Single-plate single-rib small assembly unmanned welding device and unmanned welding method

Abstract

The invention provides a single-plate single-rib small assembly unmanned welding device which is characterized in that a feeding robot is fixedly mounted on one side of a welding workbench and used for grabbing parts to be welded from a feeding tray; the welding robot is fixedly installed on the other side of the welding workbench and used for conducting welding operation on a welding seam through the determined welding seam position. The visual recognition device is installed above the welding workbench and the feeding tray through a supporting rod and used for recognizing the two-dimensional code and recognizing the placing position and angle of the to-be-welded part. The feeding tray is used for placing parts to be welded; and the two-dimensional code is used for storing data information of the to-be-welded part. Meanwhile, the invention provides an unmanned welding method achieved through the device. By means of visual recognition and mechanical arm feeding, full-unmanned assembling and welding of the single-plate single-rib small assemblage are achieved, the problem that recruitment of current ship enterprises is difficult can be effectively solved, and the production efficiency is improved.

Description

Technical Field

[0001] The present invention relates to the technical field of welding equipment, and in particular to an unmanned welding device and an unmanned welding method for a single-plate single-rebar group. Background Art

[0002] Single-plate single-reinforced panel is a type of ship panel, which consists of a base plate and a rib plate, and is a single-sided structure without splicing or reinforcement. At present, the manufacturing of panel is highly dependent on manual work, which has problems such as great harm to the human body and long working hours.

[0003] The existing small-scale automated welding robots still require manual spot welding of small-scale parts in advance, and then use the robot to perform full welding operations on the assembled welds. It cannot completely replace manual work, resulting in low efficiency.

[0004] After searching, it was found that the Chinese invention patent application with publication number CN118002991A, "A Ship Sub-assembly Automatic Assembly System and Assembly Method", in which the automatic assembly system includes: a conveying platform, a spot welding device, a gripping device, and a control device; the system can effectively complete the automatic assembly and welding operations of the bottom plate and the two ends of the rib plate of the ship sub-structure; the fixing device in the conveying platform can fix the bottom plate and control the deformation of the bottom plate; the gripping mechanism in the gripping device can fix the rib plate and control the deformation of the rib plate; the precise and high-strength fixation of the bottom plate and the rib plate ensures the smooth completion of high-precision and high-quality assembly and welding operations, and the spot welding device and the gripping device perform assembly and welding operations according to the coordinate information of the bottom plate and the rib plate. However, the system did not consider the automatic acquisition of information such as the three-dimensional model and welding process of the sub-structure during design, and lacked the automatic programming function of the control system, resulting in the system still needing manual data import, process parameter compilation, code selection and other complicated processes in the actual application process, and did not realize the whole process of unmanned assembly and welding of the sub-structure. Summary of the invention

[0005] In view of the above-mentioned deficiencies in the prior art, the present invention provides an unmanned welding device and an unmanned welding method for a single-plate single-rebar group.

[0006] According to one aspect of the present invention, a single-plate single-rebar group unmanned welding device is provided, comprising: a feeding robot, a welding robot, a visual recognition device, a welding workbench, a feeding tray and a control system, and a QR code set on the part to be welded; wherein:

[0007] The loading robot is fixedly installed on one side of the welding workbench and is used to grab the parts to be welded from the loading tray;

[0008] The welding robot is fixedly mounted on the other side of the welding workbench and is used to perform welding operations on the weld by determining the weld position;

[0009] The visual recognition device is installed above the welding workbench and the loading tray through a support rod, and is used to recognize the two-dimensional code and the placement position and angle of the parts to be welded;

[0010] The loading tray is used to place the parts to be welded;

[0011] The control system interacts with the PLC of each device through the IP port to coordinately control the feeding robot, welding robot and visual recognition device;

[0012] The two-dimensional code is used to store data information of the parts to be welded.

[0013] According to another aspect of the present invention, there is provided a single plate single reinforcement small group stand-alone unmanned welding method, comprising:

[0014] Use the visual recognition device to identify the QR code on the bottom plate of the small group stand, obtain the three-dimensional model of the small group stand, analyze the outer contour size, material and assembly position of the bottom plate, and identify the placement position and angle of the bottom plate;

[0015] Use the visual recognition device to identify the QR code on the rib plate, obtain the 3D model of the rib plate, analyze the outer contour size and material of the rib plate, and identify the placement and angle of the rib plate;

[0016] Through the control system, according to the current placement and posture of the bottom plate and rib plate and the assembly requirements of the rib, the current rib welding process parameters and the control flow of the single-plate single-rib rib unmanned welding device are obtained;

[0017] Based on the placement position information of the rib plate, the loading robot grabs the rib plate of the small group of vertical panels from the loading tray using a magnetic gripper; moves the rib plate of the small group of vertical panels according to a predefined trajectory and places it on the designated assembly position of the small group of vertical bottom panels on the welding workbench;

[0018] The welding robot first determines the approximate position of the weld using the three-dimensional model of the base plate, and then further scans the weld position using a laser scanning device to determine the exact position of the weld;

[0019] The welding robot performs spot fixed welding on the weld position based on the accurate position of the weld and according to the acquired process parameters of the current small group stand-alone welding;

[0020] After the rib plate spot welding is completed, the loading robot releases the gripper and returns to the loading tray to wait for the next grabbing task;

[0021] The welding robot performs full welding operations on the welds of the stiffener plate according to the predefined process parameters and welding trajectory, completing the unmanned welding task of a single plate and single stiffener group.

[0022] Due to the adoption of the above technical solution, the present invention has at least one of the following beneficial effects compared with the prior art:

[0023] The unmanned welding device and method for a single-plate single-rebar small group provided by the present invention utilize a welding robot to perform a one-time full welding operation on the arranged small groups, thereby eliminating the manual assembly process, reducing a large amount of labor costs, and avoiding the phenomenon of opaque supervision of the manual production process.

[0024] The single-board single-rebar small group unmanned welding device and unmanned welding method provided by the present invention independently obtain the part's three-dimensional model and welding process information by scanning the part's two-dimensional code, and use a model-driven approach to realize automatic programming of the welding code. The whole process of small group welding is unmanned, further eliminating the workers' control needs for manual equipment operation, and further improving production efficiency.

[0025] The unmanned welding device and method for single-plate single-rebar groups provided by the present invention realize fully unmanned assembly and welding of single-plate single-rebar groups by using visual recognition and robot loading, which can effectively alleviate the current problems of difficulty in recruiting workers in shipbuilding enterprises and improve production efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] Other features, objects and advantages of the present invention will become more apparent from the detailed description of non-limiting embodiments made with reference to the following drawings:

[0027] Figure 1 It is a structural schematic diagram of a single-plate single-rebar group stand unmanned welding device in a preferred embodiment of the present invention; in the figure, 1 is a loading robot, 2 is a welding robot, 3 is a visual recognition device, 4 is a welding workbench, 5 is a loading tray, 6 is a QR code, and 7 is a group stand.

[0028] Figure 2 The present invention is a flowchart of a single-plate single-rebar group unmanned welding method in a preferred embodiment of the present invention. DETAILED DESCRIPTION

[0029] The following is a detailed description of the embodiments of the present invention: This embodiment is implemented on the premise of the technical solution of the present invention, and a detailed implementation method and a specific operation process are given. It should be pointed out that for ordinary technicians in this field, several variations and improvements can be made without departing from the concept of the present invention, which all belong to the protection scope of the present invention.

[0030] Existing automated welding robots for small panels usually require manual spot welding of the parts of the small panel in advance, and then use the robot to perform full welding operations on the assembled welds. This cannot completely replace manual work, resulting in low efficiency. In response to the above problems, an embodiment of the present invention provides an unmanned welding device for a single-board single-rebar small panel, which uses a visual recognition device to autonomously sense the placement of the panel rib plate; uses a robot gripper and a loading robot to grasp and place the rib plate; and uses a welding robot to perform a one-time full welding operation on the placed small panel, eliminating the manual assembly process.

[0031] Specifically, Figure 1 As shown, the single-board single-reinforcement group unmanned welding device provided in this embodiment may include: a loading robot 1, a welding robot 2, a visual recognition device 3, a welding workbench 4, a loading tray 5 and a control system, and a QR code 6 set on the part to be welded; wherein:

[0032] The loading robot 1 is fixedly mounted on one side of the welding workbench 4 and is used to grab the parts to be welded for the small group 7 welding from the loading tray 5;

[0033] The welding robot 2 is fixedly mounted on the other side of the welding workbench 4 and is used to perform welding operations on the weld by determining the weld position;

[0034] The visual recognition device 3 is installed above the welding workbench 4 and the loading tray 5 through a support rod, and is used to recognize the QR code 6 and the placement position and angle of the parts to be welded;

[0035] The loading tray 5 is used to place the parts to be welded;

[0036] The control system is used to interact with the PLC of each device through the IP port, and is used to collaboratively control the feeding robot 1, the welding robot 2 and the visual recognition device 3;

[0037] The QR code 6 is used to store data information of the parts to be welded.

[0038] In some preferred embodiments, the feeding robot 1 is fixedly mounted on the right side of the welding workbench by bolts, and may further include: a first robot base, a first joint robot arm, a magnetic gripper and a robot control cabinet; wherein:

[0039] The first joint mechanical arm is mounted on the first robot base and forms multiple degrees of freedom;

[0040] The first robot control cabinet is used to control the magnetization and demagnetization of the magnetic gripper;

[0041] The magnetic gripper is fixedly mounted at the end of the execution end of the first joint robotic arm, and the movement space of the first joint robotic arm covers the loading tray area and the welding workbench area.

[0042] In some preferred embodiments, the magnetic gripper is fixedly mounted on the end of the execution end of the articulated robot arm by means of annularly distributed bolts; wherein, the magnetic gripper includes a double magnetic head, a spring device and a magnetic beam, and the double magnetic head is non-rigidly connected to the magnetic beam by means of a spring device, so as to avoid a rigid collision between the magnetic gripper and the rib plate when grabbing and placing the group rib plate.

[0043] In some preferred embodiments, each magnetic head is individually magnetized and demagnetized through control.

[0044] In some preferred embodiments, the welding robot 2 is fixedly installed on the left side of the welding workbench by bolts, and may further include: a second robot base, a second joint mechanical arm, a wire feeder, a welding gun, a laser scanning device and a welding power supply; wherein the second joint mechanical arm is connected to the second robot base through a rotating shaft; the wire feeder fixing device is installed at the starting position of the second joint mechanical arm to ensure that the welding wire can be stably and continuously delivered to the welding gun; the welding gun is connected to the end of the second joint mechanical arm through a fixed interface to ensure that the second joint mechanical arm can accurately control the position and posture of the welding gun; the laser scanning device is connected to the second robot base through a fixed bracket to ensure that the position information of the workpiece can be obtained in real time during the welding process; the welding power supply is installed in a safe and easy-to-maintain position near the welding robot, and is connected to the welding gun through a cable to provide the necessary current and voltage for the welding gun;

[0045] The second joint robot arm includes multiple degrees of freedom, and its movement space covers the welding workbench area.

[0046] In some preferred embodiments, the visual recognition device 3 identifies the part number of the part to be welded by recognizing the QR code, obtains the data information of the part, and obtains the outer contour of the part through image recognition; the coordinates of the part are calculated with the center point of the longest side of the outer contour as the origin, the rotation angle of the part is calculated with the counterclockwise direction of the longest side as the positive direction, the position of the part is located, and the placement position and angle of the part are obtained.

[0047] In some preferred embodiments, the welding workbench 4 may further include: a beam base, support balls and a limit device; wherein the beam base is fixed at the center of the entire device; the support balls are arranged on the beam base at a certain distance to support the small group of vertical bottom plates; the limit device is installed at the end of the beam base to limit the movement of the small group of vertical bottom plates.

[0048] In some preferred embodiments, the welding workbench 4 may further include: a grounding iron, which is installed on the inner end surface of the limiting device and is in direct contact with the bottom plate of the welding group stand, and is used for grounding during the group stand welding process.

[0049] In some preferred embodiments, the loading tray 5 adopts a wooden platform structure.

[0050] In some preferred embodiments, the data information of the parts to be welded includes: a three-dimensional model of the parts to be welded, welding positions of the parts, welding requirements of the weld seams and / or individual assembly requirements of the parts.

[0051] Based on the same inventive concept, an embodiment of the present invention further provides a single-plate single-rebar small group stand-alone unmanned welding method.

[0052] Specifically, Figure 2 As shown, the single-plate single-rebar group unmanned welding method provided in this embodiment may include the following operations:

[0053] S1, using a visual recognition device to identify the QR code on the bottom plate of the small group stand, obtain the three-dimensional model of the small group stand, analyze the outer contour size, material and assembly position of the bottom plate, and identify the placement position and angle of the bottom plate;

[0054] S2, using a visual recognition device to identify the QR code on the rib plate, obtain the three-dimensional model of the rib plate, analyze the outer contour size and material of the rib plate, and identify the placement position and angle of the rib plate;

[0055] S3, through the control system, according to the current placement and posture of the bottom plate and rib plate and the assembly requirements of the small group, autonomous programming is performed to obtain the current small group welding process parameters and the control process of the single-plate single-rib small group unmanned welding device;

[0056] S4, based on the placement position information of the rib plate, the loading robot grabs the rib plate of the small group of stands from the loading tray using a magnetic gripper; moves the rib plate of the small group of stands according to a predefined trajectory and places it on the designated assembly position of the bottom plate of the small group of stands on the welding workbench;

[0057] S5, the welding robot first determines the approximate position of the weld using the three-dimensional model of the base plate, and then further scans the weld position using a laser scanning device to determine the exact position of the weld;

[0058] S6, the welding robot performs spot fixed welding on the weld position based on the accurate position of the weld and according to the obtained process parameters of the current small group stand-alone welding;

[0059] S7, after the rib plate spot welding is completed, the feeding robot releases the gripper and returns to the feeding tray to wait for the next grabbing task;

[0060] S8, the welding robot performs full welding operations on the welds of the rib plate according to the predefined process parameters and welding trajectory, completing the unmanned welding task of the single plate and single rib group.

[0061] In some preferred embodiments, the above S3, autonomous programming, obtaining the process parameters of the current small group welding and the control process of the single-board single-rebar small group unmanned welding device, may further include:

[0062] S31, generating a welding path according to the detected positions and postures of the bottom plate and the rib plate and the assembly requirements of the group;

[0063] S32, considering the influencing factors of parts welding such as welding deformation and heat-affected zone, optimize the weld path and reduce welding defects;

[0064] S33, selecting appropriate welding parameters from a process database according to welding requirements such as weld type, material thickness, welding environment (such as temperature and humidity);

[0065] S34, converting the weld path into a path point sequence executable by the robot, including information such as position, posture, speed, etc., to generate a welding control process;

[0066] S35, performing syntax and logic verification on the generated welding control process.

[0067] It should be noted that the steps in the method provided by the present invention can be implemented by using corresponding modules, devices, units, etc. in the system. Those skilled in the art can refer to the technical solution of the system to implement the step flow of the method, that is, the embodiments in the system can be understood as preferred examples of implementing the method, which will not be elaborated here.

[0068] The technical solution provided by the above embodiment of the present invention is further described in detail below in conjunction with a specific application example.

[0069] like Figure 1 As shown, in this specific application example, the single-board single-rebar group unmanned welding device involved includes: a loading robot, a welding robot, a visual recognition device, a welding workbench, a loading tray, etc.;

[0070] The loading robot is fixed on the right side of the welding workbench by 8 bolts. It is mainly composed of a robot base, a joint robot arm, a magnetic gripper, and a robot control cabinet. The joint robot arm includes 5 degrees of freedom, and its motion space covers the loading tray area and the welding workbench area.

[0071] The magnetic gripper is fixed to the end of the execution end of the joint robot arm by means of circularly distributed bolts; it adopts double-headed magnetic suction, and each suction head can be individually magnetized and demagnetized according to system control; the magnetic suction head is non-rigidly connected to the magnetic suction beam by a spring device, in order to avoid rigid collision between the magnetic gripper and the rib plate when grabbing and placing the group rib plate.

[0072] The welding robot is fixed on the left side of the welding table by 4 bolts. It consists of a robot base, a joint robot arm, a wire feeder, a welding gun, a laser scanning device, and a welding power supply. The joint robot arm includes 5 degrees of freedom, and its motion space covers the welding table area;

[0073] The visual recognition device is installed above the welding workbench and the loading tray through a support rod to ensure that the field of view covers the welding workbench area and the loading tray area; the part number is identified through part QR code recognition to obtain the design SPD model of the part; and further image recognition is used to obtain the outer contour of the part, and the coordinates of the part are calculated with the center point of the longest side of the outer contour as the origin; the rotation angle of the part is calculated with the counterclockwise direction of the longest side as the positive direction, and the position of the part is located, and the positioning accuracy is required to be less than ±0.5mm.

[0074] The welding workbench consists of a crossbeam base, support balls, and a limit device. The crossbeam base is bolted to the center of the device; the support balls are arranged on the base at a certain distance to support the sub-plate; the limit device is installed at the end of the crossbeam base to limit the movement of the sub-plate, and at the same time, the sub-plate is grounded during the welding process. The welding workbench can accommodate a maximum of 1.2m*1.2m sub-plate.

[0075] The loading tray is used to place the rib parts that need to be welded and is constructed of a simple wooden platform.

[0076] The single-plate single-rebar group unmanned welding device involved in this specific application example and its unmanned welding method include the following steps:

[0077] Step 1: After the sub-plate of the small group is sent to the welding workbench, the visual recognition system recognizes the QR code of the sub-plate, obtains the 3D model of the small group, analyzes its outer contour size, material, and assembly position; and further recognizes the placement position and angle of the sub-plate;

[0078] Step 2: After the group's ribbed plate is delivered to the loading tray, the visual recognition system identifies the QR code of the ribbed plate, obtains the 3D model of the ribbed plate, analyzes its outer contour size and material, and further identifies the placement and angle of the ribbed plate;

[0079] Step 3: The control system autonomously programs and obtains the process parameters and equipment control code of the current group welding according to the current placement and posture of the base plate and rib plate and the assembly requirements of the group.

[0080] Step 4: Based on the rib plate position information, the loading robot grabs the small group of rib plates from the loading tray using a magnetic manipulator; moves the small group of rib plates according to a predefined trajectory and places them on the designated assembly position of the small group of bottom plates on the spot welding workbench;

[0081] Step 5: After the welding robot determines the approximate position of the weld using the three-dimensional model of the small group, it further scans the weld position using a laser scanning device to determine the exact position of the weld;

[0082] Step 6, feeding back the accurate spot welding position to the welding robot, and performing spot fixed welding on the weld position according to predefined process parameters;

[0083] Step 7: After the rib plate spot welding is completed, the feeding robot releases the gripper and returns to the feeding tray to wait for the next grabbing task;

[0084] Step 8: The welding robot performs full welding operation on the weld of the rib plate according to the predefined process parameters and welding trajectory, and finally the single plate single rib group independent welding is completed.

[0085] The unmanned welding device and unmanned welding method for single-plate single-rebar groups provided in the above-mentioned embodiments of the present invention realize fully unmanned assembly and welding of single-plate single-rebar groups by using visual recognition and robot loading, which can effectively alleviate the current problems of difficulty in recruiting workers in shipbuilding enterprises and improve production efficiency.

[0086] All matters not covered in the above embodiments of the present invention are well known in the art.

[0087] The above describes the specific embodiments of the present invention. It should be understood that the present invention is not limited to the above specific embodiments, and those skilled in the art may make various modifications or variations within the scope of the claims, which do not affect the essence of the present invention.

Claims

1. A single-plate single-rebar group unmanned welding device, characterized in that: include: A loading robot, a welding robot, a visual recognition device, a welding workbench, a loading tray and a control system, and a QR code set on the parts to be welded; wherein: The loading robot is fixedly installed on one side of the welding workbench and is used to grab the parts to be welded from the loading tray; The welding robot is fixedly mounted on the other side of the welding workbench and is used to perform welding operations on the weld by determining the weld position; The visual recognition device is installed above the welding workbench and the loading tray through a support rod, and is used to recognize the two-dimensional code and the placement position and angle of the parts to be welded; The loading tray is used to place the parts to be welded; The control system interacts with the PLC of each device through the IP port to coordinately control the feeding robot, welding robot and visual recognition device; The two-dimensional code is used to store data information of the parts to be welded.

2. The single-board single-rebar group unmanned welding device according to claim 1 is characterized in that: The feeding robot is fixedly installed on the right side of the welding workbench by bolts, and includes: a first robot base, a first joint mechanical arm, a magnetic gripper and a robot control cabinet; wherein: The first joint mechanical arm is installed on the first robot base and forms multiple degrees of freedom; The first robot control cabinet is used to control the magnetization and demagnetization of the magnetic gripper; The magnetic gripper is fixedly mounted on the end of the execution end of the first joint robotic arm, and the movement space of the first joint robotic arm covers the loading tray area and the welding workbench area.

3. The single-board single-rebar group unmanned welding device according to claim 2 is characterized in that: The magnetic gripper is fixedly mounted on the end of the execution end of the joint robot arm by means of annularly distributed bolts; wherein the magnetic gripper comprises a double magnetic head, a spring device and a magnetic crossbeam, and the double magnetic head is non-rigidly connected to the magnetic crossbeam through the spring device, so as to avoid a rigid collision between the magnetic gripper and the rib plate when grabbing and placing the group rib plate; The magnetic suction head is independently magnetized and demagnetized through control.

4. The single-board single-rebar group unmanned welding device according to claim 1 is characterized in that: The welding robot is fixedly installed on the left side of the welding workbench by bolts, and comprises: a second robot base, a second joint mechanical arm, a wire feeder, a welding gun, a laser scanning device and a welding power supply; wherein, the second joint mechanical arm is connected to the second robot base through a rotating shaft; the wire feeder fixing device is installed at the starting position of the second joint mechanical arm, and is used to ensure that the welding wire is delivered to the welding gun; the welding gun is connected to the end of the second joint mechanical arm through a fixed interface, and is used to ensure that the second joint mechanical arm controls the position and posture of the welding gun; the laser scanning device is connected to the second robot base through a fixed bracket, and is used to ensure that the position information of the workpiece is obtained in real time during the welding process; the welding power supply is connected to the welding gun through a cable, and provides current and voltage to the welding gun; The second joint robot arm includes multiple degrees of freedom, and its movement space covers the welding workbench area.

5. The single-board single-rebar group unmanned welding device according to claim 1 is characterized in that: The visual recognition device identifies the part number of the part to be welded by recognizing the QR code, obtains the data information of the part, and obtains the outer contour of the part through image recognition; the coordinates of the part are calculated with the center point of the longest side of the outer contour as the origin, the rotation angle of the part is calculated with the counterclockwise direction of the longest side as the positive direction, the position of the part is located, and the placement position and angle of the part are obtained.

6. The single-board single-rebar group unmanned welding device according to claim 1 is characterized in that: The welding workbench includes: a beam base, supporting balls and a limiting device; wherein the beam base is fixed at the center of the entire device; the supporting balls are arranged on the beam base at a certain distance to support the small group of vertical bottom plates; the limiting device is installed at the end of the beam base to limit the movement of the small group of vertical bottom plates.

7. The single-plate single-rebar group unmanned welding device according to claim 7 is characterized in that: The welding workbench also includes: a grounding iron, which is installed on the inner end surface of the limiting device and is in direct contact with the bottom plate of the welding group stand, and is used for grounding during the group stand welding process.

8. The single-board single-rebar group unmanned welding device according to claim 1 is characterized in that: The data information of the parts to be welded includes: a three-dimensional model of the parts to be welded, a welding position of the parts, welding requirements of the weld seams and / or individual assembly requirements of the parts.

9. A single-plate single-rebar group unmanned welding method, characterized in that: include: Use the visual recognition device to identify the QR code on the bottom plate of the small group stand, obtain the three-dimensional model of the small group stand, analyze the outer contour size, material and assembly position of the bottom plate, and identify the placement position and angle of the bottom plate; Use the visual recognition device to identify the QR code on the rib plate, obtain the 3D model of the rib plate, analyze the outer contour size and material of the rib plate, and identify the placement and angle of the rib plate; Through the control system, according to the current placement and posture of the bottom plate and rib plate and the assembly requirements of the rib, the current rib welding process parameters and the control flow of the single-plate single-rib rib unmanned welding device are obtained; Based on the placement position information of the rib plate, the loading robot grabs the rib plate of the small group of vertical panels from the loading tray using a magnetic gripper; moves the rib plate of the small group of vertical panels according to a predefined trajectory and places it on the designated assembly position of the small group of vertical bottom panels on the welding workbench; The welding robot first determines the approximate position of the weld using the three-dimensional model of the base plate, and then further scans the weld position using a laser scanning device to determine the exact position of the weld; The welding robot performs spot fixed welding on the weld position based on the accurate position of the weld and according to the acquired process parameters of the current small group stand-alone welding; After the rib plate spot welding is completed, the loading robot releases the gripper and returns to the loading tray to wait for the next grabbing task; The welding robot performs full welding operations on the welds of the stiffener plate according to the predefined process parameters and welding trajectory, completing the unmanned welding task of a single plate and single stiffener group.

10. The single-board single-rebar group unmanned welding method according to claim 9, characterized in that: The process of obtaining the current small group welding process parameters and the control process of the single plate single reinforcement small group unmanned welding device includes: Generate welding path according to the detected position and posture of the bottom plate and rib plate and the assembly requirements of the group; Considering the factors affecting the welding of parts, the welding path is optimized; According to the welding requirements of the weld, select the required welding parameters from the process database; Convert the weld path into path point sequence information executable by the robot to generate a welding control process; Perform syntax and logic verification on the generated welding control process; in: The factors affecting the welding of the parts include: welding deformation and heat-affected zone factors; The welding requirements of the weld seam include: weld type, material thickness and welding environment requirements; The path point sequence information executable by the robot includes: position, posture and speed information.

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