Flexible intelligent accessory welding device and welding method thereof

Abstract

The invention discloses an accessory flexible intelligent welding device and a welding method thereof.The accessory flexible intelligent welding device comprises a working table, a welding robot is installed on the working table, a welding guide frame is installed at the driving end of the welding robot, a welding gun assembly is installed in the welding guide frame, and a welding power source module is installed in the welding guide frame; a three-dimensional scanning module is further installed on the welding guide frame, a detection mechanism is installed at the bottom of the welding guide frame through a rotating shaft, a clamp table is arranged on one side of the working table, a plurality of moving bases are arranged on the clamp table in a sliding fit mode, first clamping assemblies are installed on the moving bases, and symmetrical supporting plates are further installed on one side of the clamp table. A magnetic attraction base is installed on the supporting plate, a supporting wheel is further arranged on one side of the supporting plate, and meanwhile second clamping assemblies are further installed on the two sides of the clamp table. The multi-point synchronous welding device has the advantages of being capable of clamping accessories of different shapes and specifications, free in rotation and movement, higher in flexibility, capable of conducting multi-point synchronous welding and real-time weld joint recognition and flaw detection monitoring and capable of improving the welding quality.

Description

Technical Field

[0001] The present invention belongs to the technical field of welding processing, and more specifically, particularly relates to a flexible intelligent welding device for accessories and a welding method thereof. Background Art

[0002] In modern manufacturing, welding of accessories is crucial; with the increasing demand for product diversification and personalization, traditional welding equipment and methods have gradually exposed many limitations.

[0003] The Chinese patent with publication number CN115815895B discloses an intelligent flexible welding system, which includes a frame and a manipulator and a welding platform installed on the frame, the manipulator is used to install the welding head, the welding platform includes a base, a fixed mounting plate and a movable mounting plate, the base is arranged on the frame, the fixed mounting plate is rotatably mounted on the base and connected to a power device for driving the fixed mounting plate to rotate vertically relative to the base; the fixed mounting plate is opposite to the movable mounting plate and is arranged at intervals, and the fixed mounting plate and the movable mounting plate are used to place the unit section; a sliding device for adjusting the distance from the movable mounting plate to the fixed mounting plate is arranged between the fixed mounting plate and the movable mounting plate. This application has the effect of enabling the unit section to be welded automatically.

[0004] Although the above patent can perform flexible welding operations, the following are the problems: the welding structures of the existing welding devices are mostly fixed and cannot meet the requirements of clamping accessories of different specifications and shapes. At the same time, it is necessary to frequently replace the tooling fixtures or even the entire welding equipment, which has poor flexibility, resulting in low production efficiency and increased production costs. At the same time, multi-point synchronous welding cannot be performed during the welding process, which can easily lead to welding defects such as cold welding and leaking welding, affecting the overall performance and reliability of the product. In addition, when faced with complex welding paths and multi-task welding requirements, the existing welding devices cannot accurately identify and scan welds, cannot monitor the actual welding quality after welding, there is high temperature during the welding process, cannot perform fixed-point heat dissipation and cooling, and cannot be flexibly moved and adjusted. Summary of the invention

[0005] In view of the deficiencies in the prior art, the present invention provides a flexible intelligent welding device for accessories and a welding method thereof to solve the problems raised in the above-mentioned background technology.

[0006] To achieve the above objectives, the present invention is implemented through the following technical solutions: a flexible intelligent welding device for accessories and a welding method thereof, comprising a workbench, a welding robot is installed on the workbench, one side of the welding robot is electrically connected to a control console, and operations are executed and data transmission and sorting is performed through the control console. A welding guide frame is installed on the driving end of the welding robot, a welding gun assembly is installed in the welding guide frame, and continuous welding is performed through the welding gun assembly. A welding power supply module is installed in the welding guide frame, and a three-dimensional scanning module is also installed on the welding guide frame. The three-dimensional scanning module is located above the main welding gun, and weld identification is performed through the three-dimensional scanning module. The bottom of the welding guide frame is equipped with a detection The measuring mechanism comprises a fixture table provided on one side of the workbench, and the fixture table is used to clamp different workpieces. An electric rotating disk is provided at the center of the bottom of the fixture table, and the top of the electric rotating disk is connected to the fixture table through an adapter seat. A symmetrical slide rail is provided on the fixture table, and a plurality of movable seats are slidably matched on the symmetrical slide rail. A first clamping assembly is installed on each of the plurality of movable seats. A symmetrical support plate is also installed on one side of the fixture table, and a magnetic seat is installed on the support plate. A support wheel is also provided on one side of the support plate. Small plate-like workpieces can be fixed by the magnetic seat and the support wheel. At the same time, second clamping assemblies are installed on both sides of the fixture table for independent clamping and angle adjustment, and large-size panels can be fixed and clamped in combination with the magnetic seat.

[0007] As an optional solution of the present invention, the welding gun assembly includes a main welding gun, which is mounted on a slide seat, and the slide seat is slidably fitted in a welding guide frame. One side of the slide seat is connected to a first electric cylinder, and the first electric cylinder is fixed in the welding guide frame and is located below the welding power supply module. The main welding gun is connected to the welding power supply module, and an adjusting arm is installed on the guide welding frame through a rotating shaft. The adjusting arm is driven to rotate by a first motor located on one side of the guide welding frame, and an auxiliary welding gun is installed at the bottom end of the adjusting arm, and the auxiliary welding gun is also connected to the welding power supply module.

[0008] As an optional solution of the present invention, the three-dimensional scanning module includes a ToF camera, which is installed in a welding guide frame. A scanning light source is provided at the bottom of the ToF camera, and scanning is performed by fusion of the scanning light source + ToF camera.

[0009] As an optional solution of the present invention, the detection mechanism includes a detection seat, adjustment frames are arranged on both sides of the detection seat, the adjustment frames are symmetrically fixed on the bottom of the welding guide frame, and arc-shaped guide holes are arranged in the adjustment frames. The position of the detection seat is fixed by bolts in the arc-shaped guide holes for angle adjustment. A detection module is arranged on the detection seat, and the detection module is composed of an ultrasonic flaw detector and an infrared thermal imaging sensor. The infrared thermal imaging sensor is used to monitor the molten pool state in real time, and feedback is adjusted to adjust the welding speed and current; the ultrasonic flaw detector performs self-inspection of weld quality and generates a report.

[0010] As an optional solution of the present invention, a radiator is also provided in the detection seat, and symmetrical heat dissipation ports are provided on the detection seat. The heat dissipation ports are located on both sides of the detection module and are connected to the radiator inside, so as to perform welding cooling, improve welding quality, and avoid overheating of the welding environment.

[0011] As an optional solution of the present invention, brake universal wheels are installed under the four supporting feet at the bottom of the clamping table, and movement and steering are performed by the brake universal wheels.

[0012] As an optional solution of the present invention, the first clamping assembly includes a pneumatic three-jaw chuck, the jaws of the pneumatic three-jaw chuck are equipped with an arc-shaped clamping plate, and pipe fittings and cylindrical workpieces are clamped by the arc-shaped clamping plate, each movable seat is also provided with a side mounting seat on one side, the side mounting seat is equipped with a second electric cylinder, a clamping frame is provided at the pushing end of the second electric cylinder, a pneumatic clamping jaw is fixed in the clamping frame, a positioning clamping plate is installed on each jaw of the pneumatic clamping jaw, a V-shaped groove is provided in the positioning clamping plate, and a columnar workpiece is positioned by the V-shaped groove, a first conveyor belt is provided on one side of the multiple movable seats, both ends of the first conveyor belt are positioned by pulleys, and the pulleys are installed in the first In a conveying seat, the first conveying seat is fixed at two ends of the clamping table, and a second conveying belt is arranged on the other side of the multiple moving seats. The two ends of the second conveying belt are also positioned by pulleys, and the pulleys are installed in the second conveying seat. The second conveying seat is symmetrically fixed at two ends of the clamping table. The first conveying seat and the pulleys in the second conveying seat are connected and transmitted through a rotating shaft. A second motor is arranged on one side of the clamping table, and the driving end of the second motor is connected to the rotating shaft in the second conveying seat to drive the first conveying belt and the second conveying belt to transmit synchronously. The adjacent moving seats located in the center of the clamping table are respectively connected to the upper and lower sections of the first conveying belt, and the moving seats located at both ends of the clamping table are respectively connected to the upper and lower sections of the second conveying belt.

[0013] As an optional solution of the present invention, the second clamping assembly includes an adjusting seat, a third motor is installed on one side of the adjusting seat, a driving end of the third motor is connected to a rotating plate, a support seat is on the rotating plate, a mounting plate is also provided at the bottom of the support seat, a cylinder is fixed on the mounting plate, a pressure plate is connected to the pushing end of the cylinder, and the pressure plate is opposite to the support seat.

[0014] As an optional scheme of the present invention, a symmetrical rotation adjustment mechanism is provided at the bottom of the clamping table, and the rotation adjustment mechanism includes a third electric cylinder, the third electric cylinder is fixed at the bottom of the clamping table, and the pushing end of the third electric cylinder is provided with a rack block, the rack block is slidably fitted in a hanging seat installed at the bottom of the clamping table, and a gear is meshed at the bottom of the rack block, and the gear is assembled on the rotating shaft, and the rotating shaft is positioned by bearing plates installed on both sides of the clamping table, positioning rods are fixed at both ends of the rotating shaft, and positioning rods are connected at both ends of the rotation adjustment mechanism at both ends of the rotating shaft, and large plate parts are quickly positioned around by the positioning rods, and a slide groove is provided in the positioning rod, and an adjusting rod is slidably fitted in the slide groove, and a locking bolt is threaded on the adjusting rod, and the adjusting rod is fastened in the slide groove by the locking bolt, and a limit block is provided on the top of the adjusting rod, and the limit block is used to limit the fixed point.

[0015] A welding method of a flexible intelligent welding device for accessories, comprising the following steps:

[0016] S1. Adaptive clamping is performed according to workpieces of different types and specifications. Columnar workpieces are positioned up and down by the pneumatic three-jaw cylinder on the fixture table combined with the pneumatic clamp, and plate-shaped workpieces are supported and positioned by the magnetic seat and the support seat;

[0017] S2, for columnar workpieces; start the second motor to drive the multiple moving seats on the first conveyor belt and the multiple moving seats on the second conveyor belt to adjust the spacing to avoid interference with the workpieces and stabilize the clamping;

[0018] S3. For the plate-shaped workpiece, start the third electric cylinder to drive the positioning rods at both ends of the rotating shaft to rotate, further limit the position, and move the adjustment rod to adjust the extension;

[0019] S4. After clamping is completed, the welding robot is started through the console. The welding robot drives the welding guide frame to rotate with multiple degrees of freedom in space. Through the fusion scanning of the scanning light source + ToF camera, the contour and weld position data of the parts to be welded are obtained for rapid positioning.

[0020] S5. After identification and positioning, the welding robot is started to drive the main welding gun on the welding guide frame to perform dynamic path welding. When multi-point synchronous welding is required, the first motor is started to drive the adjustment arm to rotate and adjust, and the auxiliary welding gun performs welding operations on the remaining welding points to quickly weld the points;

[0021] S6. During welding, the infrared thermal imaging sensor on the detection seat monitors the state of the molten pool in real time, and adjusts the welding speed and current through feedback;

[0022] S7. After welding is completed, use the ultrasonic flaw detector on the detection seat to perform self-inspection of weld quality and generate a report. If welding defects occur, repair welding should be carried out in time;

[0023] S8. Start the radiator in the test seat to quickly cool the welding point through the heat dissipation port. If necessary, adjust the angle of the test seat and the heat dissipation direction.

[0024] S9. Start the electric rotating disk to rotate and adjust the clamping table, and flexibly move the clamping table according to the actual welding technical requirements.

[0025] The present invention provides a flexible intelligent welding device for accessories and a welding method thereof, which have the following beneficial effects:

[0026] Adaptive clamping is performed according to workpieces of different types and specifications. The columnar workpiece is positioned up and down by the pneumatic three-jaw cylinder on the fixture table combined with the pneumatic clamp, and the plate-shaped workpiece is supported and positioned by the magnetic seat and the support seat; the second motor drives the multiple moving seats on the first conveyor belt and the multiple moving seats on the second conveyor belt to adjust the spacing to avoid workpiece interference and stabilize clamping; the third electric cylinder drives the positioning rods at both ends of the rotating shaft to rotate for further limiting, and the moving adjustment rod is adjusted for telescopic adjustment, which is suitable for workpieces of different sizes and heights.

[0027] Through the fusion scanning of scanning light source + ToF camera, the contour and weld position data of the parts to be welded are obtained for rapid positioning; by setting the main welding gun on the welding guide frame and the auxiliary welding gun on the adjusting arm, single-point or double-point synchronous welding can be performed, the welding points can be quickly welded, and the welding stability is improved.

[0028] The infrared thermal imaging sensor on the detection base monitors the state of the molten pool in real time, and adjusts the welding speed and current through feedback; the ultrasonic flaw detector on the detection base is used to perform self-inspection of weld quality and generate a report; the weld is quickly cooled through the heat dissipation port, and the angle of the detection base can be adjusted to adjust the heat dissipation direction when necessary.

[0029] The clamping table can be rotated and adjusted through the electric rotating disk, and the clamping table with brake universal wheels can be flexibly moved according to the actual welding technical requirements. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] Figure 1 It is a structural schematic diagram of the present invention;

[0031] Figure 2 It is a front view of the present invention;

[0032] Figure 3 It is the AA cross-sectional view of the present invention;

[0033] Figure 4 It is a structural schematic diagram of another perspective of the present invention;

[0034] Figure 5 It is a structural schematic diagram of the fixture table of the present invention;

[0035] Figure 6 For the present invention Figure 5 Top view

[0036] Figure 7 For the present invention Figure 4 A partial enlarged view of area A;

[0037] Figure 8 For the present invention Figure 4 A partial enlarged view of area B;

[0038] Fig. 9 It is a structural schematic diagram of a welding guide frame and a welding gun assembly of the present invention;

[0039] Fig.10 For the present invention Fig. 9 sectional view of .

[0040] In the figure: 1. workbench; 2. welding robot; 3. control console; 4. welding guide frame; 5. welding power module; 6. first electric cylinder; 7. first motor; 8. adjusting arm; 801. auxiliary welding gun; 9. main welding gun; 10. slide seat; 11. adjusting frame; 111. arc guide hole; 12. detection seat; 13. heat dissipation port; 131. heat sink; 14. ToF camera; 141. scanning light source; 15. detection module; 151. ultrasonic flaw detector; 152. infrared thermal imaging sensor; 16. fixture table; 161. brake universal wheel; 17. electric rotating disk; 171. adapter seat; 18. second motor; 19. first conveyor seat; 191. first conveyor belt; 20. The second conveying seat; 201, the second conveyor belt; 21, the moving seat; 22, the pneumatic three-jaw chuck; 221, the arc-shaped clamping plate; 23, the side mounting seat; 231, the second electric cylinder; 232, the clamping frame; 24, the pneumatic clamping jaws; 241, the positioning clamping plate; 25, the supporting plate; 251, the magnetic seat; 252, the supporting wheel; 26, the positioning rod; 261, the adjusting rod; 262, the limiting block; 263, the locking bolt; 27, the adjusting seat; 271, the third motor; 272, the rotating plate; 273, the supporting seat; 274, the mounting plate; 275, the cylinder; 276, the pressing plate; 28, the third electric cylinder; 29, the rack block; 30, the gear; 31, the lifting seat; 32, the rotating shaft; 33, the bearing plate. DETAILED DESCRIPTION

[0041] The following embodiments of the present invention are described in further detail in conjunction with the accompanying drawings and examples. The following examples are used to illustrate the present invention, but are not intended to limit the scope of the present invention.

[0042] In the description of the present invention, unless otherwise specified, "plurality" means two or more than two; the orientations or positional relationships indicated by the terms "upper", "lower", "left", "right", "inner", "outer", "front end", "rear end", "head", "tail", etc. are based on the orientations or positional relationships shown in the drawings, and are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operate in a specific orientation, and therefore cannot be understood as limiting the present invention. In addition, the terms "first", "second", "third", etc. are only used for descriptive purposes and cannot be understood as indicating or implying relative importance.

[0043] In the description of the present invention, it should be noted that, unless otherwise clearly specified and limited, the terms "connected" and "connection" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0044] See also Figures 1 to 4 The present invention provides a technical solution: a flexible intelligent welding device for accessories and a welding method thereof, comprising a workbench 1, a welding robot 2 is installed on the workbench 1, one side of the welding robot 2 is electrically connected to a control console 3, and the operation is executed and the data is transmitted and sorted through the control console 3. A welding guide frame 4 is installed at the driving end of the welding robot 2, and a welding gun assembly is installed in the welding guide frame 4. Continuous welding is performed through the welding gun assembly. A welding power supply module 5 is installed in the welding guide frame 4. The welding power supply module 5 adopts an arc welding transformer or an inverter welding machine to provide the electric energy required for welding and ensure the continuous operation of the welding gun.

[0045] like Figure 9-10 As shown, the welding gun assembly includes a main welding gun 9, which is mounted on a slide 10, and the slide 10 is slidably fitted in the welding guide frame 4. One side of the slide 10 is connected to the first electric cylinder 6, and the first electric cylinder 6 is fixed in the welding guide frame 4 and is located below the welding power supply module 5. The main welding gun 9 is connected to the welding power supply module 5, and an adjusting arm 8 is installed on the guide welding frame through a rotating shaft. The adjusting arm 8 is driven to rotate by a first motor 7 located on one side of the guide welding frame. An auxiliary welding gun 801 is installed at the bottom end of the adjusting arm 8, and the auxiliary welding gun 801 is also connected to the welding power supply module 5, so that unidirectional or bidirectional synchronous welding can be performed according to the actual workpiece, and electric welding can be performed quickly to improve welding stability. A three-dimensional scanning module is also installed on the welding guide frame 4, and the three-dimensional scanning module is located above the main welding gun 9.

[0046] The three-dimensional scanning module includes a ToF camera 14, which is installed in the welding guide frame 4. A scanning light source 141 is arranged at the bottom of the ToF camera 14. The welding seam positioning accuracy of ±0.05mm is achieved through the fusion scanning of the scanning light source 141 + ToF camera 14. A detection mechanism is installed at the bottom of the welding guide frame 4 through a rotating shaft. The detection mechanism includes a detection seat 12. Adjustment frames 11 are arranged on both sides of the detection seat 12. The adjustment frames 11 are symmetrically fixed at the bottom of the welding guide frame 4. An arc-shaped guide hole 111 is arranged in the adjustment frame 11. The position of the detection seat 12 is fixed by bolts in the arc-shaped guide hole 111 for angle adjustment.

[0047] A detection module 15 is arranged on the detection seat 12. The detection module 15 consists of an ultrasonic flaw detector 151 and an infrared thermal imaging sensor 152. The infrared thermal imaging sensor 152 monitors the state of the molten pool in real time, and feedback adjusts the welding speed and current. After welding is completed, the ultrasonic flaw detector 151 is used to perform self-inspection of the weld quality and generate a report. In addition, a radiator 131 is arranged in the detection seat 12. Symmetrical heat dissipation ports 13 are arranged on the detection seat 12. The heat dissipation ports 13 are located on both sides of the detection module 15 and are connected to the heat sink 131 inside, so as to perform welding cooling, improve welding quality, and avoid overheating of the welding environment.

[0048] like Figure 5-6 As shown, a fixture table 16 is provided on one side of the workbench 1, and the fixture table 16 is used to clamp different workpieces and perform welding operations on different workpieces. Brake universal wheels 161 are installed under the four support feet at the bottom of the fixture table 16, and the fixture table 16 is moved and steered by the brake universal wheels 161. An electric rotating disk 17 is provided at the center of the bottom of the fixture table 16, and the top of the electric rotating disk 17 is connected to the fixture table 16 through an adapter seat 171, thereby driving the fixture table 16 to rotate in a directional manner, which is flexible and changeable. Symmetrical slide rails are provided on the fixture table 16, and a plurality of moving seats 21 are slidably matched on the symmetrical slide rails, and a first clamping assembly is installed on each of the plurality of moving seats 21.

[0049] The first clamping assembly includes a pneumatic three-jaw chuck 22, on which the jaws of the pneumatic three-jaw chuck 22 are installed an arc-shaped clamping plate 221, through which pipe fittings and cylindrical workpieces are clamped, and a side mounting seat 23 is also provided on one side of each movable seat 21, on which a second electric cylinder 231 is installed, and a clamping frame 232 is provided at the push-out end of the second electric cylinder 231, and a pneumatic clamping jaw 24 is fixed in the clamping frame 232, and a positioning clamping plate 241 is installed on each jaw of the pneumatic clamping jaw 24, and a V-shaped groove is provided in the positioning clamping plate 241, and the columnar workpiece is positioned by the V-shaped groove to ensure the stability of workpiece welding, and a first conveyor belt 191 is provided on one side of the plurality of movable seats 21, and both ends of the first conveyor belt 191 are positioned by pulleys, and the pulleys are installed in the first conveying seat 19, and the first conveying seat 19 is fixed on both sides of the fixture table 16 The second conveyor belt 201 is arranged on the other side of the plurality of movable seats 21, and the two ends of the second conveyor belt 201 are also positioned by pulleys, which are installed in the second conveyor seat 20, and the second conveyor seat 20 is symmetrically fixed at the two ends of the fixture table 16. The pulleys in the first conveyor seat 19 and the second conveyor seat 20 are connected and transmitted through a rotating shaft. A second motor 18 is arranged on one side of the fixture table 16, and the driving end of the second motor 18 is connected to the rotating shaft in the second conveyor seat 20, so as to drive the first conveyor belt 191 and the second conveyor belt 201 to transmit synchronously. The movable seats 21 adjacent to each other in the center of the fixture table 16 are respectively connected to the upper and lower sections of the first conveyor belt 191, and the movable seats 21 located at both ends of the fixture table 16 are respectively connected to the upper and lower sections of the second conveyor belt 201, so as to realize the mutual approach or distance between the two, and flexibly move according to workpieces of different specifications to avoid interference.

[0050] A symmetrical support plate 25 is also installed on one side of the clamp table 16, and a magnetic seat 251 is installed on the support plate 25. A support wheel 252 is also provided on one side of the support plate 25. Small plate-like workpieces can be fixed by the magnetic seat 251 and the support wheel 252. At the same time, second clamping components are also installed on both sides of the clamp table 16, and the second clamping components include an adjusting seat 27, and a third motor 271 is installed on one side of the adjusting seat 27. The driving end of the third motor 271 is connected to a rotating plate 272, and a support seat 273 is provided on the rotating plate 272. A mounting plate 274 is also provided at the bottom of the support seat 273, and a cylinder 275 is fixed on the mounting plate 274. A pressing plate 276 is connected to the pushing end of the cylinder 275, and the pressing plate 276 is opposite to the supporting seat 273, so as to realize quick clamping. It can not only clamp independently and adjust the angle, but also can be combined with the magnetic seat 251 to fix and clamp large-size panels, which is flexible and changeable.

[0051] like Figure 8-9As shown, a symmetrical rotation adjustment mechanism is provided at the bottom of the clamping table, and the rotation adjustment mechanism includes a third electric cylinder 28, and the third electric cylinder 28 is fixed at the bottom of the clamping table 16. A rack block 29 is provided at the push-out end of the third electric cylinder 28. The rack block 29 is slidably fitted in a hanging seat 31 installed at the bottom of the clamping table 16. A gear 30 is meshed at the bottom of the rack block 29. The gear 30 is assembled on a rotating shaft 32. The rotating shaft 32 is positioned by bearing plates 33 installed on both sides of the clamping table 16. Positioning rods 26 are fixed at both ends of the rotating shaft 32. The rod 26 can quickly position the large plate around to avoid shaking. A slide groove is arranged in the positioning rod 26, and an adjusting rod 261 is slidably fitted in the slide groove. The adjusting rod 261 is threaded with a locking bolt 263, and the adjusting rod 261 is fastened in the slide groove by the locking bolt 263. A limit block 262 is arranged on the top of the adjusting rod 261, and fixed-point limiting is achieved by the limit block 262 to improve the clamping stability. The entire fixture table 16 can perform various clamping and fixing on workpieces of different types and sizes, and can be composed of clamping, which is flexible and changeable.

[0052] A welding method of a flexible intelligent welding device for accessories, comprising the following steps:

[0053] S1. Adaptive clamping is performed according to workpieces of different types and specifications. The columnar workpiece is positioned up and down by the pneumatic three-jaw cylinder 275 on the fixture table 16 combined with the pneumatic clamp 24, and the plate-shaped workpiece is supported and positioned by the magnetic seat 251 and the support seat 273;

[0054] S2, for columnar workpieces; start the second motor 18 to drive the multiple moving seats 21 on the first conveyor belt 191 and the multiple moving seats 21 on the second conveyor belt 201 to adjust the spacing to avoid interference with the workpieces and stabilize the clamping;

[0055] S3. For the plate-shaped workpiece, the third electric cylinder 28 is started to drive the positioning rods 26 at both ends of the rotating shaft 32 to rotate for further limiting, and the adjusting rod 261 is moved for telescopic adjustment, which is suitable for workpieces of different sizes and heights;

[0056] S4. After the clamping is completed, the welding robot 2 is started through the console 3. The welding robot 2 drives the welding guide frame 4 to rotate with multiple degrees of freedom in space. The contour and weld position data of the parts to be welded are obtained through the fusion scanning of the scanning light source 141 + ToF camera 14, and the positioning is fast.

[0057] S5. After identification and positioning, the welding robot 2 is started to drive the main welding gun 9 on the welding guide frame 4 to perform dynamic path welding. When multi-point synchronous welding is required, the first motor 7 is started to drive the adjustment arm 8 to rotate and adjust, and the auxiliary welding gun 801 performs welding operations on the remaining welding points, and the welding points are welded quickly to avoid warping and leaving gaps at the welding points;

[0058] S6. During the welding process, the infrared thermal imaging sensor 152 on the detection seat 12 monitors the state of the molten pool in real time, and adjusts the welding speed and current through feedback;

[0059] S7. After welding is completed, the ultrasonic flaw detector 151 on the detection seat 12 is used to perform a self-inspection of the weld quality and generate a report. If welding defects occur, repair welding is performed in time.

[0060] Welding defects such as lack of fusion, lack of penetration, cracks, pores, etc. are detected and analyzed one by one. The following are the concentrated defect forms:

[0061] Unfused features: The base metal and weld metal are not combined, which often occurs at the edge of the groove or between layers;

[0062] Incomplete penetration characteristics: The root of the weld is not fully penetrated, showing a linear continuous defect;

[0063] Crack characteristics: sharp linear defects with strong directionality, possibly accompanied by stress concentration;

[0064] Porosity characteristics: isolated or clustered spherical defects with low and scattered reflection amplitude;

[0065] The ultrasonic flaw detector 151 will locate and record the defect report:

[0066] Quantitative: Calculate the defect location through the sound path (horizontal / depth positioning method) and record the equivalent size corresponding to the maximum amplitude.

[0067] Qualitative: Determine the defect type based on waveform characteristics (such as reflection wave shape and dynamic envelope).

[0068] Marking report: Mark the defect boundary on the weld surface (error ±5mm), draw the defect distribution map and generate a report.

[0069] S8, start the radiator 131 in the detection seat 12, and quickly cool the welding point through the heat dissipation port 13. If necessary, adjust the angle of the detection seat 12 to adjust the heat dissipation direction;

[0070] S9, start the electric rotating disk 17, the clamping table can be rotated and adjusted, and the clamping table 16 can be flexibly moved according to the actual welding technical requirements.

[0071] The device embodiments described above are merely illustrative, wherein the units described as separate components may or may not be physically separated, and the components displayed as units may or may not be physical units, that is, they may be located in one place, or they may be distributed on multiple network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the scheme of this embodiment. Ordinary technicians in this field can understand and implement it without paying creative labor.

[0072] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A flexible intelligent welding device for accessories, characterized in that: The invention comprises a workbench (1), on which a welding robot (2) is installed, one side of the welding robot (2) is electrically connected to a control console (3), and the operation is executed and data transmission and sorting are performed through the control console (3); a welding guide frame (4) is installed at the driving end of the welding robot (2), a welding gun assembly is installed in the welding guide frame (4), and continuous welding is performed through the welding gun assembly; a welding power supply module (5) is installed in the welding guide frame (4); a three-dimensional scanning module is also installed on the welding guide frame (4), and the three-dimensional scanning module is located above the main welding gun (9), and weld seam identification is performed through the three-dimensional scanning module; a detection mechanism is installed at the bottom of the welding guide frame (4) through a rotating shaft; a fixture table (16) is provided on one side of the workbench (1), and the fixture table (16) is used to clamp different workpieces; An electric rotating disk (17) is arranged at the center of the bottom of the fixture table (16), and the top of the electric rotating disk (17) is connected to the fixture table (16) through an adapter seat (171). A symmetrical slide rail is arranged on the fixture table (16), and a plurality of movable seats (21) are slidably matched on the symmetrical slide rail. A first clamping assembly is installed on each of the plurality of movable seats (21). A symmetrical support plate (25) is also installed on one side of the fixture table (16), and a magnetic seat (251) is installed on the support plate (25). A support wheel (252) is also arranged on one side of the support plate (25). Small plate-like workpieces can be fixed by means of the magnetic seat (251) and the support wheel (252). At the same time, second clamping assemblies are also installed on both sides of the fixture table (16), which can be clamped independently and adjusted in angle, and can be combined with the magnetic seat (251) to fix and clamp large-sized panels.

2. The flexible intelligent welding device for accessories according to claim 1, characterized in that: The welding gun assembly comprises a main welding gun (9), wherein the main welding gun (9) is mounted on a slide seat (10), wherein the slide seat (10) is slidably fitted in a welding guide frame (4), wherein one side of the slide seat (10) is connected to a first electric cylinder (6), wherein the first electric cylinder (6) is fixed in the welding guide frame (4) and is located below a welding power supply module (5), wherein the main welding gun (9) is connected to the welding power supply module (5), wherein an adjusting arm (8) is mounted on the guide welding frame via a rotating shaft, wherein the adjusting arm (8) is driven to rotate by a first motor (7) located on one side of the guide welding frame, wherein an auxiliary welding gun (801) is mounted at the bottom end of the adjusting arm (8), wherein the auxiliary welding gun (801) is also connected to the welding power supply module (5).

3. The flexible intelligent welding device for accessories according to claim 1 is characterized in that: The three-dimensional scanning module comprises a ToF camera (14), wherein the ToF camera (14) is installed in a welding guide frame (4), and a scanning light source (141) is arranged at the bottom of the ToF camera (14), and scanning is performed by fusion of the scanning light source (141) and the ToF camera (14).

4. The flexible intelligent welding device for accessories according to claim 1 is characterized in that: The detection mechanism comprises a detection seat (12), and adjustment frames (11) are arranged on both sides of the detection seat (12). The adjustment frames (11) are symmetrically fixed on the bottom of the welding guide frame (4), and an arc-shaped guide hole (111) is arranged in the adjustment frame (11). The detection seat (12) is fixed in position by bolts in the arc-shaped guide hole (111) to adjust the angle. The detection seat (12) is provided with a detection module (15), and the detection module (15) is composed of an ultrasonic flaw detector (151) and an infrared thermal imaging sensor (152). The infrared thermal imaging sensor (152) monitors the state of the molten pool in real time, and feedback adjusts the welding speed and current; the ultrasonic flaw detector (151) performs self-inspection of weld quality and generates a report.

5. The flexible intelligent welding device for accessories according to claim 4 is characterized in that: A heat sink (131) is also provided in the detection seat (12), and symmetrical heat dissipation ports (13) are provided on the detection seat (12). The heat dissipation ports (13) are located on both sides of the detection module (15) and are connected to the heat sink (131) inside, so as to perform welding cooling, improve welding quality, and avoid overheating of the welding environment.

6. The flexible intelligent welding device for accessories according to claim 1, characterized in that: Braking universal wheels (161) are installed under the four supporting feet at the bottom of the clamping platform (16), and movement and steering are performed by means of the braking universal wheels (161).

7. The flexible intelligent welding device for accessories according to claim 1 is characterized in that: The first clamping assembly comprises a pneumatic three-jaw chuck (22), the jaws of the pneumatic three-jaw chuck (22) are provided with an arc-shaped clamping plate (221), and pipe fittings and cylindrical workpieces are clamped by means of the arc-shaped clamping plate (221). A side mounting seat (23) is also provided on one side of each movable seat (21), and a second electric cylinder (231) is provided on the side mounting seat (23), and a clamping frame (232) is provided at the pushing end of the second electric cylinder (231), and a pneumatic clamping jaw (24) is fixed in the clamping frame (232), and each jaw of the pneumatic clamping jaw (24) is provided with a positioning clamping plate (241), and a V-shaped groove is provided in the positioning clamping plate (241), and a columnar workpiece is positioned by means of the V-shaped groove. A first conveying belt (191) is provided on one side of the plurality of movable seats (21), and both ends of the first conveying belt (191) are positioned by pulleys, and the pulleys are installed in the first conveying seat (19), and the first A conveying seat (19) is fixed at two ends of the fixture platform (16); a second conveying belt (201) is arranged on the other side of the plurality of movable seats (21); two ends of the second conveying belt (201) are also positioned by pulleys, which are installed in the second conveying seat (20); the second conveying seat (20) is symmetrically fixed at two ends of the fixture platform (16); the pulleys in the first conveying seat (19) and the second conveying seat (20) are connected and transmitted through a rotating shaft; a second motor (18) is arranged on one side of the fixture platform (16); a driving end of the second motor (18) is connected to the rotating shaft in the second conveying seat (20), and drives the first conveying belt (191) and the second conveying belt (201) to synchronously transmit; adjacent movable seats (21) located in the center of the fixture platform (16) are respectively connected to the upper and lower sections of the first conveying belt (191); and movable seats (21) located at two ends of the fixture platform (16) are respectively connected to the upper and lower sections of the second conveying belt (201).

8. The flexible intelligent welding device for accessories according to claim 1, characterized in that: The second clamping assembly includes an adjustment seat (27), a third motor (271) is installed on one side of the adjustment seat (27), a driving end of the third motor (271) is connected to a rotating plate (272), a support seat (273) is provided on the rotating plate (272), a mounting plate (274) is also provided at the bottom of the support seat (273), a cylinder (275) is fixed on the mounting plate (274), a pressing plate (276) is connected to the pushing end of the cylinder (275), and the pressing plate (276) is opposite to the supporting seat (273).

9. The flexible intelligent welding device for accessories according to claim 1, characterized in that: A symmetrical rotation adjustment mechanism is provided at the bottom of the clamping table, and the rotation adjustment mechanism includes a third electric cylinder (28), the third electric cylinder (28) is fixed at the bottom of the clamping table (16), and a rack block (29) is provided at the push-out end of the third electric cylinder (28), and the rack block (29) is slidably fitted in a hanging seat (31) installed at the bottom of the clamping table (16), and a gear (30) is meshed at the bottom of the rack block (29), and the gear (30) is assembled on a rotating shaft (32), and the rotating shaft (32) is fixed by bearing plates (33) installed on both sides of the clamping table (16). Position, positioning rods (26) are fixed at both ends of the rotating shaft (32), and both ends of the rotating shaft (32) are connected with positioning rods (26), and the large plate is quickly positioned around by the positioning rods (26), a sliding groove is arranged in the positioning rod (26), and an adjusting rod (261) is slidably matched in the sliding groove, and a locking bolt (263) is threaded on the adjusting rod (261), and the adjusting rod (261) is fastened in the sliding groove by the locking bolt (263), and a limiting block (262) is arranged on the top of the adjusting rod (261), and the fixed point is limited by the limiting block (262).

10. A welding method according to any one of claims 1 to 9, characterized in that: The following steps are involved: S1. Adaptive clamping is performed according to workpieces of different types and specifications. The columnar workpiece is positioned up and down by the pneumatic three-jaw cylinder (275) on the fixture table (16) combined with the pneumatic clamp (24), and the plate-shaped workpiece is supported and positioned by the magnetic seat (251) and the support seat (273); S2, for a columnar workpiece, starting the second motor (18) to drive the plurality of movable seats (21) on the first conveyor belt (191) and the plurality of movable seats (21) on the second conveyor belt (201) to adjust the spacing to avoid interference of the workpiece and ensure stable clamping; S3, for the plate-shaped workpiece, start the third electric cylinder (28), drive the positioning rods (26) at both ends of the rotating shaft (32) to rotate, further limit the position, and move the adjustment rod (261) to adjust the extension; S4. After the clamping is completed, the welding robot (2) is started through the control console (3). The welding robot (2) drives the welding guide frame (4) to rotate with multiple degrees of freedom in space. The contour and weld position data of the parts to be welded are obtained through the fusion scanning of the scanning light source (141) + ToF camera (14), and the positioning is fast. S5. After identification and positioning, the welding robot (2) is started to drive the main welding gun (9) on the welding guide frame (4) to perform dynamic path welding. When multi-point synchronous welding is required, the first motor (7) is started to drive the adjustment arm (8) to rotate and adjust, and the auxiliary welding gun (801) performs welding operations on the remaining welding points to quickly weld the points; S6. During the welding process, the infrared thermal imaging sensor (152) on the detection base (12) monitors the state of the molten pool in real time, and adjusts the welding speed and current through feedback; S7, after welding is completed, the ultrasonic flaw detector (151) on the detection seat (12) is used to perform a self-inspection of the weld quality and generate a report. If welding defects are found, repair welding is performed in a timely manner; S8, start the radiator (131) in the detection seat (12) to quickly cool the weld through the heat dissipation port (13). If necessary, adjust the angle of the detection seat (12) to adjust the heat dissipation direction; S9, start the electric rotating disk (17), the fixture table (16) can be rotated and adjusted, and the fixture table (16) can be flexibly moved according to actual welding technical requirements.

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