Three-station multi-angle intelligent welding system and welding method thereof

Abstract

The invention discloses a three-station multi-angle intelligent welding system and a welding method thereof. The welding system comprises a transposition device, a transfer device and two welding devices, wherein the transfer device and the two welding devices are arranged on the outer side of the transposition device; the transposition device comprises three sets of fixing mechanisms which can rotate around the vertical axis and are arranged in a circumferential array mode, a reversing mechanism is further arranged between every two adjacent sets of fixing mechanisms, each reversing mechanism comprises two opposite Y-shaped bases and a rotating disc which is arranged between the two Y-shaped bases in a clamped mode and can rotate, and the two Y-shaped bases are rotationally connected with the two adjacent fixing mechanisms correspondingly. Wherein a rotating transmission shaft in transmission connection with the rotating disc is further arranged in the second Y-shaped seat, and the fixing mechanism comprises two driving shafts which are vertically arranged and are respectively in transmission connection with the second Y-shaped seat and the rotating transmission shaft; and the three sets of driving machines are arranged in a circumferential array and can be in transmission fit with the driving shaft through lifting, on one hand, maintenance, replacement and replacement work of the driving machines can be more convenient, on the other hand, the reversing mechanism can drive the workpiece to rotate, and then welding work is conducted twice.

Description

Technical Field

[0001] The present invention relates to the technical field of intelligent welding equipment, and in particular to a three-station multi-angle intelligent welding system and a welding method thereof. Background Art

[0002] The positioner is a commonly used auxiliary equipment for workpiece welding. Usually, for some workpieces with complex shapes, the required positioner is usually required to have a certain flipping-rotation function to achieve the adjustment of the welding angle. For example, the application document with application number 202220538222.9 in the patent library discloses a liftable rotary welding positioner, which includes a longitudinal flipping drive mechanism and a horizontal rotation mechanism. The workpiece to be welded on the workbench can be rotated in the longitudinal plane and the horizontal plane under the action of the longitudinal flipping drive mechanism and the horizontal rotation mechanism to complete the adjustment of the welding angle.

[0003] The above-mentioned positioner has only one workbench, so after the welding of the workpiece on it is completed, the workpiece needs to be dismantled and reassembled with new parts before the welding work can continue. There is a long window period, which seriously affects the welding efficiency.

[0004] There are also some positioners that use a dual-station welding method, in which the welding station on one side is used for welding, and the welding station on the other side is used for disassembly and assembly of workpieces to ensure welding efficiency. However, the driving machine that drives the workpiece to rotate or flip is usually directly fixed on the positioner, so that it can only rotate alternately in forward and reverse directions to complete the position exchange work of the two stations. This setting method, on the one hand, when the workpiece to be welded requires a higher welding firmness, or the structure of the workpiece itself is more complex, such as welding work on a scissor chassis, a lot of welding time is required, and usually the assembly and fixation of a scissor chassis requires less time, which leads to the welding time and the disassembly and assembly time of the workpiece at the two stations cannot match, and there are still certain limitations; on the other hand, this method of directly fixing the driving machine on the positioner requires it to move continuously with the positioner, which makes it very easy to be damaged due to collision or other reasons, and its subsequent maintenance and replacement work will also be difficult to carry out. Summary of the invention

[0005] In order to solve the technical problems existing in the above-mentioned background technology, the present invention provides a three-station multi-angle intelligent welding system and a welding method thereof.

[0006] The technical solution of the present invention is as follows:

[0007] The present invention first provides a three-station multi-angle intelligent welding system, including a position changing device, a transfer device circumferentially arranged on the outside thereof, and two groups of welding devices. The workpiece can be welded on the position changing device through the welding device. The transfer device is configured to be able to dock with the position changing device, transfer the workpiece to be welded to the position changing device, and remove the workpiece after welding on the position changing device.

[0008] As one of the core technical concepts of the present invention, the position change device includes a base and a rotating bracket rotatably arranged on the upper side thereof, the rotation axis of the rotating bracket is vertical, and there are three groups of fixing mechanisms in a circular array around the rotation axis on the upper side, and a group of reversing mechanisms is provided between each two adjacent groups of fixing mechanisms. The reversing mechanism is used for fixing the workpiece, and the rotating bracket can drive the three groups of reversing mechanisms to change their positions between the two welding devices and the transfer device through rotation.

[0009] As another core technical concept of the present invention, the reversing mechanism includes a first Y-shaped seat and a second Y-shaped seat arranged horizontally opposite to each other, and a turntable horizontally clamped between the two Y-shaped seats and capable of rotating, the turntable is provided with a second fixing member capable of fixing the workpiece, the two Y-shaped seats are respectively rotatably connected to two adjacent fixing mechanisms, and the rotation axis is horizontal, wherein the interior of the second Y-shaped seat is provided with a rotating transmission shaft coaxial with its rotation axis, one end of the rotating transmission is transmission-connected to the turntable, and the other end extends out of the second Y-shaped seat, the fixing mechanism includes two vertically arranged drive shafts, the second Y-shaped seat is rotationally connected to the fixing mechanism One end is connected to the second Y-shaped seat, and one end of the rotating transmission shaft extends out of the second Y-shaped seat, which are respectively connected to the two driving shafts in transmission; the transposition device also includes three groups of driving units arranged in a circular array on the lower side of the rotating bracket, and each group of driving units includes two driving machines, which are configured to be able to respectively cooperate with the lower ends of the two driving shafts of the fixing mechanism through lifting and lowering. The driving machine drives the rotation of the driving shaft, which can drive the reversing mechanism to realize the flipping action, and can drive the turntable to realize the rotation action through the rotating transmission shaft, and because the rotating transmission shaft and the flipping axis of the reversing mechanism itself are colinear, the flipping action of the reversing mechanism and the rotation action of the turntable can not interfere with each other.

[0010] On the basis of the above structure, the transfer device includes a transfer track and a transfer vehicle arranged thereon, and the transfer vehicle is configured to be able to dock with the turntable to complete the transfer of the workpiece; the welding device is a welding robot / welding robotic arm, and since the driving motor that drives the reversing mechanism is fixed on the lower side of the rotating bracket, that is, the driving motor is actually designed separately from the transposition device body (including the base, the rotating bracket, the fixing mechanism and the reversing mechanism), the service life of the driving motor is increased, and the later maintenance and replacement of the driving motor can be carried out more conveniently. At the same time, the split setting between the driving motor and the transposition device body enables the rotating bracket to drive the workpiece to rotate in a single direction without being restricted by the installation of the driving motor. Combined with the setting of the double welding device, the welding work of the workpiece can be carried out in two times, and at the same time, the docking and transportation time between the transfer device and the transposition device can be better matched with the welding time of the workpiece, which significantly improves the welding efficiency of the workpiece.

[0011] As described above, a three-station multi-angle intelligent welding system, with regard to the structure of the fixing mechanism, also includes a shell, a Y-shaped seat rotatably connected to the shell, and the drive shaft is vertically arranged in the shell. The shell can provide effective protection for the drive shaft. In order to make the connection between the fixing mechanism and the rotating bracket more convenient and to make the maintenance and replacement of the internal drive shaft more convenient, a fixing slot is also provided on the upper side of the rotating bracket, and the shell of the fixing mechanism is vertically plugged and fixed in the fixing slot.

[0012] In order to ensure that the rotational connection between the reversing mechanism and the fixing mechanism is more stable and reliable, a connecting cylinder is further provided on the outer side of the shell, and the Y-shaped seat is inserted in the connecting cylinder.

[0013] As a preferred embodiment, in order to enable the driving machine to more accurately cooperate with the driving shaft transmission, and at the same time make the transmission cooperation between the driving shaft and the driving machine more stable and reliable, a transmission joint that passes through the rotating bracket is also vertically provided in the fixed slot. The upper end of the transmission joint is plugged and fixed to the driving shaft, and the lower end is configured to be able to plug and cooperate with the driving machine. The driving machine can drive the transmission joint to rotate, thereby driving the driving shaft to move.

[0014] As a further preferred embodiment, the transposition device also includes three groups of fixed seats, and the upper side of the fixed seat is provided with a lifting bucket with an upper opening, and the driving unit is located in the lifting bucket; the vertical spacing between the upper side of the lifting bucket and the lower side of the rotating bracket is smaller than the spacing between the upper end of the driving machine and the lower end of the transmission joint, so that when the driving machine and the transmission joint are in transmission cooperation, the lifting bucket can provide a good supporting effect on the rotating bracket, so that the rotating bracket can be more stable during welding work, especially when the reversing mechanism is in action, to ensure the welding effect.

[0015] In the three-station multi-angle intelligent welding system as described above, in order to make the matching relationship between the turntable and the Y-shaped seat more stable and reliable and to enable the turntable to rotate freely, each Y-shaped seat is provided with a positioning wheel at both ends close to the turntable, and the middle outer ring of the positioning wheel is provided with a positioning groove, and the outer ring of the turntable is clamped in the positioning groove.

[0016] In order to prevent the strong light generated during welding from affecting the workers, three baffles arranged in a circular array are vertically provided on the upper side of the rotating bracket.

[0017] In the three-station multi-angle intelligent welding system as described above, in order to make the transmission coordination relationship between the driving machine and the reversing mechanism more stable and to make the control of the reversing mechanism flipping angle and the turntable rotation angle more precise, the second Y-shaped seat and the driving shaft, the rotating transmission shaft and the driving shaft, and the rotating transmission shaft and the turntable are all connected through a helical gear structure.

[0018] In the three-station multi-angle intelligent welding system as described above, the transmission ratio between the second Y-shaped seat and the drive shaft is 1:30-1:20, and the transmission ratio between the turntable and the drive shaft is 1:50-1:40. While ensuring the accuracy of the flipping angle of the reversing mechanism and the rotation angle control of the turntable, it can also save the time required for the flipping of the reversing mechanism and the rotation control of the turntable, thereby ensuring the welding efficiency.

[0019] The present invention also provides a welding method. Based on the above-mentioned three-station multi-angle intelligent welding system, the welding method specifically includes the following steps:

[0020] S1. Preparation;

[0021] S1.1. Manually assemble the workpiece on the transfer vehicle;

[0022] S1.2. The transfer vehicle moves to the position of the transposition device and docks with the turntable to transfer the workpiece to the turntable;

[0023] S2, one-time welding;

[0024] S2.1, the transfer vehicle returns to the assembly position and runs S1.1 once. At the same time, the rotating bracket rotates 120° to drive the workpiece to the first welding device position for welding;

[0025] S2.2, run S1.2 once;

[0026] S2.3, the transfer vehicle returns to the assembly position and runs S1.1 once. At the same time, the first welding device stops welding once, and the rotating bracket rotates 120° to drive the workpiece to be welded after one welding to the position of the second welding device for secondary welding, and drives the newly received workpiece to the position of the first welding device for one welding;

[0027] S3, cycle welding;

[0028] S3.1, run S1.2 once, and the transfer vehicle waits for the secondary welding work to be completed;

[0029] S3.2, the first welding device stops welding once, the rotating bracket rotates 120°, drives the workpiece after welding once to the position of the second welding device for secondary welding, and drives the newly received workpiece to the position of the first welding device for primary welding;

[0030] S3.3, the transfer vehicle and the turntable receive the workpiece after secondary welding;

[0031] S3.4, the transfer vehicle returns to the assembly position, and the workpiece is removed manually;

[0032] S3.5, run S1.1 once;

[0033] S3.6. Repeat steps S3.1-S3.5.

[0034] The beneficial effects of the present invention are as follows: the present invention is a three-station multi-angle intelligent welding system and a welding method thereof, which can drive the driving shaft to rotate through the driving machine, thereby driving the reversing mechanism to realize the flipping action, and can drive the turntable to realize the rotating action. Since the rotating transmission shaft and the flipping axis of the reversing mechanism itself are collinear, the flipping action of the reversing mechanism and the rotating action of the turntable can not interfere with each other; since the driving machine that drives the reversing mechanism action is fixed on the lower side of the rotating bracket, that is, the driving machine is actually a split design with the transposition device body, the service life of the driving machine is increased, and the maintenance and replacement of the driving machine in the later stage can be carried out more conveniently; the split setting between the driving machine and the transposition device body enables the rotating bracket to drive the workpiece to rotate in a single direction without being restricted by the installation of the driving machine, and cooperates with the setting of the double welding device, so that the welding work of the workpiece can be carried out twice, so that the docking and transportation time between the transfer device and the transposition device can be better matched with the welding time of the workpiece, and the welding efficiency of the workpiece is significantly improved. BRIEF DESCRIPTION OF THE DRAWINGS

[0035] By reading the detailed description of the preferred embodiment below, the scheme and advantages of the present application will become clear to those skilled in the art. The accompanying drawings are only for the purpose of illustrating the preferred embodiment and are not to be considered as limiting the present invention.

[0036] In the attached picture:

[0037] Figure 1 A schematic diagram of the structure of a welding system in an embodiment;

[0038] Figure 2 It is a structural schematic diagram of the transposition device in the embodiment;

[0039] Figure 3 It is a structural schematic diagram of the transposition mechanism in the embodiment;

[0040] Figure 4 It is a structural schematic diagram of the fixing mechanism in the embodiment;

[0041] Figure 5 Schematic diagram of the internal structure of the fixing mechanism in the embodiment;

[0042] Figure 6 It is a structural schematic diagram of the reversing mechanism in the embodiment;

[0043] Figure 7 A cross-sectional view of the reversing mechanism in the embodiment;

[0044] Figure 8 It is a schematic diagram of the transmission coordination structure of the reversing mechanism and the fixing mechanism in the embodiment;

[0045] Fig. 9 It is a structural schematic diagram of the position limiting support mechanism in the embodiment;

[0046] Fig.10 A schematic diagram of a cyclic welding method of a welding system in an embodiment;

[0047] The components represented by the reference numerals in the figure are:

[0048] 1. Transposition device; 11. Transposition mechanism; 111. Base; 112. Rotating bracket; 1121. Fixed slot; 113. Baffle; 114. Transmission joint; 12. Fixing mechanism; 121. Shell; 122. Reversing drive unit; 1221. Flipping drive shaft; 1222. Rotating drive shaft; 123. Connecting tube; 124. Fixed bracket; 13. Reversing mechanism; 131. First fixed arm; 1311. First Y-shaped seat; 1312. Positioning wheel; 132. Second fixed arm; 1321. Second Y-shaped seat; 1322. Rotating drive shaft; 133. Turntable; 14. Limiting support mechanism; 141. Fixed seat; 142. Lifting bucket; 143. Driving machine; 2. Transfer device; 21. Transfer track; 22. Transfer vehicle; 3. Welding device. DETAILED DESCRIPTION

[0049] Exemplary embodiments of the present disclosure will be described in more detail below with reference to the accompanying drawings.

[0050] Example

[0051] This embodiment first provides a three-station multi-angle intelligent welding system. Figure 1 , including a transposition device 1 and a transfer device 2 and two groups of welding devices 3 which are circumferentially arranged outside the transposition device 1 and arranged in a circular array. The workpiece can be welded on the transposition device 1 through the welding device 3. The transfer device 2 is configured to be able to dock with the transposition device 1, transfer the workpiece to be welded to the transposition device 1, and remove the workpiece after welding on the transposition device 1. The welding system (the above-mentioned three-station multi-angle intelligent welding system) also includes a control device. The transposition device 1, the welding device 3 and the transfer device 2 are all communicatively connected to the control device and can be controlled and operated by the control mechanism. The structure of the welding system is described in detail below in conjunction with the accompanying drawings.

[0052] In this embodiment, firstly, with regard to the structure of the welding device 3, a welding robot or a welding mechanical arm is adopted. In order to save welding space, a welding mechanical arm is preferably adopted.

[0053] In this embodiment, with regard to the structure of the transfer device 2, it includes a transfer track 21 and a transfer vehicle 22 arranged on the transfer track 21, wherein the transfer vehicle 22 includes a frame and a pallet arranged thereon, the pallet is provided with a first fixing part capable of fixing various components of the workpiece, and a push-pull unit is also provided on the upper side of the frame. The transfer vehicle 22 is configured to be able to push the pallet together with the assembled workpiece to the transposition device 1 through the push-pull unit, and to be able to pull the welded workpiece together with the pallet to the transfer vehicle 22 through the push-pull unit, thereby finally completing the transfer of the workpiece between the transfer vehicle 22 and the transposition device 1.

[0054] In this embodiment, combined with Figure 2 The transposition device 1 includes a transposition mechanism 11 and a fixing mechanism 12 arranged thereon, and a reversing mechanism 13 is installed through the fixing mechanism 12. The transfer vehicle 22 can dock with the reversing mechanism 13 to complete the transfer of the workpiece. The structure of the transposition device 1 is described in detail below.

[0055] First, combine Figure 3 As for the structure of the shifting mechanism 11, it includes a base 111 and a rotating bracket 112 rotatably arranged on the upper side of the base 111. The rotating axis of the rotating bracket 112 is vertical. A motor (not shown) is also provided on one side of the base 111, which is transmission-connected with the rotating bracket 112 and can drive the rotating bracket 112 to rotate.

[0056] On the basis of the above structure, the fixing mechanism 12 is located on the upper side of the rotating bracket 112, and there are three groups of circular arrays around the rotation axis of the rotating bracket 112. A group of reversing mechanisms 13 is provided between each two adjacent groups of fixing mechanisms 12, wherein the reversing mechanism 13 is used to fix the workpiece. The rotating bracket 112 can drive the three groups of reversing mechanisms 13 to move by rotating, thereby driving the workpiece to complete the position change between the two groups of welding devices 3 and the transfer device 2.

[0057] As a preferred embodiment, in order to prevent the strong light generated during welding from affecting the workers, three baffles 113 arranged in a circular array are vertically provided on the upper side of the rotating bracket 112, and the three groups of the reversing mechanisms 13 are respectively located between two adjacent baffles 113.

[0058] Secondly, combined Figure 4 and Figure 5 As for the structure of the fixing mechanism 12 , it includes a reversing drive unit 122 , and the reversing drive unit 122 includes two vertically arranged drive shafts, one of which is a flipping drive shaft 1221 , and the other drive shaft is a rotating drive shaft 1222 .

[0059] Finally, combine Figure 6-Figure 8 As for the structure of the reversing mechanism 13, it includes two fixed arms arranged horizontally opposite to each other, and the two fixed arms each include a Y-shaped seat, and the two Y-shaped seats of the two fixed arms are arranged horizontally opposite to each other. The reversing mechanism 13 also includes a turntable 133 horizontally clamped between the two Y-shaped seats and capable of rotating. The turntable 133 is provided with a second fixing member that can fix the pallet and then fix the workpiece. The second fixing member can be in the form of a slot or a card slot, and no unnecessary restrictions are made here. The two Y-shaped seats are respectively rotatably connected to the two adjacent fixing mechanisms 12, and the rotation axis is horizontal.

[0060] Specifically, the two fixed arms are respectively a first fixed arm 131 and a second fixed arm 132, and the Y-shaped seats thereof are respectively a first Y-shaped seat 1311 and a second Y-shaped seat 1321, wherein the interior of the second Y-shaped seat 1321 is provided with a rotating transmission shaft 1322 coaxial with its rotation axis, one end of the rotating transmission shaft 1322 is transmission-connected to the edge of the turntable 133, and the other end extends out of the second Y-shaped seat 1321, and the second Y-shaped seat 1321 is rotationally connected to the fixing mechanism 12, and the rotating transmission shaft 1322 extends out of the second Y-shaped seat 1321. One end of the Y-shaped seat 1321 is respectively connected to the two driving shafts, wherein the driving shaft connected to the second Y-shaped seat 1321 is the flip driving shaft 1221, and the driving shaft connected to the rotating transmission shaft 1322 is the rotating driving shaft 1222. The movement of the flip driving shaft 1221 can drive the second Y-shaped seat 1321 to rotate, thereby realizing the flipping action of the reversing mechanism 13, and the rotation of the rotating driving shaft 1222 can drive the rotating transmission shaft 1322 to rotate, thereby realizing the rotation action of the turntable 133.

[0061] Based on the above structure, combined with Fig. 9 The transposition device 1 also includes three groups of limit support mechanisms 14 arranged in a circumferential array on the lower side of the rotating bracket 112. The limit support mechanism 14 includes a fixed seat 141 and a driving unit that can be lifted and lowered on its upper side. The driving unit includes two driving machines 143, which are configured to be able to cooperate with the lower ends of the two driving shafts of the fixing mechanism 12 through lifting and lowering. The driving machines 143 can drive the rotation of the two driving shafts, thereby driving the reversing mechanism 13 to achieve a flipping action, and can drive the turntable 133 to achieve a rotation action through the rotating transmission shaft 1322. Moreover, since the rotating transmission shaft 1322 is colinear with the flipping axis of the reversing mechanism 13 itself, the flipping action of the reversing mechanism 13 and the rotation action of the turntable 133 can not interfere with each other.

[0062] In order to make the transmission cooperation relationship between the driving machine 143 and the reversing mechanism 13 more stable, and at the same time make the control of the flipping angle of the reversing mechanism 13 and the rotation angle of the turntable 133 more precise, the second Y-shaped seat 1321 and the driving shaft, the rotating transmission shaft 1322 and the driving shaft, and the rotating transmission shaft 1322 and the turntable 133 are all connected through a bevel gear structure.

[0063] As a preferred embodiment, the transmission ratio between the second Y-shaped seat 1321 and the drive shaft is 1:30-1:20, preferably 1:25, and the transmission ratio between the turntable 133 and the drive shaft is 1:50-1:40, preferably 1:45. While ensuring the accuracy of the flipping angle of the reversing mechanism 13 and the rotation angle control of the turntable 133, it can also save the time required for the flipping of the reversing mechanism 13 and the rotation control of the turntable 133, thereby ensuring the welding efficiency.

[0064] In view of the above structure, the driving machine 143 that drives the reversing mechanism 13 is fixed on the lower side of the rotating bracket 112, that is, the driving machine 143 is actually a split design with the main body of the transposition device 1 (including the base 111, the rotating bracket 112, the fixing mechanism 12 and the reversing mechanism 13), which increases the service life of the driving machine 143 and makes the later maintenance and replacement of the driving machine 143 more convenient. At the same time, the split setting between the driving machine 143 and the main body of the transposition device 1 enables the rotating bracket 112 to drive the workpiece to rotate in a single direction without being restricted by the installation of the driving machine 143. Combined with the setting of the double welding device 3, the welding work of the workpiece can be carried out in two times. At the same time, the docking and transportation time between the transfer device 2 and the transposition device 1 can be better matched with the welding time of the workpiece, which significantly improves the welding efficiency of the workpiece.

[0065] In this embodiment, the structure of the fixing mechanism 12 is further expanded, and it also includes a shell 121 which is vertically arranged and open at the lower end. A fixing frame 124 is also provided in the shell 121. The rotating drive shaft 1222 and the flipping drive shaft 1221 are vertically arranged on the fixing frame 124 inside the shell 121. The shell 121 can provide good protection for the two drive shafts.

[0066] As a preferred embodiment, in order to facilitate the connection between the fixing mechanism 12 and the rotating bracket 112 and to facilitate the maintenance and replacement of the internal driving shaft, a fixing slot 1121 is further provided on the upper side of the rotating bracket 112, and the shell 121 of the fixing mechanism 12 is vertically plugged and fixed in the fixing slot 1121.

[0067] In order to enable the driving machine 143 to cooperate with the driving shaft more accurately, and at the same time make the transmission cooperation between the driving shaft and the driving machine 143 more stable and reliable, a transmission joint 114 that passes through the rotating bracket 112 is also vertically provided in the fixed slot 1121. The upper end of the transmission joint 114 is plugged and fixed to the driving shaft, and the lower end is configured to be plugged and transmitted with the driving machine 143. The driving machine 143 can drive the transmission joint 114 to rotate, thereby driving the driving shaft to move.

[0068] As a further preferred embodiment, in order to ensure that the rotational connection between the Y-shaped seat of the reversing mechanism 13 and the housing 121 of the fixing mechanism 12 is more stable and reliable, a connecting tube 123 is further provided on the outer side of the housing 121 , and the Y-shaped seat is inserted into the connecting tube 123 .

[0069] Furthermore, in order to make the matching relationship between the turntable 133 and the two Y-shaped seats more stable and reliable, and at the same time enable the turntable 133 to rotate freely, the Y-shaped seats are provided with positioning wheels 1312 at both ends close to the turntable 133, and the middle outer ring of the positioning wheel 1312 is provided with a positioning groove, and the outer ring of the turntable 133 is clamped in the positioning groove.

[0070] In this embodiment, the limit support mechanism 14 also includes a lifting barrel 142 which is liftably arranged on the upper side of the fixed seat 141 and has an opening at the upper end, and the driving unit is located in the lifting barrel 142; the vertical distance between the upper side of the lifting barrel 142 and the lower side of the rotating bracket 112 is smaller than the distance between the upper end of the driving machine 143 and the lower end of the transmission joint 114, so that when the driving machine 143 and the transmission joint 114 are in transmission cooperation, the lifting barrel 142 can provide a good support effect on the rotating bracket 112, so that the rotating bracket 112 can be more stable during welding, especially when the reversing mechanism 13 is in action, thereby ensuring the welding effect.

[0071] This embodiment also provides a welding method, based on the above-mentioned three-station multi-angle intelligent welding system, combined with Fig.10 The welding method specifically includes the following steps:

[0072] In the initial state, the transfer vehicle 22 is located at the end of the transfer track 21 away from the transposition device 1, which is regarded as the assembly position;

[0073] S1. Preparation;

[0074] S1.1, manually assembling the workpiece on the transfer vehicle 22;

[0075] S1.2. Combination Fig.10 (①), the transfer vehicle 22 moves to the position of the transposition device 1, and docks with the turntable 133 to transfer the workpiece connected to the pallet to the turntable 133, and completes the fixing of the pallet through the second fixing member on the turntable 133;

[0076] S2, one-time welding;

[0077] S2.1, the transfer vehicle 22 returns to the assembly position and runs S1.1 once. At the same time, the rotating bracket 112 rotates 120° to drive the workpiece to the position of the first group of welding devices 3 for a welding operation;

[0078] S2.2. Combination Fig.10(②), run S1.2 once;

[0079] S2.3. Combination Fig.10 (③), the transfer vehicle 22 returns to the assembly position and runs S1.1 once. At the same time, the first welding device 3 stops welding once, and the rotating bracket 112 rotates 120°, driving the workpiece to be welded after the first welding to the position of the second welding device 3 for secondary welding, and driving the newly received workpiece to the position of the first welding device 3 for primary welding;

[0080] S3, cycle welding;

[0081] S3.1, run S1.2 once, and the transfer vehicle 22 waits for the secondary welding work to be completed;

[0082] It should be noted that the working time required for primary welding is the same as that required for secondary welding;

[0083] S3.2, the first welding device 3 stops welding once, and the rotating bracket 112 rotates 120°, driving the workpiece after the first welding to the position of the second welding device 3 for secondary welding, and driving the newly received workpiece to the position of the first welding device 3 for primary welding;

[0084] S3.3. Combination Fig.10 (④), after the transfer vehicle 22 is docked with the turntable 133 for secondary welding, that is, the workpiece receiving work after all welding work is completed;

[0085] S3.4, the transfer vehicle 22 returns to the assembly position, and the workpiece is manually removed;

[0086] S3.5, run S1.1 once;

[0087] S3.6. Combination Fig.10 (⑤), repeat steps S3.1-S3.5.

Claims

1. A three-station multi-angle intelligent welding system, characterized in that: It comprises a transposition device (1), a transfer device (2) and two sets of welding devices (3) arranged circumferentially outside the transposition device (1); The transposition device (1) comprises a base (111) and a rotating bracket (112) rotatably arranged on the upper side thereof, wherein the upper side of the rotating bracket (112) is provided with three groups of fixing mechanisms (12) in a circular array around the rotating axis thereof, and a group of reversing mechanisms (13) is provided between each two adjacent groups of fixing mechanisms (12); The reversing mechanism (13) comprises a first Y-shaped seat (1311) and a second Y-shaped seat (1321) which are arranged horizontally opposite to each other, and a rotating disk (133) which is horizontally sandwiched between the two Y-shaped seats and can rotate, the two Y-shaped seats are respectively rotatably connected to two adjacent fixing mechanisms (12), and the rotation axis is horizontal, wherein the second Y-shaped seat (1321) is further provided with a rotating transmission shaft (1322) which is coaxial with its rotation axis, one end of the rotating transmission shaft (1322) is transmission-connected to the rotating disk (133), and the other end thereof is arranged to extend out of the second Y-shaped seat (1321); The fixing mechanism (12) comprises two driving shafts arranged vertically, one end of the second Y-shaped seat (1321) is rotatably connected to the fixing mechanism (12), and one end of the rotating transmission shaft (1322) extends out of the second Y-shaped seat (1321) and is respectively connected to the two driving shafts in a driving manner; The transposition device (1) further comprises three groups of drive units arranged in a circumferential array on the lower side of the rotating bracket (112), each group of drive units comprising two drive motors (143) which are arranged to be able to respectively cooperate with the lower ends of the two drive shafts of the fixing mechanism (12) through lifting and lowering; The transfer device (2) comprises a transfer track (21) and a transfer vehicle (22) arranged thereon, wherein the transfer vehicle (22) is arranged to be able to dock with the turntable (133) to complete the transfer of the workpiece; The welding device (3) is a welding robot / welding mechanical arm.

2. The three-station multi-angle intelligent welding system according to claim 1 is characterized in that: The fixing mechanism (12) further comprises a housing (121), the Y-shaped seat being rotatably connected to the housing (121), and the driving shaft being vertically arranged in the housing (121); A fixing slot (1121) is also provided on the upper side of the rotating bracket (112), and the housing (121) is inserted and fixed in the fixing slot (1121).

3. The three-station multi-angle intelligent welding system according to claim 2 is characterized in that: A connecting tube (123) is provided on the outside of the shell (121), and a Y-shaped seat is inserted into the connecting tube (123).

4. The three-station multi-angle intelligent welding system according to claim 2 is characterized in that: A transmission joint (114) penetrating the rotating bracket (112) is also vertically disposed in the fixed slot (1121); the upper end of the transmission joint (114) is plugged and fixed to the driving shaft, and the lower end is configured to be plugged and transmission-matched with the driving machine (143).

5. The three-station multi-angle intelligent welding system according to claim 4 is characterized in that: The transposition device (1) further comprises three groups of fixed seats (141), a lifting bucket (142) with an upper opening is provided on the upper side of the fixed seats (141) and can be lifted and lowered, and the driving unit is located in the lifting bucket (142); The vertical distance between the upper side of the lifting bucket (142) and the lower side of the rotating bracket (112) is smaller than the distance between the upper end of the driving machine (143) and the lower end of the transmission joint (114).

6. A welding method, based on a three-station multi-angle intelligent welding system according to any one of claims 1 to 5, characterized in that: The welding method specifically includes the following steps: S1. Preparation; S1.1, manually assembling workpieces on the transfer vehicle (22); S1.2, the transfer vehicle (22) moves to the position of the transposition device (1), and docks with the turntable (133) to transfer the workpiece to the turntable (133); S2, one-time welding; S2.1, the transfer vehicle (22) returns to the assembly position and runs S1.1 once. At the same time, the rotating bracket (112) rotates 120 degrees to drive the workpiece to the position of the first group of welding devices (3) to perform a welding operation; S2.2, run S1.2 once; S2.3, the transfer vehicle (22) returns to the assembly position and runs S1.1 once. At the same time, the first welding device (3) stops welding once, and the rotating bracket (112) rotates 120 degrees to drive the workpiece to be welded after the first welding to the position of the second welding device (3) for secondary welding, and drives the newly received workpiece to the position of the first welding device (3) for primary welding; S3, cycle welding; S3.1, run S1.2 once, and the transfer vehicle (22) waits for the secondary welding work to be completed; S3.2, the first welding device (3) stops welding once, and the rotating bracket (112) rotates 120 degrees, driving the workpiece after the first welding to the position of the second welding device (3) for secondary welding, and driving the newly received workpiece to the position of the first welding device (3) for primary welding; S3.3, the transfer vehicle (22) and the turntable (133) receive the workpiece after secondary welding; S3.4, the transfer vehicle (22) returns to the assembly position, and the workpiece is manually removed; S3.5, run S1.1 once; S3.

6. Repeat steps S3.1-S3.5.

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