Full-automatic robot welding workstation for arm barrels

Abstract

The full-automatic arm barrel robot welding workstation has the following advantages and effects that firstly, the full-automatic arm barrel robot welding workstation is suitable for four-plate tailor-welded arm barrel products, four plates are fed respectively, and an assembly welding clamp is automatically positioned; 2, the arrangement of the assembly welding clamp facilitates the remodeling switching of workpieces of different specifications (the workpieces of different specifications are switched to corresponding inner tube mold assemblies), and is suitable for small-batch multi-specification production; 3, the internal positioning size of the workpiece is ensured by the only inner tube mold assembly, and the workpiece processing quality is improved; 4, spot welding and full welding are designed on the same group welding clamp, so that the production efficiency is improved, secondary positioning deviation is avoided, and the workpiece quality is improved; and 5, the multi-robot synchronous welding system and equipment adopt a multi-axis cooperation mode of a plurality of welding robots, four splicing welding seams are fully welded at a time, the production efficiency is improved, and the influence of preorder welding deformation on subsequent welding is avoided.

Description

Technical Field

[0001] The invention relates to the technical field of arm barrel welding of a straight / curved arm vehicle, and in particular to an arm barrel full-automatic robot welding workstation. Background Art

[0002] Articulated boom trucks and straight boom trucks can move and operate in multiple directions, up and down, front and back, left and right, and are usually used to cross obstacles or other special-shaped structures. Compared with straight boom trucks, articulated boom trucks have a telescopic articulated boom structure, which is more flexible to rotate and more suitable for areas with small spaces and complex structures. However, their carrying capacity is not as good as that of straight boom trucks, and their operating height is relatively low.

[0003] Among them, for the four-plate (bottom plate, two side plates, and top plate) welded arm barrel product (hereinafter referred to as the "workpiece"), the current domestic arm barrel welding production line uses manual welding, which has problems such as low efficiency, low yield, inconvenient operation, and long welding time, which restricts the efficiency of the arm barrel welding production. Summary of the invention

[0004] The purpose of the present invention is to provide an arm-barrel fully automatic robot welding workstation, which has the functions of improving welding efficiency, improving yield rate, and solving the problem of switching between workpieces of different specifications.

[0005] The above technical objectives of the present invention are achieved through the following technical solutions: an arm-barrel fully automatic robot welding workstation, including a multi-robot synchronous welding system, a welding fixture, and an inner tube mold assembly; the multi-robot synchronous welding system includes two parallel gantry walking tracks, two gantry walking frames that can be walked on the gantry walking tracks, four welding robots respectively arranged on both sides of the two gantry walking frames, four welding wire barrels respectively arranged on both sides of the two gantry walking frames and providing welding wire to the four welding robots, a dust removal system arranged on the gantry walking frame near the end of the gantry walking track, and a dust removal hood arranged on the top of the gantry walking frame near the end of the gantry walking track and connected to the dust removal system; the welding fixture includes a main frame, a bottom plate centering component arranged on the main frame and used to center the bottom plate of the workpiece, a plurality of side plate centering components symmetrically arranged on both sides of the main frame and respectively realizing the centering of the two side plates of the workpiece, and a plurality of side plate centering components symmetrically arranged on both sides of the main frame and respectively realizing the centering of the two side plates of the workpiece The invention relates to a side panel flipping assembly for flipping the two side panels of the workpiece, a pair pressing assembly which is walkably arranged on the main frame and is used to press the two side panels and the top panel of the workpiece, an auxiliary positioning assembly which is walkably arranged on the main frame and is used to assist in positioning one end of the four panels of the workpiece, a distance measuring point laser arranged at the starting end of the main frame, and a winch arranged at the end of the main frame, wherein the pair pressing assembly includes an inner tube mold clamping mechanism for clamping the inner tube mold assembly; the bottom of the inner tube mold assembly and the bottom plate of the workpiece are in rolling friction, the two side panels of the workpiece are in contact with the two side end surfaces of the inner tube mold assembly for positioning, and the top panel of the workpiece is in contact with the upper surface of the inner tube mold assembly for positioning, the distance measuring point laser is used to measure the position of the inner tube mold assembly, and the winch is used to pull the inner tube mold assembly to move; the pair pressing assembly and the workpiece are pressed by rolling friction and move with the position of the inner tube mold assembly during operation, so that the position of the point of action during the pressing process corresponds to the position of the inner tube mold assembly.

[0006] By adopting the above technical scheme, the following steps are performed when welding a workpiece of a certain specification: (S1) first place two gantry walking frames at the starting end and the end of the gantry walking track; (S2) hoist the bottom plate of the workpiece, and complete the positioning of the bottom plate through the bottom plate centering component and the auxiliary positioning component; (S3) the inner tube mold clamping mechanism of the clamping component clamps the inner tube mold component, moves the clamping component to the starting point of the main frame, and places the inner tube mold component at the starting end of the bottom plate; (S4) hoist the side plate of the workpiece, complete the positioning of the side plate through the side plate centering component and the auxiliary positioning component, and flip the side plate through the side plate flipping component so that the two side plates are located on both sides of the bottom plate; (S5) hoist the top plate of the workpiece, overlap it on the top of the two side plates, and position one end of the top plate through the auxiliary positioning component; (S6) the clamping component works to move the two side plates The two side end faces of the inner tube mold assembly are pressed tightly, and the top plate is pressed tightly against the upper surface of the inner tube mold assembly. At this time, the positioning of the four plates of the workpiece is completed; (S7) The gantry walking frame located at the starting end of the gantry walking track moves toward the end of the gantry walking track. During the movement, two welding robots realize spot welding of the joints of the four plates of the workpiece (each welding robot is responsible for the two joints on the near side), and cooperate with the winch to pull the inner tube mold assembly to move, and the group pressing assembly follows the movement of the inner tube mold assembly to ensure that the four plates near the spot welding can maintain precise positioning; (S8) The two gantry walking frames start to move from the end of the gantry walking track, and the four welding robots synchronously perform full welding on the joints of the four plates, and at the same time collect and process the smoke through the dust removal system and the dust removal hood, and then the product is unloaded after completion; ultimately, it has the effect of improving welding efficiency and improving the yield rate.

[0007] The present invention is further configured as follows: the base plate centering assembly includes two first linear rails arranged on the main frame, two first racks symmetrically arranged and respectively slidably connected to the two first linear rails, a first gear arranged on the main frame and meshing with the two first racks, two centering clamping blocks respectively arranged at one end of the two first racks away from each other, and a first cylinder arranged between the main frame and one of the first racks and driving the first rack to move, the two centering clamping blocks are distributed between the two first racks, and the first gear is located between the two first racks; in the process of the first cylinder driving the connected first rack to move in one direction, the meshing of the first gear is used to drive the other first rack to move in the opposite direction, thereby controlling the two centering clamping blocks to move in the direction of approaching or moving away from each other.

[0008] By adopting the above technical scheme, when the first cylinder drives the connected first rack to move in one direction, the meshing of the first gear realizes driving the other first rack to move in the opposite direction, thereby realizing controlling the two centering clamping blocks to move in the direction of approaching or moving away from each other. When the two centering clamping blocks move in the direction of approaching each other, force can be applied to both sides of the base plate of the workpiece, and the base plate centering positioning can be completed under the joint action of multiple base plate centering components; at the same time, the structural design of the base plate centering component can facilitate the switching of workpieces of different specifications.

[0009] The present invention is further configured as follows: the side plate centering assembly comprises a linear track cylinder arranged on the main frame and a clamping block arranged on a slide of the linear track cylinder.

[0010] By adopting the above technical solution, when the side plate is placed on the main frame, the clamping block pushes the side plate under the linear track cylinder, thereby driving the side plate of the workpiece to move toward the direction close to the bottom plate. The side plate centering positioning can be completed under the joint action of multiple side plate centering components; at the same time, the structural design of the side plate centering component can facilitate the switching of workpieces of different specifications.

[0011] The present invention is further configured as follows: the side panel flipping assembly includes a Y-direction servo adjustment module arranged on the main frame, an angle flipping module arranged on the Y-direction servo adjustment module, a Z-direction servo adjustment module arranged on the angle flipping module, and a plurality of electromagnets arranged on the Z-direction servo adjustment module.

[0012] By adopting the above technical solution, the side panel of the workpiece can be adsorbed by setting up multiple electromagnets, so that when the angle flipping module rotates the side panel to a vertical state, the flipping operation of the side panel is completed to achieve splicing with the bottom panel; at the same time, the Y-direction servo adjustment module can drive the side panel to be adjusted in the Y direction (in the width direction of the main frame), and the Z-direction servo adjustment module can drive the side panel to be adjusted in the Z direction, so as to facilitate the switching of workpieces of different specifications.

[0013] The present invention is further configured as follows: the Y-direction servo adjustment module includes a mounting base plate arranged on the main frame, two Y-direction linear rails arranged on the mounting base plate, a Y-direction sliding bracket slidably arranged on the two Y-direction linear rails, and a second cylinder arranged between the mounting base plate and the Y-direction sliding bracket, and the sliding direction of the Y-direction sliding bracket is the width direction of the main frame; the angle flip module includes a flip bracket rotatably connected to the Y-direction sliding bracket, two second racks slidably arranged on the Y-direction sliding bracket, a connecting rod arranged between the two second racks, two second gears rotatably connected to the flip bracket and whose central axes coincide with the rotation axis of the flip bracket, and a third cylinder arranged between the Y-direction sliding bracket and the connecting rod, and the two second gears are respectively meshed with the two second racks; the Z-direction servo adjustment module includes two Z-direction linear rails arranged on the flip bracket, a Z-direction slide plate slidably arranged on the two Z-direction linear rails, and a fourth cylinder arranged between the flip bracket and the Z-direction slide plate, and a plurality of the electromagnets are arranged on the Z-direction slide plate.

[0014] By adopting the above technical solution, when the side panel flipping assembly flips the flap, the side panel is first adsorbed by multiple electromagnets, and then when the third cylinder of the angle flipping module moves, the second rack and the second gear drive the flipping bracket to rotate to a vertical state, so as to flip the side panel and connect it to the bottom panel; at the same time, in conjunction with the Y-direction servo adjustment module, the operation of the second cylinder can drive the side panel to be adjusted in the Y direction, and the operation of the fourth cylinder of the Z-direction servo adjustment module can drive the side panel to be adjusted in the Z direction, so as to facilitate the switching of workpieces of different specifications.

[0015] The present invention is further configured as follows: the pair of clamping components includes a first servo frame that can be movably arranged on the main frame, a side plate pressing wheel mechanism that is arranged on both sides of the first servo frame and is used to press the side plates of the workpiece against the two side surfaces of the inner tube mold assembly, a top plate pressing mechanism that is arranged on the top of the first servo frame and is used to press the top plate of the workpiece against the upper surface of the inner tube mold assembly, and a top plate pressing wheel mechanism that is arranged on the top of the first servo frame and is used to press the top plate of the workpiece against the upper surface of the inner tube mold assembly, and the inner tube mold clamping mechanism is also arranged on the first servo frame, and the contact between the side plate pressing wheel mechanism, the top plate pressing mechanism, and the top plate pressing wheel mechanism and the workpiece is rolling friction.

[0016] By adopting the above technical scheme, in the team clamping assembly, the side plate of the workpiece is pressed against the side of the inner tube mold assembly by the side plate pressing wheel mechanism, and the top plate of the workpiece is pressed against the upper surface of the inner tube mold assembly by the top plate pressing mechanism and the top plate pressing wheel mechanism, and the contact between the side plate pressing wheel mechanism, the top plate pressing mechanism, the top plate pressing wheel mechanism and the workpiece is rolling friction, and the friction between the team clamping assembly and the workpiece can be reduced in the process of moving following the position of the inner tube mold assembly.

[0017] The present invention is further configured as follows: the side plate pressure wheel mechanism includes a left sliding frame horizontally slidably arranged on one side of the first servo frame, two left pressure wheels rotatably connected to the left sliding frame and arranged along the vertical direction, a first servo screw module arranged between the first servo frame and the left sliding frame, a right sliding frame horizontally slidably arranged on the other side of the first servo frame, a telescopic plate, a first elastic telescopic connecting piece arranged between the telescopic plate and the right sliding frame bracket, two right pressure wheels rotatably connected to the two telescopic plates and arranged along the vertical direction, and a second servo screw module arranged between the first servo frame and the right sliding frame; the top plate clamping mechanism includes a first electric cylinder arranged on the first servo frame, a A first connecting plate on the output shaft, a first movable plate, a plurality of second elastic telescopic connecting members arranged between the first connecting plate and the first movable plate, and two long rollers rotatably arranged on the lower surface of the first movable plate; the top plate pressure wheel mechanism includes a second electric cylinder arranged on the first servo frame, a second connecting plate arranged on the output shaft of the second electric cylinder, a second movable plate, a plurality of third elastic telescopic connecting members arranged between the second connecting plate and the second movable plate, and an upper pressure wheel rotatably arranged on the lower surface of the second movable plate; the inner tire mold clamping mechanism includes a fifth cylinder arranged at the upper end of the left slide, a left clamping block arranged on the cylinder shaft of the fifth cylinder, a sixth cylinder arranged on the right sliding frame, and a right clamping block arranged on the cylinder shaft of the sixth cylinder.

[0018] By adopting the above technical scheme, in the side plate pressing wheel mechanism, the side where the left pressing wheel is located is used as the reference, and the side where the right pressing wheel is located is elastically pressed through the first elastic telescopic connection, so that spring buffering can be performed during the pressing process of the right pressing wheel. At the same time, the joint action of the two left pressing wheels and the joint action of the two right pressing wheels respectively press the two side plates on the two sides of the inner tube mold assembly, and the contact with the workpiece is rolling friction, which can ensure that the two side plates of the workpiece are tightly fitted with the inner tube mold assembly; at the same time, the position of the left pressing wheel can be realized by the first servo screw module to quickly drive the two left pressing wheels to move, and the second servo screw module can be realized to quickly drive the two right pressing wheels to move, so as to facilitate the switching of workpieces of different specifications. In the top plate clamping mechanism, when the top plate of the workpiece is introduced into the two side plates, if the horizontal introduction method is selected, the top plate can be placed on the long roller, and the top plate can be quickly introduced into the middle of the two side plates of the workpiece under the walking cooperation of the group pair of clamping components. In the top plate pressing wheel mechanism, the second electric cylinder can drive the upper pressing wheel to move downward to achieve the pressing and positioning of the introduced top plate, and the contact with the workpiece is rolling friction, and the contact with the workpiece is elastically buffered by the third elastic telescopic connector, so that the top plate and the inner tube mold assembly fit tightly; at the same time, the second electric cylinder can quickly drive the upper pressing wheel to rise and fall to facilitate the switching of workpieces of different specifications. In the inner tube mold clamping mechanism, after the welding of the previous workpiece is completed, the fifth cylinder and the sixth cylinder can respectively drive the left clamp block and the right clamp block to move downward and close to each other, so as to clamp the inner tube mold assembly, so that after the bottom plate of the next workpiece is installed, the inner tube mold assembly can be moved to the starting end of the bottom plate.

[0019] The present invention is further configured as follows: the auxiliary positioning assembly includes a second servo frame that can be moved and arranged on the main frame, two side plate positioning mechanisms symmetrically arranged on both sides of the second servo frame, two bottom plate positioning mechanisms symmetrically arranged on the second servo frame, and a top plate positioning mechanism arranged on the top of the second servo frame; the side plate positioning mechanism includes a lifting plate that is vertically lifted and arranged on the second servo frame, a seventh cylinder that is arranged between the second servo frame and the lifting plate, and a first stopper that is arranged on the lifting plate and used to position one end surface of the side plate of the workpiece; the bottom plate positioning mechanism includes a moving plate that is horizontally slidably arranged on the second servo frame, an eighth cylinder that is arranged between the second servo frame and the moving plate, and a second stopper that is arranged on the moving plate and used to position one end surface of the bottom plate; the top plate positioning mechanism includes an upper pressing plate that is vertically lifted and arranged on the second servo frame, a ninth cylinder that is arranged between the second servo frame and the upper pressing plate, a third stopper that is arranged on the upper pressing plate and used to position one end surface of the top plate of the workpiece, and a support plate that is arranged on the upper pressing plate and used to place the top plate of the workpiece.

[0020] By adopting the above technical solution, during the movement of the second servo frame along the main frame, one end of the two side plates of the workpiece can be pushed by the two first blocks, so as to achieve positioning in the X direction (the length direction of the main frame), one end of the bottom plate of the workpiece can be pushed by the two first blocks, so as to achieve positioning in the X direction, and one end of the top plate of the workpiece can be pushed by the third stopper, so as to achieve positioning in the X direction; at the same time, the position of the first baffle can be adjusted by lifting and lowering, the position of the second baffle can be adjusted by horizontal movement, and the position of the third baffle can be adjusted by lifting and lowering, so as to facilitate the switching of workpieces of different specifications; at the same time, when the top plate of the workpiece is being loaded, the support plate can support one end of the top plate of the workpiece.

[0021] The present invention is further configured as follows: the inner tube mold assembly includes an inner tube mold welding frame, a plurality of movable rollers arranged at the bottom of the inner tube mold welding frame, hanging ears arranged at both ends of the inner tube mold welding frame, and a connecting ring arranged at one end of the inner tube mold welding frame.

[0022] The movable roller arranged at the bottom of the inner tube mold welding frame realizes rolling friction in contact with the bottom plate of the workpiece, so that when the winch pulls the connecting ring of the inner tube mold welding frame to move, the friction with the bottom plate can be reduced, making movement convenient; at the same time, the setting of the lifting lug makes it convenient to lift different types of inner tube mold welding frames for use when switching between workpieces of different specifications.

[0023] The present invention is further configured to perform the following steps when welding a workpiece of a certain specification:

[0024] (S1) First, place the two gantry walking frames at the starting and end of the gantry walking track:

[0025] (S2) hoisting the bottom plate of the workpiece, and positioning the bottom plate by means of the bottom plate centering assembly and the auxiliary positioning assembly;

[0026] (S3) the inner tube mold clamping mechanism of the clamping assembly clamps the inner tube mold assembly, the clamping assembly moves to the starting point of the main frame, and places the inner tube mold assembly at the starting end of the base plate;

[0027] (S4) hoisting the side panels of the workpiece, positioning the side panels by means of the side panel centering assembly and the auxiliary positioning assembly, and flipping the side panels by means of the side panel flipping assembly, so that the two side panels are located on both sides of the bottom plate;

[0028] (S5) hoisting the top plate of the workpiece, overlapping the top of the two side plates, and positioning one end of the top plate by an auxiliary positioning assembly;

[0029] (S6) The group works on the pressing assembly, pressing the two side plates against the two side end surfaces of the inner tube mold assembly, and pressing the top plate against the upper surface of the inner tube mold assembly, thereby completing the positioning of the four plates of the workpiece;

[0030] (S7) The gantry travel frame located at the starting end of the gantry travel track moves toward the end of the gantry travel track. During the movement, two welding robots perform spot welding on the joint seams of the four plates of the workpiece (each welding robot is responsible for the two joint seams near the side), cooperate with the winch to pull the inner tube mold assembly to move, and the group clamping assembly follows the movement of the inner tube mold assembly to ensure that the four plates near the spot welding can maintain accurate positioning;

[0031] (S8) The two gantry walking frames start to move from the end of the gantry walking track, and four welding robots synchronously perform full welding on the joints of the four plates. At the same time, the smoke is collected and processed through the dust removal system and dust removal hood. After completion, the product is unloaded.

[0032] In summary, the beneficial effects of the present invention are:

[0033] 1. Suitable for four-plate welded arm tube products, four plates are loaded separately, and the welding fixture is automatically positioned;

[0034] 2. The setting of the welding fixture is convenient for the switching of workpieces of different specifications (the corresponding inner tube mold components are switched for workpieces of different specifications), which is suitable for small batch and multi-specification production;

[0035] 3. Rely on the only inner tube mold assembly to ensure the internal positioning size of the workpiece and improve the workpiece processing quality;

[0036] 4. Spot welding and full welding are designed on the same welding fixture to improve production efficiency, avoid secondary positioning deviation and improve workpiece quality;

[0037] 5. Multi-robot synchronous welding system, the equipment adopts the multi-axis collaboration of multiple welding robots to complete the welding of four full-welded joints at one time, improve production efficiency, and avoid the influence of previous welding deformation on subsequent welding. BRIEF DESCRIPTION OF THE DRAWINGS

[0038] Figure 1 It is a schematic diagram of the structure of the present invention;

[0039] Figure 2 It is a structural schematic diagram of a multi-robot synchronous welding system in the present invention;

[0040] Figure 3 It is a structural schematic diagram of the assembly welding fixture in the present invention;

[0041] Figure 4 It is a structural schematic diagram of the bottom plate centering assembly of the present invention;

[0042] Figure 5 It is a structural schematic diagram of the side plate centering assembly in the present invention;

[0043] Figure 6 It is a structural schematic diagram of the side panel turning mechanism in the present invention;

[0044] Figure 7 It is a structural schematic diagram of the side panel flipping mechanism of the present invention from another angle;

[0045] Figure 8 It is a structural schematic diagram of the group pressing assembly in the present invention;

[0046] Fig. 9 It is a structural schematic diagram of another angle of the group pressing assembly in the present invention;

[0047] Fig.10 It is a structural cross-sectional view of the group pressing assembly in the present invention;

[0048] Fig.11 It is a structural schematic diagram of the auxiliary positioning component in the present invention;

[0049] Fig.12 yes Fig.11 A local enlarged view at A in the figure;

[0050] Fig.13 It is a structural schematic diagram of the inner tube mold assembly in the present invention.

[0051] Figure numerals: 1. Multi-robot synchronous welding system; 1-1. Gantry walking track; 1-2. Gantry walking frame; 1-3. Welding robot; 1-4. Welding wire barrel; 1-5. Dust removal system; 16. Dust removal cover; 2. Assembly welding fixture; 2-1. Main frame; 2-2. Bottom plate centering assembly; 2-2-1. First linear track; 2-2-2. First rack; 2-2-3. First gear; 2-2-4. Centering clamping block; 2-2-5. First cylinder; 2-3. Side plate centering assembly; 2-3-1. Linear track cylinder; 2-3-2. Pressing block; 2-4. Side plate flipping assembly; 2-4-1. Y-direction servo adjustment module; 2-4-1-1. Mounting base plate; 2-4-1-2. Y-direction linear track; 2-4- 1-3, Y-direction sliding bracket; 2-4-1-4, second cylinder; 2-4-2, angle flip module; 2-4-2-1, flip bracket; 2-4-2-2, second rack; 2-4-2-3, connecting rod; 2-4-2-4, second gear; 2-4-2-5, third cylinder; 2-4-3, Z-direction servo adjustment module; 2-4-3-1, Z-direction linear rail; 2-4-3-2, Z-direction slide plate; 2-4-3-3, fourth cylinder; 2-4-4, electromagnet; 2-5, group clamping assembly; 2-5-1, first servo frame; 2-5-2, side plate pressure wheel mechanism; 2-5-2-1, left sliding frame; 2-5-2-2, left pressure wheel; 2-5-2-3, first servo screw module; 2-5- 2-4, right sliding frame; 2-5-2-5, telescopic plate; 2-5-2-6, first elastic telescopic connection piece; 2-5-2-7, right pressure wheel; 2-5-2-8, second servo screw module; 2-5-3, top plate clamping mechanism; 2-5-3-1, first electric cylinder; 2-5-3-2, first connecting plate; 2-5-3-3, first movable plate; 2-5-3-4, second elastic telescopic connection piece; 2-5-3-5, long roller; 2-5-4, top plate pressure wheel mechanism; 2-5-4-1, second electric cylinder; 2-5-4-2, second connecting plate; 2-5-4-3, second movable plate; 2-5-4-4, third elastic telescopic connection piece; 2-5-4-5, upper pressure wheel; 2-5-5, inner tube mold clamping mechanism ;2-5-5-1, fifth cylinder;2-5-5-2, left clamp;2-5-5-3, sixth cylinder;2-5-5-4, right clamp;2-6, auxiliary positioning assembly;2-6-1, second servo frame;2-6-2, side plate positioning mechanism;2-6-2-1, lifting plate;2-6-2-2, seventh cylinder;2-6-2-3, first block;2-6-3, bottom plate positioning mechanism;2-6-3-1, moving plate;2-6-3-2, eighth cylinder;2-6-3-3, second block;2-6-4, top plate positioning mechanism;2-6-4-1, upper pressure plate;2-6-4-2, ninth cylinder;2-6-4-3, third block;2-6-4-4, support plate;2-7, ranging point laser;2-8, winch; 3, inner tube mold assembly; 3-1, inner tube mold welding frame; 3-2, moving roller; 3-3, lifting lug; 3-4, connecting ring. ; DETAILED DESCRIPTION

[0052] The present invention is further described in detail below in conjunction with the accompanying drawings.

[0053] Embodiment: A fully automatic robot welding workstation for arm tubes, such as Figure 1 As shown, it includes a multi-robot synchronous welding system 1, a welding fixture 2, and an inner tube mold assembly 3.

[0054] like Figure 1 and Figure 2 As shown, the multi-robot synchronous welding system 1 includes two parallel gantry travel rails 1-1, two gantry travel frames 1-2 that can be arranged on the gantry travel rails 1-1, four welding robots 1-3 (assembly welding robots 1-3) respectively arranged on both sides of the two gantry travel frames 1-2, four welding wire barrels 1-4 respectively arranged on both sides of the two gantry travel frames 1-2 and providing welding wire to the four welding robots 1-3, a dust removal system 1-5 arranged on the gantry travel frame 1-2 near the end of the gantry travel rail 1-1, and a dust removal cover 16 arranged on the top of the gantry travel frame 1-2 near the end of the gantry travel rail 1-1 and connected to the dust removal system 1-5. The gantry travel frame 1-2 is equipped with a driving device that can travel on the gantry travel rail 1-1 (conventional technical means in this field, such as a combination structure of a gear rack servo motor, which will not be elaborated in detail here).

[0055] like Figure 1 and Figure 3 As shown, the welding fixture 2 includes a main frame 2-1, a bottom plate centering component 2-2 arranged on the main frame 2-1 and used to center the bottom plate of the workpiece, a plurality of side plate centering components 2-3 symmetrically arranged on both sides of the main frame 2-1 and respectively realizing the centering of the two side plates of the workpiece, a plurality of side plate flipping components 2-4 symmetrically arranged on both sides of the main frame 2-1 and respectively realizing the flipping of the two side plates of the workpiece, a pair pressing component 2-5 that can be walked on the main frame 2-1 and is used to press the two side plates and the top plate of the workpiece, an auxiliary positioning component 2-6 that can be walked on the main frame 2-1 and is used to assist in positioning one end of the four plates of the workpiece, a distance measuring point laser 2-7 arranged at the starting end of the main frame 2-1, and a winch 2-8 arranged at the end of the main frame 2-1, wherein the pair pressing component 2-5 includes an inner tube mold clamping mechanism 2-5-5 for clamping the inner tube mold assembly 3 (see Figure 8 and Fig. 9 ).

[0056] As 1 to Figure 3As shown, the bottom of the inner tube mold assembly 3 and the bottom plate of the workpiece are in rolling friction, the two side plates of the workpiece are in contact with the two side end surfaces of the inner tube mold assembly 3 for positioning, and the top plate of the workpiece is in contact with the upper surface of the inner tube mold assembly 3 for positioning, the ranging point laser 2-7 is used to measure the position of the inner tube mold assembly 3, and the winch 2-8 is used to pull the inner tube mold assembly 3 to move; the group clamping assembly 2-5 and the workpiece are clamped by rolling friction and move with the position of the inner tube mold assembly 3 during operation, so that the position of the action point during the clamping process corresponds to the position of the inner tube mold assembly 3.

[0057] like Figure 3 and Figure 4 As shown, the bottom plate centering assembly 2-2 includes two first linear rails 2-2-1 arranged on the main frame 2-1, two first racks 2-2-2 symmetrically arranged and respectively slidably connected to the two first linear rails 2-2-1, a first gear 2-2-3 arranged on the main frame 2-1 and meshing with the two first racks 2-2-2, two centering clamping blocks 2-2-4 respectively arranged at one end of the two first racks 2-2-2 away from each other, and a first gear 2-2-3 arranged between the main frame 2-1 and one of the first racks 2-2-2 and driving the first gear 2-2-3 to move ... The first cylinder 2-2-5 moves the two first racks 2-2-2, two centering clamping blocks 2-2-4 are distributed between the two first racks 2-2-2, and the first gear 2-2-3 is located between the two first racks 2-2-2; when the first cylinder 2-2-5 drives the connected first rack 2-2-2 to move in one direction, the engagement of the first gear 2-2-3 is used to drive the other first rack 2-2-2 to move in the opposite direction, thereby controlling the two centering clamping blocks 2-2-4 to move towards or away from each other.

[0058] like Figure 3 and Figure 5 As shown, the side plate centering assembly 2-3 includes a linear rail cylinder 2-3-1 arranged on the main frame 2-1 and a clamping block 2-3-2 arranged on the slide of the linear rail cylinder 2-3-1.

[0059] like Figure 3 , Figure 6 and Figure 7 As shown, the side panel flipping assembly 2-4 includes a Y-axis servo adjustment module 2-4-1 arranged on the main frame 2-1, an angle flipping module 2-4-2 arranged on the Y-axis servo adjustment module 2-4-1, a Z-axis servo adjustment module 2-4-3 arranged on the angle flipping module 2-4-2, and a plurality of electromagnets 2-4-4 arranged on the Z-axis servo adjustment module 2-4-3.

[0060] like Figure 6 and Figure 7As shown, the Y-axis servo adjustment module 2-4-1 includes a mounting base plate 2-4-1-1 arranged on the main frame 2-1, two Y-axis linear rails 2-4-1-2 arranged on the mounting base plate 2-4-1-1, a Y-axis sliding bracket 2-4-1-3 slidably arranged on the two Y-axis linear rails 2-4-1-2, and a second cylinder 2-4-1-4 arranged between the mounting base plate 2-4-1-1 and the Y-axis sliding bracket 2-4-1-3, and the sliding direction of the Y-axis sliding bracket 2-4-1-3 is the width direction of the main frame 2-1. The angle flip module 2-4-2 includes a flip bracket 2-4-2-1 rotatably connected to the Y-direction sliding bracket 2-4-1-3, two second racks 2-4-2-2 slidably set on the Y-direction sliding bracket 2-4-1-3, a connecting rod 2-4-2-3 set between the two second racks 2-4-2-2, two second gears 2-4-2-4 rotatably connected to the flip bracket 2-4-2-1 and the center axis coincides with the rotation axis of the flip bracket 2-4-2-1, and a third cylinder 2-4-2-5 set between the Y-direction sliding bracket 2-4-1-3 and the connecting rod 2-4-2-3, and the two second gears 2-4-2-4 are respectively meshed with the two second racks 2-4-2-2. The Z-axis servo adjustment module 2-4-3 includes two Z-axis linear rails 2-4-3-1 arranged on the flip bracket 2-4-2-1, a Z-axis slide 2-4-3-2 slidably arranged on the two Z-axis linear rails 2-4-3-1, a fourth cylinder 2-4-3-3 arranged between the flip bracket 2-4-2-1 and the Z-axis slide 2-4-3-2, and a plurality of electromagnets 2-4-4 are arranged on the Z-axis slide 2-4-3-2.

[0061] like Figure 3 and Figure 8 As shown, the clamping assembly 2-5 includes a first servo frame 2-5-1 which is movably arranged on the main frame 2-1, a side plate pressing wheel mechanism 2-5-2 which is arranged on both sides of the first servo frame 2-5-1 and is used to press the side plates of the workpiece against the two side surfaces of the inner tube mold assembly 3, a top plate pressing wheel mechanism 2-5-3 which is arranged on the top of the first servo frame 2-5-1 and is used to press the top plate of the workpiece against the upper surface of the inner tube mold assembly 3, and a top plate pressing wheel mechanism 2-5-4 which is arranged on the top of the first servo frame 2-5-1 and is used to press the top plate of the workpiece against the upper surface of the inner tube mold assembly 3. The inner tube mold clamping mechanism 2-5-5 is also arranged on the first servo frame 2-5-1. The contact between the side plate pressing wheel mechanism 2-5-2, the top plate pressing mechanism 2-5-3, and the top plate pressing wheel mechanism 2-5-4 and the workpiece is rolling friction. The first servo frame 2-5-1 is equipped with a driving device that can move on the main frame 2-1 (conventional technical means in this field, no further explanation is given here).

[0062] like Figures 8 to 10As shown, the side plate pressure wheel mechanism 2-5-2 includes a left sliding frame 2-5-2-1 horizontally slidably arranged on one side of the first servo frame 2-5-1, two left pressure wheels 2-5-2-2 rotatably connected to the left sliding frame 2-5-2-1 and arranged along the vertical direction, a first servo lead screw module 2-5-2-3 (a combination of a servo motor and a lead screw) arranged between the first servo frame 2-5-1 and the left sliding frame 2-5-2-1, and a first servo lead screw module 2-5-2-3 (a combination of a servo motor and a lead screw) horizontally slidably arranged on the first servo frame 2-5-1. The right sliding frame 2-5-2-4 on the other side of 5-1, the telescopic plate 2-5-2-5, the first elastic telescopic connecting piece 2-5-2-6 arranged on the telescopic plate 2-5-2-5 and the right sliding frame 2-5-2-4 bracket, two right pressure wheels 2-5-2-7 which are respectively rotatably connected to the two telescopic plates 2-5-2-5 and arranged along the vertical direction, and the second servo screw module 2-5-2-8 arranged between the first servo frame 2-5-1 and the right sliding frame 2-5-2-4. The top plate clamping mechanism 2-5-3 includes a first electric cylinder 2-5-3-1 arranged on the first servo frame 2-5-1, a first connecting plate 2-5-3-2 arranged on the output shaft of the first electric cylinder 2-5-3-1, a first movable plate 2-5-3-3, a plurality of second elastic telescopic connecting members 2-5-3-4 arranged between the first connecting plate 2-5-3-2 and the first movable plate 2-5-3-3, and two long rollers 2-5-3-5 rotatably arranged on the lower surface of the first movable plate 2-5-3-3. The top plate pressure wheel mechanism 2-5-4 includes a second electric cylinder 2-5-4-1 arranged on the first servo frame 2-5-1, a second connecting plate 2-5-4-2 arranged on the output shaft of the second electric cylinder 2-5-4-1, a second movable plate 2-5-4-3, a plurality of third elastic telescopic connecting members 2-5-4-4 arranged between the second connecting plate 2-5-4-2 and the second movable plate 2-5-4-3, and an upper pressure wheel 2-5-4-5 rotatably arranged on the lower surface of the second movable plate 2-5-4-3. The inner tube mold clamping mechanism 2-5-5 includes a fifth cylinder 2-5-5-1 arranged at the upper end of the left sliding frame 2-5-2-1, a left clamping block 2-5-5-2 arranged on the cylinder shaft of the fifth cylinder 2-5-5-1, a sixth cylinder 2-5-5-3 arranged on the right sliding frame 2-5-2-4, and a right clamping block 2-5-5-4 arranged on the cylinder shaft of the sixth cylinder 2-5-5-3.

[0063] like Fig. 9 and Fig.10As shown, the structures of the first elastic telescopic connector 2-5-2-6, the second elastic telescopic connector 2-5-3-4, and the third elastic telescopic connector 2-5-4-4 can be composed of a telescopic guide rod, a compression spring, and an anti-drop nut. Taking the second elastic telescopic member as an example, the telescopic guide rod is arranged on the first movable plate 2-5-3-3 and passes through the first connecting plate 2-5-3-2, the compression spring is sleeved on the telescopic guide rod and pressed against the first connecting plate 2-5-3-2 and the first movable plate 2-5-3-3, and the anti-drop nut is threadedly connected to one end of the telescopic guide rod passing through the first connecting plate 2-5-3-2, which will not be elaborated in detail here.

[0064] like Figure 3 and Fig.11 As shown, the auxiliary positioning assembly 2-6 includes a second servo frame 2-6-1 that can be moved on the main frame 2-1, two side plate positioning mechanisms 2-6-2 symmetrically arranged on both sides of the second servo frame 2-6-1, two bottom plate positioning mechanisms 2-6-3 symmetrically arranged on the second servo frame 2-6-1, and a top plate positioning mechanism 2-6-4 arranged on the top of the second servo frame 2-6-1. The second servo frame 2-6-1 is equipped with a driving device that can move on the main frame 2-1 (conventional technical means in this field, no further explanation is given here).

[0065] like Fig.11 and Fig.12 As shown, the side plate positioning mechanism 2-6-2 includes a lifting plate 2-6-2-1 vertically lifted and lowered on the second servo frame 2-6-1, a seventh cylinder 2-6-2-2 disposed between the second servo frame 2-6-1 and the lifting plate 2-6-2-1, and a first stopper 2-6-2-3 disposed on the lifting plate 2-6-2-1 and used to position one end surface of the side plate of the workpiece. The bottom plate positioning mechanism 2-6-3 includes a moving plate 2-6-3-1 horizontally slidably disposed on the second servo frame 2-6-1, an eighth cylinder 2-6-3-2 disposed between the second servo frame 2-6-1 and the moving plate 2-6-3-1, and a second stopper 2-6-3-3 disposed on the moving plate 2-6-3-1 and used to position one end surface of the bottom plate. The top plate positioning mechanism 2-6-4 includes an upper pressure plate 2-6-4-1 vertically lifted and lowered on the second servo frame 2-6-1, a ninth cylinder 2-6-4-2 disposed between the second servo frame 2-6-1 and the upper pressure plate 2-6-4-1, a third stopper 2-6-4-3 disposed on the upper pressure plate 2-6-4-1 and used for positioning one end surface of the top plate of the workpiece, and a support plate 2-6-4-4 disposed on the upper pressure plate 2-6-4-1 and used for placing the top plate of the workpiece.

[0066] like Figure 1 and Fig.13As shown, the inner tube mold assembly 3 includes an inner tube mold welding frame 3-1, a plurality of movable rollers 3-2 arranged at the bottom of the inner tube mold welding frame 3-1, lifting ears 3-3 arranged at both ends of the inner tube mold welding frame 3-1, and a connecting ring 3-4 arranged at one end of the inner tube mold welding frame 3-1.

[0067] When welding a workpiece of a certain specification, the following steps are performed: (S1) first place two gantry walking frames 1-2 at the starting end and the end of the gantry walking track 1-1; (S2) hoist the bottom plate of the workpiece, and complete the positioning of the bottom plate through the bottom plate centering component 2-2 and the auxiliary positioning component 2-6; (S3) assemble the inner tire mold clamping mechanism 2-5-5 of the clamping component 2-5 to clamp the inner tire mold component 3, assemble the clamping component 2-5 to move to the starting point of the main frame 2-1, and place the inner tire mold component 3 at the starting end of the bottom plate; (S4) hoist the side plate of the workpiece, complete the positioning of the side plate through the side plate centering component 2-3 and the auxiliary positioning component 2-6, and flip the side plate through the side plate flipping component 2-4, so that the two side plates are located on both sides of the bottom plate; (S5) hoist the top plate of the workpiece, overlap the top of the two side plates, and position one end of the top plate through the auxiliary positioning component 2-6; (S6) assemble the clamping component 2-5 to work The two side plates are pressed against the two side end faces of the inner tube mold assembly 3, and the top plate is pressed against the upper surface of the inner tube mold assembly 3. At this time, the positioning of the four plates of the workpiece is completed; (S7) The gantry walking frame 1-2 located at the starting end of the gantry walking track 1-1 moves toward the end of the gantry walking track 1-1. During the movement, the two welding robots 1-3 spot weld the joints of the four plates of the workpiece (each welding robot 1-3 is responsible for the two joints on the near side), cooperate with the winch 2-8 to pull the inner tube mold assembly 3 to move, and the group clamping assembly 2-5 follows the inner tube mold assembly 3 to move, ensuring that the four plates near the spot welding can maintain accurate positioning; (S8) The two gantry walking frames 1-2 start to move from the end of the gantry walking track 1-1, and the four welding robots 1-3 synchronously perform full welding on the joints of the four plates, and at the same time collect smoke through the dust removal system 1-5 and the dust removal hood 16, and the product is unloaded after completion.

[0068] The beneficial effects of the present invention are as follows: 1. It is suitable for four-plate welding arm tube products, the four plates are loaded separately, and the welding fixture 2 is automatically positioned; 2. The setting of the welding fixture 2 is convenient for the switching of workpieces of different specifications (the corresponding inner tube mold assembly 3 is switched for workpieces of different specifications), and it is suitable for small batch and multi-specification production; 3. Relying on the only inner tube mold assembly 3 to ensure the internal positioning size of the workpiece and improve the workpiece processing quality; 4. The spot welding and full welding are designed on the same welding fixture 2 to improve production efficiency, avoid secondary positioning deviation, and improve workpiece quality; 5. The multi-robot synchronous welding system 1 adopts a multi-axis collaborative mode of multiple welding robots 1-3 to complete the one-time welding of four splicing welds for full welding, thereby improving production efficiency and avoiding the influence of previous welding deformation on subsequent welding.

[0069] This specific embodiment is merely an explanation of the present invention and is not a limitation of the present invention. After reading this specification, those skilled in the art may make non-creative modifications to the present embodiment as needed. However, as long as they are within the scope of the claims of the present invention, they are protected by the patent law.

Claims

1. An arm-tube fully automatic robot welding workstation, characterized in that: It comprises a multi-robot synchronous welding system (1), a welding fixture (2), and an inner tube mold assembly (3); The multi-robot synchronous welding system (1) comprises two gantry walking rails (1-1) arranged in parallel, two gantry walking frames (1-2) which can be arranged to walk on the gantry walking rails (1-1), four welding robots (1-3) respectively arranged on both sides of the two gantry walking frames (1-2), four welding wire barrels (1-4) respectively arranged on both sides of the two gantry walking frames (1-2) and providing welding wire to the four welding robots (1-3), a dust removal system (1-5) arranged on the gantry walking frame (1-2) near the end of the gantry walking rails (1-1), and a dust removal cover (16) arranged on the top of the gantry walking frame (1-2) near the end of the gantry walking rails (1-1) and connected to the dust removal system (1-5); The assembly welding fixture (2) comprises a main frame (2-1), a bottom plate centering component (2-2) arranged on the main frame (2-1) and used to center the bottom plate of the workpiece, a plurality of side plate centering components (2-3) symmetrically arranged on both sides of the main frame (2-1) and respectively centering the two side plates of the workpiece, a plurality of side plate flipping components (2-4) symmetrically arranged on both sides of the main frame (2-1) and respectively flipping the two side plates of the workpiece, and a movable component arranged on the main frame (2-1) and used to A pair of pressing components (2-5) for pressing two side plates and a top plate of a workpiece, an auxiliary positioning component (2-6) which is arranged on the main frame (2-1) in a movable manner and is used for auxiliary positioning of one end of four plates of the workpiece, a distance measuring point laser (2-7) arranged at the starting end of the main frame (2-1), and a winch (2-8) arranged at the end of the main frame (2-1), wherein the pair of pressing components (2-5) includes an inner tube mold clamping mechanism (2-5-5) for clamping an inner tube mold component (3); The bottom of the inner tube mold assembly (3) and the bottom plate of the workpiece are in rolling friction, the two side plates of the workpiece are in contact with the two side end surfaces of the inner tube mold assembly (3) for positioning, and the top plate of the workpiece is in contact with the upper surface of the inner tube mold assembly (3) for positioning, the ranging point laser (2-7) is used to measure the position of the inner tube mold assembly (3), and the winch (2-8) is used to pull the inner tube mold assembly (3) to move; the group clamping assembly (2-5) and the workpiece are in rolling friction clamping and move with the position of the inner tube mold assembly (3) during operation, so that the position of the action point during the clamping process corresponds to the position of the inner tube mold assembly (3).

2. The arm-tube fully automatic robot welding workstation according to claim 1, characterized in that: The base plate centering assembly (2-2) comprises two first linear rails (2-2-1) arranged on the main frame (2-1), two first racks (2-2-2) symmetrically arranged and respectively slidably connected to the two first linear rails (2-2-1), a first gear (2-2-3) arranged on the main frame (2-1) and meshing with the two first racks (2-2-2), two centering clamping blocks (2-2-4) respectively arranged at ends of the two first racks (2-2-2) away from each other, and a first gear (2-2-3) arranged between the main frame (2-1) and one of the first racks (2-2-2) and driving the first rack (2-2-3). -2-2), the two centering clamping blocks (2-2-4) are distributed between the two first racks (2-2-2), and the first gear (2-2-3) is located between the two first racks (2-2-2); when the first cylinder (2-2-5) drives the connected first rack (2-2-2) to move in one direction, the other first rack (2-2-2) is driven to move in the opposite direction through the meshing of the first gear (2-2-3), thereby controlling the two centering clamping blocks (2-2-4) to move in the direction of approaching or moving away from each other.

3. The arm-tube fully automatic robot welding workstation according to claim 1 is characterized by: The side plate centering assembly (2-3) comprises a linear track cylinder (2-3-1) arranged on a main frame (2-1) and a pressing block (2-3-2) arranged on a slide table of the linear track cylinder (2-3-1).

4. The arm-tube fully automatic robot welding workstation according to claim 1 is characterized by: The side panel flip assembly (2-4) comprises a Y-direction servo adjustment module (2-4-1) arranged on a main frame (2-1), an angle flip module (2-4-2) arranged on the Y-direction servo adjustment module (2-4-1), a Z-direction servo adjustment module (2-4-3) arranged on the angle flip module (2-4-2), and a plurality of electromagnets (2-4-4) arranged on the Z-direction servo adjustment module (2-4-3).

5. The arm-tube fully automatic robot welding workstation according to claim 4 is characterized by: The Y-direction servo adjustment module (2-4-1) comprises a mounting base plate (2-4-1-1) arranged on the main frame (2-1), two Y-direction linear rails (2-4-1-2) arranged on the mounting base plate (2-4-1-1), a Y-direction sliding bracket (2-4-1-3) slidably arranged on the two Y-direction linear rails (2-4-1-2), and a second cylinder (2-4-1-4) arranged between the mounting base plate (2-4-1-1) and the Y-direction sliding bracket (2-4-1-3), wherein the sliding direction of the Y-direction sliding bracket (2-4-1-3) is the width direction of the main frame (2-1); The angle flip module (2-4-2) comprises a flip bracket (2-4-2-1) rotatably connected to the Y-direction sliding bracket (2-4-1-3), two second racks (2-4-2-2) slidably arranged on the Y-direction sliding bracket (2-4-1-3), a connecting rod (2-4-2-3) arranged between the two second racks (2-4-2-2), two second gears (2-4-2-4) rotatably connected to the flip bracket (2-4-2-1) and whose central axes coincide with the rotation axis of the flip bracket (2-4-2-1), and a third cylinder (2-4-2-5) arranged between the Y-direction sliding bracket (2-4-1-3) and the connecting rod (2-4-2-3), and the two second gears (2-4-2-4) are respectively meshed with the two second racks (2-4-2-2); The Z-direction servo adjustment module (2-4-3) comprises two Z-direction linear rails (2-4-3-1) arranged on a flip bracket (2-4-2-1), a Z-direction slide plate (2-4-3-2) slidably arranged on the two Z-direction linear rails (2-4-3-1), and a fourth cylinder (2-4-3-3) arranged between the flip bracket (2-4-2-1) and the Z-direction slide plate (2-4-3-2); and a plurality of electromagnets (2-4-4) are arranged on the Z-direction slide plate (2-4-3-2).

6. The arm-tube fully automatic robot welding workstation according to claim 1 is characterized by: The pair of clamping components (2-5) comprises a first servo frame (2-5-1) which is movably arranged on the main frame (2-1), a side plate pressing wheel mechanism (2-5-2) which is arranged on both sides of the first servo frame (2-5-1) and is used to press the side plates of the workpiece against the two side surfaces of the inner tire mold assembly (3), a top plate pressing wheel mechanism (2-5-3) which is arranged on the top of the first servo frame (2-5-1) and is used to press the top plate of the workpiece against the upper surface of the inner tire mold assembly (3), and a top plate pressing wheel mechanism (2-5-4) which is arranged on the top of the first servo frame (2-5-1) and is used to press the top plate of the workpiece against the upper surface of the inner tire mold assembly (3). The inner tire mold clamping mechanism (2-5-5) is also arranged on the first servo frame (2-5-1). The contact points between the side plate pressing wheel mechanism (2-5-2), the top plate pressing mechanism (2-5-3) and the top plate pressing wheel mechanism (2-5-4) and the workpiece are rolling friction.

7. The arm-tube fully automatic robot welding workstation according to claim 6 is characterized by: The side plate pressure wheel mechanism (2-5-2) comprises a left sliding frame (2-5-2-1) horizontally slidably arranged on one side of the first servo frame (2-5-1), two left pressure wheels (2-5-2-2) rotatably connected to the left sliding frame (2-5-2-1) and arranged along the vertical direction, a first servo screw rod module (2-5-2-3) arranged between the first servo frame (2-5-1) and the left sliding frame (2-5-2-1), and a first servo screw rod module (2-5-2-3) horizontally slidably arranged on the other side of the first servo frame (2-5-1). A right sliding frame (2-5-2-4), a telescopic plate (2-5-2-5), a first elastic telescopic connecting member (2-5-2-6) arranged on the telescopic plate (2-5-2-5) and the right sliding frame (2-5-2-4) bracket, two right pressure wheels (2-5-2-7) respectively rotatably connected to the two telescopic plates (2-5-2-5) and arranged along the vertical direction, and a second servo screw rod module (2-5-2-8) arranged between the first servo frame (2-5-1) and the right sliding frame (2-5-2-4); The top plate pressing mechanism (2-5-3) comprises a first electric cylinder (2-5-3-1) arranged on a first servo frame (2-5-1), a first connecting plate (2-5-3-2) arranged on an output shaft of the first electric cylinder (2-5-3-1), a first movable plate (2-5-3-3), a plurality of second elastic telescopic connecting members (2-5-3-4) arranged between the first connecting plate (2-5-3-2) and the first movable plate (2-5-3-3), and two long rollers (2-5-3-5) rotatably arranged on the lower surface of the first movable plate (2-5-3-3); The top plate pressing wheel mechanism (2-5-4) comprises a second electric cylinder (2-5-4-1) arranged on the first servo frame (2-5-1), a second connecting plate (2-5-4-2) arranged on the output shaft of the second electric cylinder (2-5-4-1), a second movable plate (2-5-4-3), a plurality of third elastic telescopic connecting members (2-5-4-4) arranged between the second connecting plate (2-5-4-2) and the second movable plate (2-5-4-3), and an upper pressing wheel (2-5-4-5) rotatably arranged on the lower surface of the second movable plate (2-5-4-3); The inner tube mold clamping mechanism (2-5-5) comprises a fifth cylinder (2-5-5-1) arranged at the upper end of a left sliding frame (2-5-2-1), a left clamping block (2-5-5-2) arranged on the cylinder shaft of the fifth cylinder (2-5-5-1), a sixth cylinder (2-5-5-3) arranged on the right sliding frame (2-5-2-4), and a right clamping block (2-5-5-4) arranged on the cylinder shaft of the sixth cylinder (2-5-5-3).

8. The arm-tube fully automatic robot welding workstation according to claim 1 is characterized by: The auxiliary positioning assembly (2-6) comprises a second servo frame (2-6-1) that is movable and arranged on the main frame (2-1), two side plate positioning mechanisms (2-6-2) that are symmetrically arranged on both sides of the second servo frame (2-6-1), two bottom plate positioning mechanisms (2-6-3) that are symmetrically arranged on the second servo frame (2-6-1), and a top plate positioning mechanism (2-6-4) that is arranged on the top of the second servo frame (2-6-1); The side plate positioning mechanism (2-6-2) comprises a lifting plate (2-6-2-1) vertically lifted and arranged on the second servo frame (2-6-1), a seventh cylinder (2-6-2-2) arranged between the second servo frame (2-6-1) and the lifting plate (2-6-2-1), and a first stopper (2-6-2-3) arranged on the lifting plate (2-6-2-1) and used for positioning an end surface of the side plate of the workpiece; The bottom plate positioning mechanism (2-6-3) comprises a moving plate (2-6-3-1) horizontally slidably arranged on the second servo frame (2-6-1), an eighth cylinder (2-6-3-2) arranged between the second servo frame (2-6-1) and the moving plate (2-6-3-1), and a second stopper (2-6-3-3) arranged on the moving plate (2-6-3-1) and used for positioning an end surface of the bottom plate; The top plate positioning mechanism (2-6-4) comprises an upper pressing plate (2-6-4-1) vertically lifted and arranged on the second servo frame (2-6-1), a ninth cylinder (2-6-4-2) arranged between the second servo frame (2-6-1) and the upper pressing plate (2-6-4-1), a third stopper (2-6-4-3) arranged on the upper pressing plate (2-6-4-1) and used for positioning one end surface of the top plate of the workpiece, and a support plate (2-6-4-4) arranged on the upper pressing plate (2-6-4-1) and used for placing the top plate of the workpiece.

9. The arm-tube fully automatic robot welding workstation according to claim 1, characterized in that: The inner tube mold assembly (3) comprises an inner tube mold welding frame (3-1), a plurality of movable rollers (3-2) arranged at the bottom of the inner tube mold welding frame (3-1), hanging ears (3-3) arranged at both ends of the inner tube mold welding frame (3-1), and a connecting ring (3-4) arranged at one end of the inner tube mold welding frame (3-1).

10. The arm-tube fully automatic robot welding workstation according to claim 1, characterized in that: When welding a workpiece of a certain specification, perform the following steps: (S1) First, two gantry walking frames (1-2) are placed at the starting end and the end end of the gantry walking track (1-1): (S2) hoisting the bottom plate of the workpiece, and positioning the bottom plate through the bottom plate centering component (2-2) and the auxiliary positioning component (2-6); (S3) the inner tube mold clamping mechanism (2-5-5) of the assembly-pair pressing assembly (2-5) clamps the inner tube mold assembly (3), the assembly-pair pressing assembly (2-5) moves to the starting point of the main frame (2-1), and places the inner tube mold assembly (3) at the starting point end of the bottom plate; (S4) hoisting the side plate of the workpiece, positioning the side plate through the side plate centering assembly (2-3) and the auxiliary positioning assembly (2-6), and flipping the side plate through the side plate flipping assembly (2-4) so ​​that the two side plates are located on both sides of the bottom plate; (S5) hoisting the top plate of the workpiece, overlapping the top of the two side plates, and positioning one end of the top plate by the auxiliary positioning assembly (2-6); (S6) The pressing assembly (2-5) is operated to press the two side plates against the two side end surfaces of the inner tube mold assembly (3), and to press the top plate against the upper surface of the inner tube mold assembly (3), thereby completing the positioning of the four plates of the workpiece; (S7) The gantry walking frame (1-2) located at the starting end of the gantry walking track (1-1) moves toward the end of the gantry walking track (1-1), and during the movement, two welding robots (1-3) perform spot welding on the joint seams of the four plates of the workpiece (each welding robot (1-3) is responsible for the two joint seams on the near side), cooperate with the winch (2-8) to pull the inner tube mold assembly (3) to move, and the group clamping assembly (2-5) follows the inner tube mold assembly (3) to move, ensuring that the four plates near the spot welding position can maintain accurate positioning; (S8) The two gantry walking frames (1-2) start to move from the end of the gantry walking track (1-1), and the four welding robots (1-3) synchronously perform full welding on the joint seams of the four plates. At the same time, the smoke is collected and processed through the dust removal system (1-5) and the dust removal hood (16). After completion, the product is unloaded.

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