AC / DC electromagnet structure, which is precisely controlled by the electronic control system to achieve high-precision movement of the hydraulic mechanism. Therefore, the hydraulic valve core is one of the key components of the hydraulic system with stable and reliable quality. The hydraulic electromagnet has very high requirements for wear resistance and sealing during operation. The valve core electromagnet is grooved on the substrate, and a layer of alloy material with excellent performance is welded on the groove to play a role of wear resistance and magnetic isolation, thereby significantly improving the use effect and life of the valve core electromagnet. The welding between this alloy material and the substrate is a kind of welding of dissimilar metals, which is difficult to weld and has a high scrap rate of workpieces. The hydraulic system has a huge demand for solenoid valve cores, so to ensure the realization of high-efficiency and low-defective rate solenoid valve core manufacturing, welding quality is a key control process.

[0003] The existing technology is to perform surfacing welding of hydraulic valve cores through special machines, and rely on technicians to use different welding process parameters for different types of workpieces to perform surfacing welding, which meets the need to surfacing a layer of alloy materials with excellent performance at the groove of the hydraulic valve core. However, the existing technology has the following disadvantages: First, it is difficult to weld dissimilar metals, and the quality of workpiece welding under conventional surfacing technology is low; second, it is necessary to rely on manual judgment of different types of workpieces to select corresponding welding process parameters, the welding operation efficiency is low, and the labor cost is also high; third, the workpiece placement deviation needs to be manually judged and corrected, the process standardization is not high, and fixed-beat production cannot be achieved; fourth, the process of special machine welding is relatively fixed and the degree of flexibility is not high.

[0004] Therefore, it is hoped to provide a new robot automatic welding device and method to overcome the above-mentioned defects. Summary of the invention

[0005] The purpose of the present invention is to provide a robot automatic welding device and method for automatic secondary positioning, automatic identification of workpiece models and rapid call of corresponding model interval surfacing process parameters, thereby ensuring high quality and high efficiency of surfacing.

[0006] To achieve the above-mentioned purpose, the present invention adopts the following technical scheme: a robot automatic welding device, used for performing continuous welding operations on multiple workpieces, the robot automatic welding device includes a welding system, a loading and unloading system and a master control system electrically connected to the welding system and the loading and unloading system. The welding system includes a welding robot and two swivel head frames, the swivel head frames include a first swivel head frame and a second swivel head frame, the swivel head frames clamp the workpieces and drive the workpieces to rotate, and the welding robot performs welding operations on the workpieces. The loading and unloading system includes a handling robot and a loading and unloading platform, the handling robot includes a first gripper and a second gripper for grabbing or releasing the workpiece, the loading and unloading platform includes two workstations, a material tray carried on the workstations, and a secondary positioning platform and a laser detection device located between the two workstations, and the material tray is used to load the workpieces. When the robot automatic welding device is working, the first gripper grabs the workpiece to be welded in the material tray and places it in the secondary positioning platform for secondary positioning. At the same time, the laser detection device identifies the model of the workpiece to be welded and transmits the identified model parameters to the master control system. Then the first gripper grabs the above-mentioned workpiece to be welded again and places it on the first rotary head frame. The welding robot performs welding operations on the workpiece to be welded under the control of the master control system. At the same time, if there is a welded workpiece on the first rotary head frame, the second gripper first grabs the welded workpiece and then the first gripper places the workpiece to be welded. After that, the second gripper places the welded workpiece in the material tray; and the loading and unloading system repeats the above operations to place multiple workpieces on the first rotary head frame and the second rotary head frame in turn, so that the welding robot can operate continuously without stopping.

[0007] In a preferred embodiment, the welding system includes a double-layer welding workroom, the welding robot and the rotary head frame are located inside the upper layer of the welding workroom, and the welding workroom is provided with a protective door located on the upper layer. When the welding robot operates on the workpiece on the rotary head frame, the protective door will move to the front of the corresponding rotary head frame.

[0008] In a preferred embodiment, the welding system includes a wire feeder and a buffer located outside the welding workroom and an automatic gun cleaning and wire cutting station located inside the upper layer of the welding workroom. The wire feeder and the buffer work together to feed welding wire to the welding robot, and the automatic gun cleaning and wire cutting station is used to clean the debris generated by the welding robot during the welding process and to shear the welding wire.

[0009] In a preferred embodiment, the welding system includes a welding power supply, a cooling water tank and a robot control cabinet located inside the lower layer of the welding workroom, the welding power supply is used to supply power to the welding robot for welding operations, the cooling water tank is used to cool the welding gun of the welding robot, and the robot control cabinet is used to control the operations of the welding robot and the handling robot.

[0010] In a preferred embodiment, the loading and unloading system includes a mobile loading rack matched with the loading and unloading platform, and the mobile loading rack is used to transport the material tray, and when the mobile loading rack is docked with the work station of the loading and unloading platform, the material tray slides from the mobile loading rack to the work station of the loading and unloading platform.

[0011] In a preferred embodiment, the workstation is provided with two rows of balls, and the movable loading rack is provided with two corresponding columns of balls, and the heights of the two rows of balls are consistent with those of the two columns of balls.

[0012] In a preferred embodiment, the loading and unloading system includes safety fences located on both sides of the handling robot and the loading and unloading platform.

[0013] In a preferred embodiment, the master control system stores the zone-to-zone welding parameters for various types of workpieces, receives and processes the information sent by the welding system and the loading and unloading system, and feeds back relevant instructions to control the welding system and the loading and unloading system.

[0014] In a preferred embodiment, the robot automatic welding device includes a display screen, and the display screen is provided with a human-machine interaction interface connected to the master control system.

[0015] To achieve the above object, the present invention also adopts the following technical solution: a robot automatic welding method for performing continuous welding operations on multiple workpieces; the robot automatic welding method adopts the above robot automatic welding device and the operation steps are as follows:

[0016] S1: The master control system controls the loading and unloading system to start working, the first gripper of the handling robot grabs the workpiece to be welded in the material tray and places the workpiece to be welded on the secondary positioning platform for secondary positioning; at the same time, the laser detection device detects the diameter and length parameters of the workpiece to be welded and transmits the parameters of the workpiece to be welded to the master control system, and the master control system determines the model of the workpiece to be welded according to the workpiece parameters;

[0017] S2: After the secondary positioning and model detection of the workpiece to be welded are completed, the first gripper of the handling robot grabs the workpiece to be welded in front of the first rotary head frame; if there is a welded workpiece on the first rotary head frame, the second gripper of the handling robot removes the welded workpiece from the first rotary head frame, and then the first gripper places the workpiece to be welded at the clamping position of the first rotary head frame; if there is no workpiece on the first rotary head frame, the first gripper directly places the workpiece to be welded at the clamping position;

[0018] S3: The first rotary head frame clamps the workpiece to be welded, and the handling robot leaves; during the clamping process, the welding robot receives the model of the workpiece to be welded transmitted by the master control system and preloads the partition-to-partition welding parameters of the workpiece of the corresponding model;

[0019] S4: the second gripper of the transport robot puts the welded workpiece back into the material tray, and the first gripper grabs a new workpiece to be welded, and also performs secondary positioning and model identification; at the same time, the welding robot performs surfacing welding on the workpiece to be welded on the first rotary head frame according to the preloaded partition interval welding parameters;

[0020] S5: the first gripper of the transport robot grabs the new workpiece to be welded in front of the second rotary head frame; the second gripper takes off the welded workpiece, and the first gripper places the new workpiece to be welded in the clamping position of the second rotary head frame; if there is no workpiece on the second rotary head frame, the first gripper directly places the new workpiece to be welded in the clamping position;

[0021] S6: the second rotary head frame clamps the new workpiece to be welded, and the transport robot leaves; the welding robot finishes welding the workpiece on the first rotary head frame; during the clamping process, the welding robot receives the model of the new workpiece to be welded transmitted by the master control system and preloads the partition-to-part welding parameters of the workpiece of the corresponding model;

[0022] S7: the second gripper of the transport robot puts the welded workpiece back into the material tray; at the same time, the welding robot performs surfacing welding on the new workpiece to be welded on the second rotary head frame according to the preloaded partition interval welding parameters;

[0023] S8: Repeat the above steps S1-S7 to achieve non-stop continuous operation of automatic welding of the workpiece.

[0024] Compared with the prior art, the present invention has the following beneficial effects: when the robot automatic welding device is working, the first gripper grabs the workpiece to be welded in the material tray and places it in the secondary positioning platform for secondary positioning, and at the same time, the laser detection device identifies the model of the workpiece to be welded and transmits the identified model parameters to the master control system, and then the first gripper grabs the above-mentioned workpiece to be welded again and places it on the first rotary head frame, and the welding robot performs welding operations on the workpiece to be welded under the control of the master control system, and at the same time, if there is a welded workpiece on the first rotary head frame, the second gripper first grabs the welded workpiece and then the first gripper places the workpiece to be welded, and then the second gripper places the welded workpiece in the material tray; and the loading and unloading system repeats the above operations to place multiple workpieces on the first rotary head frame and the second rotary head frame in turn, so that the welding robot can operate continuously without stopping. The welding robot adopts the partitioned interval surfacing process parameters for welding, which can achieve seamless connection of surfacing processing when the production rhythm is appropriate, ensuring high quality and high efficiency of surfacing; and the automatic secondary positioning and automatic identification of workpiece model loading and unloading method of the handling robot reduces labor costs and realizes fixed-cycle production and flexible production, that is, unmanned surfacing processing. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] Figure 1 It is a front view of a robot automatic welding device in a preferred embodiment of the present invention.

[0026] Figure 2 yes Figure 1 The front view of the welding system in the robot automatic welding device is shown.

[0027] Figure 3 yes Figure 2 Front view of the welding system shown.

[0028] Figure 4 yes Figure 1 The three-dimensional schematic diagram of the loading and unloading system in the robot automatic welding device is shown.

[0029] Figure 5 yes Figure 4 The front view of the loading and unloading system is shown. DETAILED DESCRIPTION

[0030] See also Figures 1 to 5 As shown, a preferred embodiment of the present invention discloses a robot automatic welding device 100 for continuous welding of multiple workpieces. The robot automatic welding device 100 can automatically perform secondary positioning, automatically identify the model of the workpiece, and quickly call the partition welding process parameters of the corresponding model. The robot automatic welding device 100 includes a welding system 1, a loading and unloading system 2, and a master control system 3 electrically connected to the welding system 1 and the loading and unloading system 2.

[0031] See also Figure 2 and Figure 3 As shown, the welding system 1 is the basis of welding operation, and the welding system 1 includes a double-layered welding workshop 10, a welding robot 20 and two rotary head frames 30. The structure of the welding workshop 10 is mainly divided into two layers, the upper and lower layers, the welding robot 20 and the rotary head frame 30 are located inside the upper layer of the welding workshop 10, and the welding workshop 10 is provided with a protective door 12 located on the upper layer. When the welding robot 20 operates on the workpiece on the rotary head frame 30, the protective door 12 will move to the front of the corresponding rotary head frame 30, thereby playing a safety protection role.

[0032] The welding robot 20 is used to perform welding operations on the workpiece. The welding system 1 includes a wire feeder 21 and a buffer 22 located outside the welding workroom 10 and an automatic gun cleaning and wire cutting station 23 located inside the upper layer of the welding workroom 10. The wire feeder 21 and the buffer 22 work together to feed the welding wire to the welding robot 20 to achieve the wire feeding and storage of the welding wire. The automatic gun cleaning and wire cutting station 23 is used to clean the spatter debris attached to the welding gun cable generated by the welding robot 20 during the welding process, and cut the welding wire according to the nozzle position to ensure the dry extension of the welding wire after cleaning the gun.

[0033] The turret head frame 30 clamps the workpiece and drives the workpiece to rotate, and the turret head frame 30 includes a first turret head frame 31 and a second turret head frame 32. The welding system 1 also includes a welding power source 13, a cooling water tank 14 and a robot control cabinet 15 located inside the lower layer of the welding workroom 10. The welding power source 13 is used to supply power to the welding robot 20 for welding operations, the cooling water tank 14 is used to cool the welding gun of the welding robot 20, and the robot control cabinet 15 is used to control the operations of the welding robot 20 and the handling robot 40.

[0034] See also Figure 4 and Figure 5 As shown, the loading and unloading system 2 is a key part for realizing automatic welding operation, and the loading and unloading system 2 includes a handling robot 40, a loading and unloading platform 50 and a mobile loading rack 60, and the mobile loading rack 60 is arranged in conjunction with the loading and unloading platform 50. The handling robot 40 includes a first gripper 41 and a second gripper 42 for grasping or releasing the workpiece, the first gripper 41 is used for loading the workpiece, and the second gripper 42 is used for unloading the workpiece, and the first gripper 41 and the second gripper 42 cooperate with each other to realize seamless connection between unloading and loading of the workpiece.

[0035] The loading and unloading platform 50 includes two workstations 51, a material tray 70 carried on the workstation 51, and a secondary positioning platform 53 and a laser detection device 54 located between the two workstations 51. The material tray 70 is used to load the above-mentioned workpiece. Since there is a deviation in the positioning reference of the material tray 70, in order to ensure the accurate clamping of the workpiece, the secondary positioning platform 53 is used to perform secondary positioning on the workpiece; at the same time, the laser detection device 54 is used to identify the model of the workpiece.

[0036] The mobile loading rack 60 is used to carry the material tray 70, and when the mobile loading rack 60 is docked with the station 51 of the loading and unloading platform 50, the material tray 70 slides from the mobile loading rack 60 to the station 51 of the loading and unloading platform 50. Specifically, the station 50 is provided with two rows of balls 52, and the mobile loading rack 60 is provided with two corresponding columns of balls 61. The heights of the two rows of balls 52 and the two columns of balls 61 are consistent, so that the material tray 70 can easily enter the loading and unloading platform 50. At the same time, the loading and unloading system 2 also includes safety fences 80 located on both sides of the handling robot 40 and the loading and unloading platform 50 to play a protective role.

[0037] The master control system 3 stores the partition welding parameters of various types of workpieces. The master control system 3 receives and processes the information sent by the welding system 1 and the loading and unloading system 2 and feeds back relevant instructions to control the coordination between the welding system 1 and the loading and unloading system 2. In this embodiment, the robot automatic welding device 100 includes a display screen 11 located outside the welding workshop 10, and the display screen 11 is provided with a human-computer interaction interface connected to the master control system 3 to achieve the function of human-computer interaction; that is, the operator can transmit a signal to the master control system 3 through the display screen 11, and the master control system 3 controls the loading and unloading system 2 to coordinate with the welding system 1 to perform loading and unloading operations and welding operations.

[0038] When the robot automatic welding device 100 is working, the first gripper 41 grabs the workpiece to be welded in the material tray 70 and places it in the secondary positioning platform 53 for secondary positioning, and the laser detection device 54 identifies the model of the workpiece to be welded and transmits the identified model parameters to the master control system 3. Then, the first gripper 41 grabs the workpiece to be welded again and places it on the first rotary head frame 31, and the welding robot 20 performs welding operation on the workpiece to be welded under the control of the master control system 3; at the same time, if there is a welded workpiece on the first rotary head frame 31, the second gripper 42 grabs the welded workpiece first, and then the first gripper 41 places the workpiece to be welded, and then the second gripper 42 places the welded workpiece in the material tray 70. In addition, the loading and unloading system 2 repeats the above operation to place multiple workpieces on the two rotary head frames 30 in sequence, so that the welding robot 20 can work continuously without stopping.

[0039] The operation steps of the robot automatic welding method of the present invention are as follows:

[0040] S1: The master control system 3 controls the loading and unloading system 2 to start working, and the first gripper 41 of the handling robot 40 grabs the workpiece to be welded in the material tray 70 and places the workpiece to be welded on the secondary positioning platform 53 for secondary positioning; at the same time, the laser detection device 54 detects the diameter and length parameters of the workpiece to be welded and transmits the parameters of the workpiece to be welded to the master control system 3, and the master control system 3 determines the model of the workpiece to be welded according to the workpiece parameters;

[0041] S2: After the secondary positioning and model detection of the workpiece to be welded are completed, the first gripper 41 of the handling robot 40 grabs the workpiece to be welded in front of the first rotary head frame 31; if there is a welded workpiece on the first rotary head frame 31, the second gripper 42 of the handling robot 40 removes the welded workpiece from the first rotary head frame 31, and then the first gripper 41 places the workpiece to be welded at the clamping position of the first rotary head frame 31; if there is no workpiece on the first rotary head frame 31, the first gripper 41 directly places the workpiece to be welded at the clamping position;

[0042] S3: The first rotary head frame 31 clamps the workpiece to be welded, the handling robot 40 leaves, and the protective door 12 moves to the front of the first rotary head frame 31; during the clamping process, the welding robot 20 receives the model of the workpiece to be welded transmitted by the master control system 3 and preloads the partition-interval welding parameters of the workpiece of the corresponding model;

[0043] S4: The second gripper 42 of the transport robot 40 puts the welded workpiece back into the material tray 70, and the first gripper 41 grabs a new workpiece to be welded, and also performs secondary positioning and model identification; at the same time, after the protective door 12 moves into place, the welding robot 20 performs surfacing welding on the workpiece to be welded on the first rotary head frame 31 according to the preloaded partition interval welding parameters;

[0044] S5: The first gripper 41 of the transport robot 40 grabs the new workpiece to be welded in front of the second rotary head frame 32; the second gripper 42 removes the welded workpiece, and the first gripper 41 places the new workpiece to be welded in the clamping position of the second rotary head frame 32; if there is no workpiece on the second rotary head frame 32, the first gripper 41 directly places the new workpiece to be welded in the clamping position;

[0045] S6: The second rotary head frame 32 clamps the new workpiece to be welded, and the handling robot 40 leaves; the welding robot 20 finishes welding the workpiece on the first rotary head frame 31, and the protective door 12 moves to the front of the second rotary head frame 32; during the clamping process, the welding robot 20 receives the model of the new workpiece to be welded transmitted by the master control system 3 and preloads the partition-interval welding parameters of the workpiece of the corresponding model;

[0046] S7: The second gripper 42 of the transport robot 40 puts the welded workpiece back into the material tray 70; at the same time, after the protective door 12 is moved into place, the welding robot 20 performs surfacing welding on the new workpiece to be welded on the second turret head frame 32 according to the preloaded partition interval welding parameters;

[0047] S8: Repeat the above steps S1-S7 to achieve non-stop continuous operation of automatic welding of the workpiece.

[0048] In the present invention, when the robot automatic welding device 100 is working, the first gripper 41 grabs the workpiece to be welded in the material tray 70 and places it in the secondary positioning platform 53 for secondary positioning. At the same time, the laser detection device 54 identifies the model of the workpiece to be welded and transmits the identified model parameters to the master control system 3. Then the first gripper 41 grabs the above-mentioned workpiece to be welded again and places it on the first rotary head frame 31. The welding robot 20 performs welding operations on the workpiece to be welded under the control of the master control system 3. At the same time, if there is a welded workpiece on the first rotary head frame 31, the second gripper 42 first grabs the welded workpiece and then the first gripper 41 places the workpiece to be welded. After that, the second gripper 42 places the welded workpiece in the material tray 70; and the loading and unloading system 2 repeats the above operations to place multiple workpieces on the two rotary head frames 30 in sequence, so that the welding robot 20 can operate continuously without stopping. The welding robot 20 adopts the zoned interval surfacing process parameters for welding, which can realize the seamless connection of surfacing processing when the production rhythm is appropriate, ensuring the high quality and high efficiency of surfacing; and the loading and unloading method of the handling robot 40 with automatic secondary positioning and automatic identification of workpiece model reduces labor costs and realizes fixed-cycle production and flexible production, that is, unmanned surfacing processing.

[0049] In summary, the above are only preferred embodiments of the present invention, and should not be used to limit the scope of the present invention. That is, all simple equivalent changes and modifications made according to the claims and description of the present invention should still fall within the scope of the patent of the present invention.

Claims

1. A robot automatic welding device, used for continuous welding of multiple workpieces, comprising a welding system, a loading and unloading system, and a master control system electrically connected to the welding system and the loading and unloading system; characterized in that: The welding system includes a welding robot and two swivel head frames, wherein the swivel head frames include a first swivel head frame and a second swivel head frame, wherein the swivel head frame clamps the workpiece and drives the workpiece to rotate, and the welding robot performs welding operations on the workpiece; the loading and unloading system includes a handling robot and a loading and unloading platform, wherein the handling robot includes a first gripper and a second gripper for grabbing or releasing the workpiece, and the loading and unloading platform includes two workstations, a material tray carried on the workstations, and a secondary positioning platform and a laser detection device located between the two workstations, wherein the material tray is used to load the workpiece; when the robot automatic welding device is working, the first gripper grabs the workpiece to be welded in the material tray and places it on the secondary positioning platform The laser detection device performs secondary positioning on the workpiece to be welded and transmits the model parameters to the master control system. Then the first gripper grabs the workpiece to be welded again and places it on the first rotary head frame. The welding robot performs welding on the workpiece to be welded under the control of the master control system. At the same time, if there is a welded workpiece on the first rotary head frame, the second gripper grabs the welded workpiece first and then the first gripper places the workpiece to be welded. Then the second gripper places the welded workpiece in the material tray. The loading and unloading system repeats the above operation to place multiple workpieces on the first rotary head frame and the second rotary head frame in turn, so that the welding robot can operate continuously without stopping.

2. The robot automatic welding device according to claim 1, characterized in that: The welding system includes a double-layer welding workroom, the welding robot and the rotary head frame are located inside the upper layer of the welding workroom, and the welding workroom is provided with a protective door located on the upper layer. When the welding robot operates on the workpiece on the rotary head frame, the protective door will move to the front of the corresponding rotary head frame.

3. The robot automatic welding device according to claim 2, characterized in that: The welding system includes a wire feeder and a buffer located outside the welding workroom and an automatic gun cleaning and wire cutting station located inside the upper layer of the welding workroom. The wire feeder and the buffer work together to feed welding wire to the welding robot. The automatic gun cleaning and wire cutting station is used to clean the debris generated by the welding robot during the welding process and to cut the welding wire.

4. The robot automatic welding device according to claim 2, characterized in that: The welding system includes a welding power supply, a cooling water tank and a robot control cabinet located inside the lower layer of the welding workshop. The welding power supply is used to supply power to the welding robot for welding operations, the cooling water tank is used to cool the welding gun of the welding robot, and the robot control cabinet is used to control the operations of the welding robot and the handling robot.

5. The robot automatic welding device according to claim 1, characterized in that: The loading and unloading system includes a mobile loading rack matched with the loading and unloading platform, the mobile loading rack is used to carry the material tray, and when the mobile loading rack is docked with the work station of the loading and unloading platform, the material tray slides from the mobile loading rack to the work station of the loading and unloading platform.

6. The robot automatic welding device according to claim 5, characterized in that: The workstation is provided with two rows of balls, and the movable loading rack is provided with two corresponding columns of balls, and the heights of the two rows of balls are consistent with those of the two columns of balls.

7. The robot automatic welding device according to claim 5, characterized in that: The loading and unloading system includes safety fences located on both sides of the handling robot and the loading and unloading platform.

8. The robot automatic welding device according to claim 1, characterized in that: The master control system stores the zone-to-zone welding parameters of workpieces of various models. The master control system receives and processes the information sent by the welding system and the loading and unloading system and feeds back relevant instructions to control the welding system and the loading and unloading system.

9. The robot automatic welding device according to claim 8, characterized in that: The robot automatic welding device comprises a display screen, and the display screen is provided with a human-machine interaction interface connected to the master control system.

10. A robot automatic welding method for performing continuous welding operations on multiple workpieces; characterized in that: The robot automatic welding method adopts the robot automatic welding device as claimed in claim 8 and the operation steps are as follows: S1: The master control system controls the loading and unloading system to start working, the first gripper of the handling robot grabs the workpiece to be welded in the material tray and places the workpiece to be welded on the secondary positioning platform for secondary positioning; at the same time, the laser detection device detects the diameter and length parameters of the workpiece to be welded and transmits the parameters of the workpiece to be welded to the master control system, and the master control system determines the model of the workpiece to be welded according to the workpiece parameters; S2: After the secondary positioning and model detection of the workpiece to be welded are completed, the first gripper of the handling robot grabs the workpiece to be welded in front of the first rotary head frame; if there is a welded workpiece on the first rotary head frame, the second gripper of the handling robot removes the welded workpiece from the first rotary head frame, and then the first gripper places the workpiece to be welded at the clamping position of the first rotary head frame; if there is no workpiece on the first rotary head frame, the first gripper directly places the workpiece to be welded at the clamping position; S3: the first rotary head frame clamps the workpiece to be welded, and the transport robot leaves; During the clamping process, the welding robot receives the model of the workpiece to be welded transmitted by the master control system and preloads the welding parameters between the partitions of the workpiece of the corresponding model; S4: the second gripper of the transport robot puts the welded workpiece back into the material tray, and the first gripper grabs a new workpiece to be welded, and also performs secondary positioning and model identification; at the same time, the welding robot performs surfacing welding on the workpiece to be welded on the first rotary head frame according to the preloaded partition interval welding parameters; S5: the first gripper of the transport robot grabs the new workpiece to be welded in front of the second rotary head frame; the second gripper takes off the welded workpiece, and the first gripper places the new workpiece to be welded in the clamping position of the second rotary head frame; if there is no workpiece on the second rotary head frame, the first gripper directly places the new workpiece to be welded in the clamping position; S6: the second rotary head frame clamps a new workpiece to be welded, and the transport robot leaves; The welding robot completes welding of the workpiece on the first rotary head frame; during the clamping process, the welding robot receives the model of the new workpiece to be welded transmitted by the master control system and preloads the partition-interval welding parameters of the workpiece of the corresponding model; S7: the second gripper of the transport robot puts the welded workpiece back into the material tray; at the same time, the welding robot performs surfacing welding on the new workpiece to be welded on the second rotary head frame according to the preloaded partition interval welding parameters; S8: Repeat the above steps S1-S7 to achieve non-stop continuous operation of automatic welding of the workpiece.

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