Container arc-shaped robot welding method and system

Abstract

The invention relates to the technical field of automatic welding, and discloses a container arc-shaped robot welding system which comprises a control module, a clamp module, a sensing module and a welding module, the clamp module is used for fixing and clamping a to-be-welded workpiece; the sensing module is used for acquiring in-place information of a workpiece to be welded and sending the in-place information to the control module; the control module is used for storing preset parameters of the container, analyzing and processing according to the in-place information to obtain welding parameters corresponding to the workpiece to be welded, and sending the welding parameters to the welding module; the welding module is used for executing welding operation according to the welding parameters; the problems that in the prior art, the C box production efficiency is low, streamlined mass production cannot be achieved, and the quality is not uniform can be solved.

Description

Technical Field

[0001] The present invention relates to the technical field of automatic welding, and in particular to a container arc robot welding method and system. Background Art

[0002] A container is a standardized container used to hold, load and transport parts. It is divided into A-box, B-box and C-box based on functional requirements. Among them, C-box stands out due to its unique structural design, versatility and applicability, and has become a popular choice in the industry.

[0003] With the continuous expansion of the industry and the logistics system, the application scenarios of C boxes have gradually expanded from the traditional single logistics link to a wider range of fields, such as e-commerce distribution, cold chain logistics, smart manufacturing and other industries. The frequency of use has increased significantly, and the market demand has also increased accordingly. According to statistics, the current annual demand for C boxes has exceeded 10,000 pieces and is showing a continuous upward trend.

[0004] At present, due to the structural design of the C box, which includes complex structures such as multiple parts splicing and special-shaped frames, the production of the C box mainly depends on the welding method of the operator. However, under the traditional production model, it has the following problems: (1) Low production efficiency: The C box structure adopts a construction method of multiple parts splicing and special-shaped frame reinforcement, which makes the production process cumbersome and lengthy, the welding process cumbersome, and requires multiple fine operations. In addition, the welding angle and strength requirements of each component are strict. Even if three operators are equipped to work together, they can only complete the welding of one finished C box per day. Its production efficiency is extremely low, which makes it difficult to meet the growing demand for use, seriously restricting the production progress and capacity improvement; (2) The quality of containers is not uniform: Due to the lack of standardized and normalized welding processes and operating specifications, operators can only rely on their own experience and subjective consciousness to weld, resulting in obvious differences in key indicators such as dimensional accuracy and structural strength between different batches or even the same batch of containers; (3) The workplace is messy and disorderly: Under the condition that C boxes need to be produced in large quantities, the waste and tools generated during the welding process are placed randomly, and semi-finished products and finished products are mixed and stacked, resulting in a messy visual effect at the production site. The chaotic on-site environment greatly affects the implementation effect of 5S management (sorting, reorganizing, cleaning, cleaning, and literacy), which not only reduces the cleanliness and standardization of the production site, but also affects production efficiency and product quality control to a certain extent. Summary of the invention

[0005] The present invention is intended to provide a container arc robot welding method and system to solve the problems of low production efficiency of C boxes, inability to streamline mass production and inconsistent quality in the prior art.

[0006] To achieve the above object, the present invention adopts the following technical solutions: A container arc-shaped robot welding system, including a control module and a fixture module, a sensing module, and a welding module connected to the control module; Fixture module: Used to fixedly clamp the workpiece to be welded; Sensing module: Used to obtain the in-place information of the workpiece to be welded and send the in-place information to the control module; Control module: Stores the preset parameters of the container, used to analyze and process according to the in-place information, obtain the welding parameters corresponding to the workpiece to be welded, and send the welding parameters to the welding module; Welding module: Used to perform welding operations according to the welding parameters; After the fixture module fixedly clamps the workpiece to be welded, the sensing module real-time detects the in-place information of the workpiece to be welded and sends the obtained in-place information to the control module; the control module analyzes and processes according to the in-place information, screens out the welding parameters corresponding to the workpiece to be welded from the preset parameters, and sends the welding parameters to the welding module; starts the welding module to perform welding operations.

[0007] The principle of this solution is: This solution accurately positions and clamps the welding workpiece through the fixture module to ensure its correct welding posture; subsequently, the sensing module real-time detects whether the workpiece is in place and transmits the collected in-place information to the control module; the control module intelligently matches and outputs the corresponding welding parameters to the welding module according to the information in the preset parameters, combined with the current workpiece type and in-place status; finally, the welding module performs the corresponding welding operation to complete the automated welding process.

[0008] The advantages of this solution are: (1) Through the collaborative work of each module, this solution realizes the full-process automation from workpiece clamping, in-place detection, parameter matching to welding execution, significantly improving the welding efficiency and reducing manual intervention.

[0009] (2) The sensing module can ensure the accuracy of the workpiece in place, the control module can accurately match the welding parameters, and the welding module performs welding operations according to the set parameters, which can effectively avoid human errors and ensure the consistency and reliability of the weld quality.

[0010] (3) The setting of the preset parameters makes the entire welding process highly automated, reduces manual intervention, and improves the overall efficiency of the production line.

[0011] Preferably, as an improvement, the container includes a bottom plate, a long side plate and a short side plate; the fixture module includes a number of fixture devices and an arc welding robot; the fixture device includes a first fixture device for clamping the bottom plate, a second fixture device and a third fixture device for clamping the long side plate, and a fourth fixture device for clamping the short side plate; the fixture devices are circumferentially distributed, the first fixture device and the fourth fixture device are distributed on the same horizontal axis, the second fixture device and the fourth fixture device are distributed on the same horizontal axis, and the second fixture device and the second fixture device are respectively located below the first fixture device and the fourth fixture device; the arc welding robot includes a first arc robot and a second arc robot distributed on the same horizontal axis, the first arc robot is located between the first fixture device and the second fixture device for controlling the first fixture device and the second fixture device, and the second arc robot is located between the fourth fixture device and the third fixture device for controlling the fourth fixture device and the third fixture device.

[0012] Advantages: (1) The fixture devices are circumferentially distributed, reasonably utilizing the space layout of the workstation, reducing the floor area, and making the entire production process more compact and efficient. (2) The modular fixture arrangement enables each workpiece (bottom plate, long side plate, short side plate) to be accurately fixed, thus ensuring the precise relative position between components during the welding process; (3) Multiple fixture devices can be operated independently, supporting quick switching of different workpieces, thus meeting the needs of mass production and improving the flexibility of the production line. (4) The two arc robots have clear division of labor, respectively responsible for welding tasks in different areas, achieving parallel processing, greatly shortening the production cycle of a single container, and improving the overall production efficiency.

[0013] Preferably, as an improvement, the bottom plate includes a chassis and a folding limit sleeve; the first fixture device includes a first fixture component for clamping the four corner nodes of the chassis downward, a second fixture component for circumferentially clamping the folding limit sleeve, a third fixture component for clamping the middle of the chassis upward, and a fourth fixture component and a fifth fixture component for clamping the middle of the chassis downward; the first fixture component is located on the left and right sides of the chassis, the second fixture component is located at the front and rear ends of the chassis, and the third fixture component, the fourth fixture component and the fifth fixture component are located in the middle of the chassis.

[0014] Beneficial effects: (1) Multi-point fixation: By setting multiple jigs at the four corners, the middle part of the chassis, and around the folding limit sleeve, it can ensure that the chassis remains highly stable during the entire welding process, avoiding position deviation or deformation caused by vibration or external forces, thereby differentiating the welding accuracy and welding quality; (2) Balanced stress: The combination of jigs in the left-right direction (such as the first jig assembly), jigs in the up-down direction (such as the second jig assembly), and the middle support jigs (such as the third jig assembly, the fourth jig assembly, and the fifth jig assembly) can effectively disperse stress, reduce local stress concentration, and ensure the overall rigidity and strength of the chassis.

[0015] Preferably, as an improvement, the long side plate includes a first mesh sheet, a second mesh sheet, a third mesh sheet, a fourth mesh sheet, a support rod, and a first hinge assembly; the second jig device is divided into five areas: a first mesh sheet area for clamping the first mesh sheet, a second mesh sheet area for clamping the second mesh sheet and part of the first hinge assembly, a third mesh sheet area for clamping the third mesh sheet, a fourth mesh sheet area for clamping the fourth mesh sheet, and a support rod area for clamping the support rod and the other part of the hinge assembly; the first mesh sheet area and the fourth mesh sheet area are symmetrically distributed on the left and right sides, and the second mesh sheet area, the third mesh sheet area, and the support rod area are located between the first mesh sheet area and the fourth mesh sheet area, and from top to bottom, they are the second mesh sheet area, the third mesh sheet area, and the support rod area in sequence.

[0016] Beneficial effects: Each mesh sheet and support rod has a dedicated clamping area, ensuring that each component maintains an accurate position during the welding process, avoiding displacement caused by vibration or external forces, and improving the quality and consistency of the weld. The clear partition design makes it easier for operators to understand and perform the clamping task, reducing the possibility of errors, and at the same time reducing the requirements for the skills of operators, thereby reducing the operation difficulty.

[0017] Preferably, as an improvement, the first mesh sheet includes a first grid sheet and several border rods, and the border rods are connected end to end and distributed circumferentially around the first grid sheet; the first mesh sheet area includes a sixth jig assembly, a seventh jig assembly, an eighth jig assembly, a ninth jig assembly, and a tenth jig assembly; the sixth jig assembly is located at the upper part of the first mesh sheet, the seventh jig assembly is located in the middle of the first mesh sheet, and the eighth jig assembly, the ninth jig assembly, and the tenth jig assembly are located at the bottom of the first mesh sheet; The second mesh sheet includes a second grid sheet and several frame rods, and the frame rods are connected end to end and distributed circumferentially around the second grid sheet; the second mesh sheet area includes an eleventh fixture assembly, a twelfth fixture assembly, and a thirteenth fixture assembly; the eleventh fixture assembly is located on the left and right sides of the second mesh sheet, the twelfth fixture assembly is located at the upper and lower ends of the second mesh sheet, and the thirteenth fixture assembly is located at the lower end of the second mesh sheet and on both sides of the twelfth fixture; The third mesh sheet includes a third grid sheet and several skeleton rods, and the skeleton rods are connected end to end and distributed circumferentially around the third grid sheet; the third mesh sheet area includes a fourteenth fixture assembly and a fifteenth fixture assembly; the fourteenth fixture assembly is located on the left and right sides of the third mesh sheet, and the fifteenth fixture assembly is located at the upper and lower ends of the second mesh sheet; The support rod area includes sixteenth fixture assemblies located on the left and right sides, and a seventeenth fixture assembly and an eighteenth fixture assembly are provided between the sixteenth fixture assemblies.

[0018] Beneficial effects: Each mesh sheet and support rod has a dedicated clamping area, which can ensure precise positioning during the welding process, avoiding displacement or deformation; the reasonably distributed fixtures can reduce local stress concentration and prevent deformation problems that may occur during the welding process.

[0019] Preferably, as an improvement, the long side plate further includes a main load-bearing column and a secondary load-bearing column; the third fixture device includes a nineteenth fixture assembly and a twentieth fixture assembly; the nineteenth fixture assembly is located around the long side plate; the twentieth fixture assembly is located at the upper end of the long side plate and on one side of the nineteenth fixture assembly.

[0020] Beneficial effects: By setting fixture assemblies at multiple key positions, it can ensure that the components in the long side plate remain stable during the welding process, preventing position offset or deformation caused by external forces or vibrations, thereby forming the long side plate.

[0021] Preferably, as an improvement, the short side plate includes a fifth mesh sheet, the fifth mesh sheet includes a fifth grid sheet and several connecting rods, and the connecting rods are connected end to end and distributed circumferentially around the fifth grid sheet; the fourth fixture device includes a twenty-first fixture assembly and a twenty-second fixture assembly, the twenty-first fixture assembly is located on the left and right sides of the fifth mesh sheet, and the twenty-second fixture assembly is located at the upper and lower ends of the fifth mesh sheet.

[0022] Beneficial effects: The design of multi-point clamping can ensure the stability of the fifth mesh sheet during the welding process, preventing offset or deformation caused by vibration or external forces; the coordinated clamping around the perimeter improves the rigidity and positioning accuracy of the overall structure Preferably, as an improvement, the sensing module includes a plurality of sensors; the sensors collect the in-place information of the workpiece to be welded in real time.

[0023] Beneficial effect: The sensors can ensure that the workpiece to be welded is accurately placed in the designated area of the fixture.

[0024] Preferably, as an improvement, the preset parameters include process parameters and motion control parameters; the process parameters include the magnitude of the welding current, voltage, and welding speed; the motion control parameters include the trajectory path of the arc welding robot, the torch posture, and the starting / ending arc parameters.

[0025] Beneficial effect: By setting the process parameters including the magnitude of the welding current, voltage, and welding speed, it can ensure that each weld has the same penetration depth and forming effect, thus significantly improving the welding quality and product consistency; the fine adjustment of the motion control parameters can ensure that the torch works at the optimal angle, avoiding welding defects caused by improper torch position, such as lack of fusion or porosity problems.

[0026] Preferably, as an improvement, S1: Start the system and fix the workpiece to be welded on the designated fixture device; S2: The sensing module detects the workpiece to be welded through the sensors to obtain the in-place information of the workpiece to be welded and transmits it to the control module; S3: The control module analyzes and processes the information sent by the sensing module, selects the welding parameters from the preset parameters, and sends the welding parameters to the welding module; S4: The welding module manipulates the arc welding robot to perform the welding operation according to the welding parameters; and after the welding is completed, it feeds back an end signal to the control module; S5: After the welding is completed, check the welded workpiece to check for any missed welds or false welds.

[0027] Beneficial effect: In this solution, from workpiece clamping, in-place detection, parameter matching to automatic welding, each module works in coordination to achieve the automated operation of the entire welding process. It not only reduces manual intervention but also significantly improves the production rhythm and operation efficiency, and can be applied to large-volume and continuous production scenarios.

[0028] Beneficial effects of this solution: (1) In this solution, each component (such as the bottom plate, long side plate, short side plate) has a dedicated fixture device to ensure its precise position during the welding process, reducing the risk of deformation and improving the welding efficiency.

[0029] (2) Verification mechanism: Only when the position meets the preset standards will the system trigger the welding process, which can avoid welding defects caused by workpiece offset or misalignment and significantly improve the stability of the welding process and the consistency of the weld quality.

[0030] (3) Modular design (division of container structures and fixture devices) and automated processes shorten changeover time and adjustment time, improve the overall efficiency of the production line, and support mass production, enhancing the flexibility and response speed of the production line. Description of the Drawings

[0031] Figure 1 Structural schematic diagram of the C box provided by the embodiment of the present invention.

[0032] Figure 2 Structural schematic diagram of the long side plate provided by the embodiment of the present invention.

[0033] Figure 3 Structural schematic diagram of the bottom plate provided by the embodiment of the present invention.

[0034] Figure 4 Structural schematic diagram of the short side plate provided by the embodiment of the present invention.

[0035] Figure 5 Flowchart of a container arc robot welding system provided by the embodiment of the present invention.

[0036] Figure 6 Structural schematic diagram of the fixture module in a container arc robot welding system provided by the embodiment of the present invention.

[0037] Figure 7 is Figure 6 Structural schematic diagram of the first fixture device in

[0038] Figure 8 Structural schematic diagram of the first fixture provided by the embodiment of the present invention.

[0039] Figure 9 Structural schematic diagram of the fourth fixture provided by the embodiment of the present invention.

[0040] Figure 10 Structural schematic diagram of the fifth fixture provided by the embodiment of the present invention.

[0041] Figure 11 is Figure 6 Structural schematic diagram of the second fixture device in

[0042] Figure 12 Structural schematic diagram of the first mesh provided by the embodiment of the present invention.

[0043] Figure 13 Structural schematic diagram of the second mesh provided by the embodiment of the present invention.

[0044] Figure 14 Structural schematic diagram of the first hinge assembly provided by the embodiment of the present invention.

[0045] Figure 15 A structural schematic diagram of the third mesh sheet provided by the embodiment of the present invention.

[0046] Figure 16 A structural schematic diagram of the sixteenth fixture provided by the embodiment of the present invention.

[0047] Figure 17 A structural schematic diagram of the seventeenth fixture provided by the embodiment of the present invention.

[0048] Figure 18 It is Figure 6 a structural schematic diagram of the third fixture device in

[0049] Figure 19 A structural schematic diagram of the fifth mesh sheet provided by the embodiment of the present invention.

[0050] Figure 20 It is Figure 6 a structural schematic diagram of the fourth fixture device in

[0051] The following is a further detailed description through specific embodiments: The reference signs in the accompanying drawings of the specification include: long side plate 1, first mesh sheet 1010, first grid sheet 1011, first border bar 1012, second border bar 1013, third border bar 1014, fourth border bar 1015, fifth border bar 1016, sixth border bar 1017, seventh border bar 1018, second mesh sheet 1020, second grid sheet 1021, first frame bar 1022, second frame bar 1023, third frame bar 1024, fourth frame bar 1025, second mesh sheet 1020, third grid sheet 1031, first skeleton bar 1032, second skeleton bar 1033, third skeleton bar 1034, fourth skeleton bar 1035, fourth mesh sheet 1040, first load-bearing main column 1050, second load-bearing main column 1060, first load-bearing auxiliary column 1070, second load-bearing auxiliary column 1080, first hinge assembly 1090, hinge cushion block 1091, hinge seat 1092, hinge shaft 1093, first limit pin 1100, label plate 1110, support rod 1120, short side plate 2, fifth mesh sheet 2010, fifth grid sheet 2011, first connecting rod 2012, second connecting rod 2013, third connecting rod 2014, fourth connecting rod 2015, second limit pin 2020, bottom plate 3, chassis 3010, bottom plate surface 3020, folding sheath 3030, folding limit sleeve 3040, fork leg frame 3050, first arc-shaped robot 4, second arc-shaped robot 5, first fixture 6, second fixture 7, third fixture 8, fourth fixture 9, fifth fixture 10, sixth fixture 11, seventh fixture 12, eighth fixture 13, ninth fixture 14, tenth fixture 15, eleventh fixture 16, twelfth fixture 17, thirteenth fixture 18, fourteenth fixture 19, fifteenth fixture 20, sixteenth fixture 21, seventeenth fixture 22, eighteenth fixture 23, nineteenth fixture 24, twentieth fixture 25, twenty-first fixture 26, twenty-second fixture 27. Detailed implementation manners

[0052] In the prior art, traditional C boxes usually adopt an integrated fixed structure, and the long side panels and short side panels, the long side panels and the bottom panel, and the short side panels and the bottom panel are welded or rigidly connected to form an inseparable whole, so that the C box cannot be easily disassembled. The main reasons why traditional C boxes cannot be disassembled are: (1) The need for structural strength and stability: Traditional C boxes are mainly used in heavy-load logistics or industrial scenarios (such as automobile parts transportation), and need to withstand stacking pressure, transportation vibration and accidental impact. The integrated welded structure can ensure the overall rigidity of the box body and avoid the structural weakness that may be caused by the connection points of the detachable parts, so as to effectively resist external loads and internal stresses and avoid local deformation or damage. (2) The market demand is relatively small: In traditional application scenarios, traditional C boxes are usually single logistics scenarios, such as factory turnover or short-distance transportation, with low frequency of use and relatively fixed application scenarios. In this market environment, the overall market demand for C boxes is not large, users' requirements for the functions of C boxes are relatively simple, the integrated structure has fully met the actual use needs, and the market demand for portability or disassembly is not urgent.

[0053] In short, the non-disassembly of the traditional integrated C box is essentially the result of the combined effect of technical and market demands.

[0054] However, with the continuous expansion of the industry and the development of the logistics system, the application scenarios of C boxes have gradually expanded from the traditional single logistics link to a wider range of fields, such as e-commerce distribution, cold chain logistics, smart manufacturing and other industries. The frequency of use has increased significantly, and market demand has also increased accordingly. According to statistics, the current annual demand for C boxes has exceeded 10,000 pieces, and it shows a continuous upward trend. In this new market environment, users' requirements for the transportation cost and storage space of C boxes have increased, which has promoted the development of C boxes in the direction of foldability. The reason is that traditional C boxes will occupy a lot of space when transporting empty boxes and storing them idle, resulting in low transportation efficiency and waste of storage resources.

[0055] This embodiment realizes the folding of the C box by using modularization, manufacturing process, and multi-component combination structure of the C box while meeting the overall strength requirements of the C box. The manufacturing process ensures the dimensional accuracy and tightness of the connection of each component of the C box, avoiding the problem of structural looseness or strength reduction caused by manufacturing errors; modularization divides the C box into multiple independent modules, and when in use, through the pins, activities and card connections between the multiple components (such as hinge components, support rods 1120, folding sleeves 3030, folding limit sleeves 3040 and limit pins), flexible folding and convenient operation are achieved while ensuring overall strength.

[0056] When folded, the volume of the C-box can be reduced to 67% of the traditional C-box, greatly reducing transportation and storage costs.

[0057] In this embodiment, the container produced is a foldable C-box, which is mainly used for installing automotive parts. Specifically, as Figure 1 , Figure 2 , Figure 3 , Figure 4 shown, the C-box is composed of a bottom plate 3, a long side plate 1 and a short side plate 2. The long side plate 1 is composed of a first mesh sheet 1010, a second mesh sheet 1020, a third mesh sheet 1030, a fourth mesh sheet 1040, load-bearing main columns (i.e., the first load-bearing main column 1050 and the second load-bearing main column 1060), load-bearing sub-columns (i.e., the first load-bearing sub-column 1070 and the second load-bearing sub-column 1080), a first hinge assembly 1090, a first limit pin 1100, a label plate 1110 and a support rod 1120. Among them, the first limit pin 1100 is located at the upper end of the second mesh sheet 1020, the label plate 1110 is located in the middle of the third mesh sheet 1030, the second mesh sheet 1020 and the third mesh sheet 1030 are connected by the first hinge assembly 1090, the left side of the second mesh sheet 1020 and the third mesh sheet 1030 is connected to the right side of the first mesh sheet 1010 through the first load-bearing main column 1050, the right side of the second mesh sheet 1020 and the third mesh sheet 1030 is connected to the left side of the fourth mesh sheet 1040 through the second load-bearing main column 1060, the left side of the first mesh sheet 1010 is connected to the first load-bearing sub-column 1070, and the right side of the fourth mesh sheet 1040 is connected to the second load-bearing sub-column 1080. The short side plate 2 includes a fifth mesh sheet 2010 and a second limit pin 2020. The second limit pin 2020 is located at the upper end of the fifth mesh sheet 2010.

[0058] The bottom plate 3 is composed of a chassis 3010, a bottom plate surface 3020, a folding sheath 3030, a folding limit sleeve 3040 and a fork support 3050. Among them, the bottom plate surface 3020 is located at the upper end of the chassis 3010, the fork support 3050 is located at the lower end of the chassis 3010, and the folding sheath 3030 and the folding limit sleeve 3040 are located on the front and back sides of the chassis 3010.

[0059] The long side plates 1 are fixedly clamped to the bottom plate 3 by inserting the load-bearing main columns into the folding limit sleeves 3040 and the load-bearing auxiliary columns into the folding sheaths 3030; the short side plates 2 are hinged to the bottom plate 3 through cylindrical hinges to achieve the hinge connection between the two short side plates 2 and the bottom plate 3; the short side plates 2 are inserted into the adjacent load-bearing auxiliary columns through the second limit pins 2020 to achieve the pin locking between the short side plates 2 and the long side plates 1, thereby forming a complete C-box structure. When folding, first pull out the second limit pin 2020 from the load-bearing auxiliary column to release the connection between the short side plate 2 and the long side plate 1; then fold the short side plate 2 inward and place it flat on the left and right sides at the bottom of the bottom plate 3; after that, lift the long side plate 1 upward so that the load-bearing main column disengages from the folding limit sleeve 3040 and the load-bearing auxiliary column disengages from the folding sheath 3030, and then fold the long side plate 1 inward and place it flat at the front and rear ends of the bottom of the bottom plate 3; finally, complete the folding of the entire C-box.

[0060] Based on the structural characteristics, folding requirement adaptation and process adaptability of the C-box, during the production and manufacturing process of the C-box, it is mainly disassembled into three independent components: the bottom plate 3, the long side plates 1 and the short side plates 2 for production. The basis for its disassembly: (1) Structural characteristics: The bottom plate 3 is the load-bearing main body, which is used to bear the weight of the items loaded inside the box and the external pressure; the long side plates 1 are the enclosing structures, mainly providing lateral support and protection on the front and rear sides; the short side plates 2 are the enclosing structures, mainly providing lateral support and protection on the left and right sides. (2) Folding requirement adaptation: After being disassembled into the bottom plate 3, the long side plates 1 and the short side plates 2, each component can be assembled and connected through standardized interfaces (such as cylindrical hinges, welding points, bolts, groove clamping or pin connection) to achieve the smoothness and structural stability of the folding action. (3) Process adaptability: The split structure enables each component to be welded separately, making it easier to achieve arc robot operation, automated welding and streamlined production; after the welding of the bottom plate 3, the short side plates 2 and the long side plates 1 is completed, then the overall assembly is carried out, which can reduce manual intervention and help improve the welding quality and consistency of the product.

[0061] Therefore, disassembling the C-box into three independent components: the bottom plate 3, the long side plates 1 and the short side plates 2 for manufacturing is the result of comprehensively considering the structural function partition, folding and unfolding requirements and the feasibility of manufacturing processes.

[0062] Example 1: The example is basically as Figure 5 shown: An arc robot welding system for a container: includes a control module and a fixture module, a sensing module and a control module connected to the control module; Fixture module: used to fix the workpiece to be welded; Specifically, as Figure 6As shown in the figure, the fixture module includes several fixture devices and an arc welding robot. The fixture devices include a first fixture device for clamping the bottom plate 3, a second fixture device for clamping the long side plate 1 and a third fixture device, and a fourth fixture device for clamping the short side plate 2; the fixture devices are circumferentially distributed, the first fixture device and the fourth fixture device are distributed along the same horizontal axis, the second fixture device and the fourth fixture device are distributed along the same horizontal axis, and the second fixture device and the second fixture device are respectively located below the first fixture device and the fourth fixture device; the arc welding robot includes a first arc robot 4 and a second arc robot 5 distributed along the same horizontal axis, the first arc robot 4 is located between the first fixture device and the second fixture device and is used to control the first fixture device and the second fixture device, and the second arc robot 5 is located between the fourth fixture device and the third fixture device and is used to control the fourth fixture device and the third fixture device.

[0063] Specifically, the first fixture device is used to clamp the chassis 3010 and the folding limit sleeve 3040. Among them, as Figure 3 shown, the chassis 3010 is arranged in a similar "field" shape by 8 transverse square tubes and 4 longitudinal square tubes, and a closed grid frame is formed by 90° vertical cross-welding. The longitudinal square tubes are successively the first longitudinal square tube, the second longitudinal square tube, the third longitudinal square tube and the fourth longitudinal square tube from left to right; the 8 transverse square tubes are mainly divided into four categories: 1 first transverse square tube, 3 second transverse square tubes, 3 third transverse square tubes and 1 fourth transverse square tube from top to bottom. The upper and lower ends of the first longitudinal square tube and the fourth longitudinal square tube are successively connected by the first transverse square tube and the fourth transverse square tube to form an outer "mouth" - shaped frame, and the second longitudinal square tube and the third longitudinal square tube are perpendicularly cross - connected with the second transverse square tube and the third transverse square tube at 90°, forming a "well" - shaped strengthening structure inside the "mouth" - shaped frame. At the same time, two folding limit sleeves 3040 are respectively arranged on the first transverse square tube and the second transverse square tube.

[0064] As Figure 7 shown, according to the structural characteristics of the chassis 3010, the first fixture device includes a first fixture component for clamping the four - corner nodes of the chassis 3010 downward, a second fixture component for circumferentially clamping the folding limit sleeve 3040, a third fixture component for clamping the middle part of the chassis 3010 upward, and a fourth fixture component and a fifth fixture component for clamping the middle part of the chassis 3010 downward. Specifically, the first fixture component includes 4 first fixtures 6, and the first fixtures 6 are located on the left and right sides of the chassis 3010, that is, on the left side of the first longitudinal square tube and the right side of the fourth longitudinal square tube. As Figure 8As shown, the first fixture 6 is an "F"-shaped structure, and its cross-section includes a vertical plate, a first horizontal plate obliquely extending from the top end of the vertical plate, and a second horizontal plate extending from the middle of the vertical plate. The first horizontal plate is used to vertically press the first transverse square tube or the fourth transverse square tube from below, the second horizontal plate is used to horizontally press the first longitudinal square tube or the fourth longitudinal square tube from below, and the vertical plate is used to vertically press the first longitudinal square tube or the fourth longitudinal square tube from below, so as to clamp and fix the joints of the first longitudinal square tube and the first transverse square tube, the joints of the first longitudinal square tube and the fourth transverse square tube, the joints of the fourth longitudinal square tube and the first transverse square tube, and the joints of the fourth longitudinal square tube and the fourth transverse square tube.

[0065] The second fixture assembly includes four second fixtures 7, and the second fixtures 7 are located at the front and rear ends of the chassis 3010, that is, at the upper end of the first transverse square tube and the lower end of the fourth transverse square tube. The second fixture 7 includes two "U"-shaped clips with openings facing inwards, which are used to clamp the upper and lower ends of the folding limit sleeve 3040 from left and right, and a limit block for pressing against the front and rear movement of the folding limit sleeve 3040 is installed inside the "U"-shaped clip. That is, the second fixture 7 can clamp the folding limit sleeve 3040 from four directions of front, rear, left, and right, thus avoiding the phenomenon of displacement.

[0066] The third fixture assembly includes four third fixtures 8, and the third fixtures 8 are located on the left side of the second longitudinal square tube and the right side of the third longitudinal square tube. The third fixture 8 includes a groove with an upward opening and a pressing plate. The second longitudinal square tube or the third longitudinal square tube is located in the groove, so as to clamp the longitudinal square tube from left and right, and the pressing plate presses down on the upper surface of the longitudinal square tube, thus realizing the circumferential clamping of the second longitudinal square tube and the third longitudinal square tube.

[0067] The fourth fixture assembly includes 12 fourth fixtures 9, and the fourth fixtures 9 are horizontally distributed along the transverse square tubes (i.e., the first transverse square tube - the fourth transverse square tube), and two fourth fixtures 9 are respectively distributed at the positions of each transverse square tube. As Figure 9 shown, the fourth fixture 9 is a "Y"-shaped fixture, which can clamp the transverse square tube from left and right and support the transverse square tube upwards.

[0068] The fifth fixture assembly includes two fifth fixtures 10, and the fifth fixtures 10 are located between the second transverse square tube and the third transverse square tube and are perpendicularly distributed to the second transverse square tube and the third transverse square tube. As Figure 10 shown, the fifth fixture 10 is a "one"-shaped fixture, which can simultaneously vertically press the second transverse square tube and the third transverse square tube downwards.

[0069] The second fixture device is used to clamp part of the long side plate 1. As Figure 2 、 Figure 11 、 Figure 12 、 Figure 13 、 Figure 14 、 Figure 15, Figure 16 , Figure 17 As shown in Figure 17 , the second fixture device is divided into five regions: the first mesh region, the second mesh region, the third mesh region, the support rod region, and the fourth mesh region. The first mesh region and the fourth mesh region are symmetrically distributed on the left and right sides. The second mesh region, the third mesh region, and the support rod region are located between the first mesh region and the fourth mesh region, and from top to bottom, they are the second mesh region, the third mesh region, and the support rod region in sequence.

[0070] Among them, the first mesh region is used to clamp and fix the first mesh 1010. As Figure 12 shown, the first mesh 1010 includes a first mesh sheet 1011 and several border rods. The first mesh sheet 1011 is the main part and has a mesh structure. The border rods are circumferentially distributed around the first mesh sheet 1011 with their heads and tails connected. Specifically, the border rods include a first border rod 1012, a second border rod 1013, a third border rod 1014, a fourth border rod 1015, a fifth border rod 1016, a sixth border rod 1017, and a seventh border rod 1018. Among them, the first border rod 1012 and the third border rod 1014 are perpendicular and located on the left side of the first network sheet, and the first border rod 1012 is above the third border rod 1014. The first border rod 1012 and the third border rod 1014 are horizontally connected by the second border rod 1013; the fourth border rod 1015 and the sixth border rod 1017 are perpendicular and located on the right side of the first network sheet, and the fourth border rod 1015 is above the sixth border rod 1017; the fourth border rod 1015 and the sixth border rod 1017 are horizontally connected by the fifth border rod 1016; the seventh border rod 1018 is located at the bottom of the first network sheet and horizontally connects the third border rod 1014 and the sixth border rod 1017 to form a closed first mesh 1010.

[0071] Based on the layout of the first mesh 1010, the first mesh region includes a sixth fixture assembly for clamping the upper part of the first mesh 1010, a seventh fixture assembly for clamping the middle part of the first mesh 1010, and an eighth fixture assembly, a ninth fixture assembly, and a tenth fixture assembly for clamping the bottom of the first mesh 1010.

[0072] Specifically, the sixth fixture assembly includes two sixth fixtures 11, and the sixth fixtures 11 are located on the left side of the first border rod 1012 and the right side of the fourth border rod 1015. The sixth fixture 11 has a "7"-shaped structure, and its cross-section includes a first longitudinal plate and a first transverse plate extending from the top end of the first longitudinal plate. The first longitudinal plate presses the first mesh sheet 1011 horizontally downward, and the first transverse plate presses the first mesh sheet 1011 vertically downward to determine the connection between the first border rod 1012 and the first mesh sheet 1011 and the connection between the fourth border rod 1015 and the first mesh sheet 1011.

[0073] The eighth fixture assembly includes one eighth fixture 13, which is located on the left side of the third side frame bar 1014 and is close to the connection between the first side frame and the second side frame bar 1013 and the connection between the second side frame and the third side frame bar 1014, so as to ensure the positioning stability of the connection between the first side frame and the second side frame bar 1013 and the connection between the second side frame and the third side frame bar 1014. The eighth fixture 13 is of an "F" shape, and its cross-section includes a second longitudinal plate, a second transverse plate extending from the top end of the second longitudinal plate, and a third transverse plate extending from the middle of the second longitudinal plate; the second longitudinal plate is used to vertically press the third side frame bar 1014 and horizontally press the first grid sheet 1011, the second transverse plate is used to vertically press the first network sheet, and the third transverse plate is used to press the connection between the first side frame bar 1012 and the second side frame bar 1013.

[0074] The seventh fixture assembly includes one seventh fixture 12, which is located on the right side of the fourth side frame bar 1015 and is close to the connection between the fourth side frame and the fifth side frame bar 1016 and the connection between the fifth side frame and the sixth side frame bar 1017, so as to ensure the positioning stability of the connection between the fourth side frame and the fifth side frame bar 1016 and the connection between the fifth side frame and the sixth side frame bar 1017. The seventh fixture 12 is of a "7" shape, and its cross-section includes a third longitudinal plate and a fourth transverse plate extending from the top end of the third longitudinal plate; the third longitudinal plate is used to press down the fourth side frame bar 1015 and the middle of the first grid sheet 1011, and the fourth transverse plate is used to press down the connection between the fifth side frame bar 1016 and the sixth side frame bar 1017.

[0075] The ninth fixture assembly includes one ninth fixture 14, which is located below the seventh fixture 12. The ninth fixture 14 is of a "T" shape, and its cross-section is a fourth longitudinal plate and a fifth transverse plate extending from the top of the fourth longitudinal plate to both ends; the fourth longitudinal plate is used to press down the sixth side frame bar 1017 and the first grid sheet 1011; the fifth transverse plate is used to press down the first grid sheet 1011, so as to distinguish the fixing stability of the connection between the first grid sheet 1011 and the sixth side frame bar 1017. The tenth fixture 15 includes one tenth fixture 15, which is located at the bottom of the first mesh sheet 1010 and is used to press the seventh side frame bar 1018 and the first grid sheet 1011. The tenth fixture 15 is long strip-shaped.

[0076] Similarly, the fixture structure and layout in the fourth mesh sheet area are the same as those in the first mesh sheet 1010 area.

[0077] The second mesh sheet area is used to clamp and fix the second mesh sheet 1020 and part of the first hinge assembly 1090. As Figure 13As shown in the figure, the second mesh sheet 1020 includes a second grid sheet 1021 and a plurality of frame rods. The second grid sheet 1021 is the main part and has a mesh structure; the frame rods are arranged around the second grid sheet 1021 with their heads and tails connected. Specifically, the frame rods include a first frame rod 1022, a second frame rod 1023, a third frame rod 1024, and a fourth frame rod 1025. The first frame rod 1022 and the third frame rod 1024 are horizontally located at the upper end and the lower end of the second network sheet respectively; the second frame rod 1023 and the fourth frame rod 1025 are vertically located at the left side and the right side of the second network sheet respectively, and the second frame rod 1023 and the fourth frame rod 1025 are connected to the first frame rod 1022 and the third frame rod 1024 to form a closed second mesh sheet 1020.

[0078] As Figure 14 shown in the figure, the first hinge assembly 1090 includes a hinge cushion block 1091, a hinge seat 1092, and a hinge shaft 1093. Among them, both the hinge seat 1092 and the hinge shaft 1093 are located on the upper edge of the hinge cushion block 1091, and the hinge formed by inserting the hinge shaft 1093 into the hinge seat 1092 enables the second mesh sheets 1020 to have a certain folding ability and can flexibly adjust the height of the long side plate 1.

[0079] Based on the layout of the second mesh sheet 1020 and the first hinge assembly 1090, the second mesh sheet area includes an eleventh fixture assembly for clamping the four corner nodes of the second mesh sheet 1020, a twelfth fixture assembly for clamping the middle part of the second mesh sheet 1020, and a thirteenth fixture assembly for clamping a part of the hinge shaft 1093 and the hinge seat 1092.

[0080] Specifically, the eleventh fixture assembly includes four eleventh fixtures 16, which are symmetrically distributed on the left and right sides of the second mesh sheet 1020 and are used to press down the edge positions of the second grid sheet 1021, the first frame rod 1022, the second frame rod 1023, the third frame rod 1024, and the fourth frame rod 1025. The cross-section of the eleventh fixture 16 includes a fifth longitudinal sheet, a sixth transverse sheet extending from the top of the fifth longitudinal sheet to both ends, and a seventh transverse sheet extending from the middle of the fifth longitudinal sheet. Among them, for the eleventh fixture 16 on the upper left side: the fifth longitudinal sheet is used to press down the connection between the second grid sheet 1021 and the fourth frame rod 1025; the sixth transverse sheet is used to press down the upper left side of the second grid sheet 1021; the seventh transverse sheet is used to press down the connection between the second grid sheet 1021 and the first frame rod 1022; for the eleventh fixture 16 on the lower left side: the fifth longitudinal sheet is used to press down the connection between the second grid sheet 1021 and the fourth frame rod 1025; the sixth transverse sheet is used to press down the lower left side of the second grid sheet 1021; the seventh transverse sheet is used to press down the connection between the second grid sheet 1021 and the third frame rod 1024; for the eleventh fixture 16 on the upper right side: the fifth longitudinal sheet is used to press down the connection between the second grid sheet 1021 and the second frame rod 1023; the sixth transverse sheet is used to press down the upper right side of the second grid sheet 1021; the seventh transverse sheet is used to press down the connection between the second grid sheet 1021 and the first frame rod 1022; for the eleventh fixture 16 on the lower right side: the fifth longitudinal sheet is used to press down the connection between the second grid sheet 1021 and the second frame rod 1023; the sixth transverse sheet is used to press down the lower right side of the second grid sheet 1021; the seventh transverse sheet is used to press down the connection between the second grid sheet 1021 and the third frame rod 1024.

[0081] The twelfth fixture assembly includes two twelfth fixtures 17, which are located between adjacent eleventh fixtures 16. The twelfth fixture 17 has a "T" - shaped structure, and its cross - section includes a sixth longitudinal sheet and an eighth transverse sheet extending from the top of the sixth longitudinal sheet to both ends. Specifically, for the upper twelfth fixture 17: the sixth longitudinal sheet is used to press the middle of the connection between the first frame rod 1022 and the second grid sheet 1021, and the eighth transverse sheet is used to press the upper edge position of the second grid sheet 1021; for the lower twelfth fixture 17: the sixth longitudinal sheet is used to press the middle of the connection between the third frame rod 1024 and the second grid sheet 1021, and the eighth transverse sheet is used to press the lower edge position of the second grid sheet 1021.

[0082] The thirteenth fixture assembly includes two thirteenth fixtures 18, which are located at the lower end of the second mesh sheet 1020 and are distributed at the left and right ends of the twelfth fixture 17; the thirteenth fixture 18 includes a seventh longitudinal sheet and a spacer block. Among them, for the left thirteenth fixture 18: the seventh longitudinal sheet presses down on the hinge seat 1092, and the spacer blocks are located on the left and right sides of the hinge seat 1092 to tightly hold the hinge seat 1092; for the right thirteenth fixture 18: the seventh longitudinal sheet presses down on the hinge shaft 1093, and the spacer blocks are located on the left and right sides of the hinge shaft 1093 to tightly hold the hinge shaft 1093.

[0083] As Figure 15 shown, the third mesh sheet 1030 includes a third grid sheet 1031 and several skeleton rods. The third grid sheet 1031 is the main part and has a mesh structure; the skeleton rods are arranged around the third grid sheet 1031 with their heads and tails connected. Specifically, the skeleton rods include a first skeleton rod 1032, a second skeleton rod 1033, a third skeleton rod 1034, and a fourth skeleton rod 1035. The first skeleton rod 1032 and the third skeleton rod 1034 are respectively horizontally located at the upper and lower ends of the third network sheet; the second skeleton rod 1033 and the fourth skeleton rod 1035 are respectively vertically located on the left and right sides of the third network sheet, and the second frame rod 1023 and the fourth frame rod 1025 are connected to the first frame rod 1022 and the third frame rod 1024 to form a closed third mesh sheet 1030.

[0084] Based on the layout of the third mesh sheet 1030, the third mesh sheet area includes a fourteenth fixture assembly for clamping the four corner nodes of the third mesh sheet 1030 and a fifteenth fixture assembly for clamping the middle part of the third mesh sheet 1030. The fourteenth fixture assembly includes four fourteenth fixtures 19, and the fifteenth fixture assembly includes two fifteenth fixtures 20. The structure of the third mesh sheet 1030 is similar to that of the second mesh sheet 1020. Therefore, the layout of the third mesh sheet area is similar to that of the second mesh sheet area. That is, the eleventh fixture 16 in the second mesh sheet area has the same structure and similar position as the fourteenth fixture 19 in the third mesh sheet area; that is, the twelfth fixture 17 in the second mesh sheet area has the same structure and similar position as the fifteenth fixture 20 in the third mesh sheet area; the only difference is that there is no thirteenth fixture 18 in the third mesh sheet area. And the clamping operation for the third mesh sheet 1030 is similar to that of the second mesh sheet 1020. This will not be elaborated here.

[0085] The support rod area is used to press down on the support rod 1120 and part of the first hinge assembly 1090. Specifically, the support rod area is configured with a sixteenth fixture assembly for clamping the support rod 1120, a seventeenth fixture assembly for clamping the hinge spacer block 1091, and an eighteenth fixture assembly for clamping the other part of the hinge seat 1092 and the hinge shaft 1093.

[0086] Specifically, the sixteenth fixture assembly includes three sixteenth fixtures 21, which are located on the left and right sides and in the middle of the support rod 1120. The longitudinal cross-section of the sixteenth fixture 21 includes an irregular pressing plate. As Figure 16 shown, the shape of its pressing plate is similar to the shape of "7", and its horizontal end presses down on the support rod 1120. The seventeenth fixture assembly includes two seventeenth fixtures 22, which are located in the middle of the support rod 1120 and on both sides of the middle sixteenth fixture 21, and are used to clamp the hinge cushion block 1091 from left and right. As Figure 17 shown, the seventeenth fixture 22 is a groove structure, and the hinge cushion block 1091 is located in the groove. In addition, the eighteenth fixture assembly includes two eighteenth fixtures 23. A hinge seat 1092 and a hinge shaft 1093 are provided on the hinge cushion block 1091. The hinge shaft 1093 is provided on the inner side of the left hinge cushion block 1091 and is clamped down by the eighteenth fixture 23, and the hinge seat 1092 is provided on the right hinge cushion block 1091 and is clamped down by the eighteenth fixture 23. In this embodiment, the structure of the eighteenth fixture 23 is the same as that of the thirteenth fixture 18.

[0087] The third fixture device is used to clamp the main load-bearing column and the auxiliary load-bearing column. Specifically, as Figure 2 、 Figure 18 shown, the third fixture device is configured with a nineteenth fixture assembly and a twentieth fixture assembly according to the layout of the long side plate 1. Among them, the nineteenth fixture assembly includes sixteen nineteenth fixtures 24, which are symmetrically arranged on the left and right sides and the front and rear ends of the long side plate 1. The twentieth fixture assembly includes two twentieth fixtures 25, which are located at the front ends of the first mesh 1010 and the fourth mesh 1040. Specifically, some of the nineteenth fixtures 24 are located outside the auxiliary load-bearing column and are used to press down on the auxiliary load-bearing column. Some of the nineteenth fixtures 24 are located at the lower ends of the first mesh 1010 or the fourth mesh 1040 and are used to press the lower edges of the first mesh 1010 or the fourth mesh 1040. Some of the nineteenth fixtures 24 are located at the upper and lower ends of the main load-bearing column and are used to press down on the main load-bearing column. Some of the nineteenth fixtures 24 are located at the upper ends of the second mesh 1020 and are used to press the upper edges of the second mesh 1020. Some of the nineteenth fixtures 24 are located at the lower ends of the third mesh 1030 and are used to press the lower edges of the third mesh 1030. The twentieth fixture 25 is located at the upper ends of the first mesh 1010 or the fourth mesh 1040 and is used to press the upper edges of the first mesh 1010 or the fourth mesh 1040. Among them, the structure of the nineteenth fixture 24 is the same as that of the sixteenth fixture 21, and the twentieth fixture 25 is strip-shaped.

[0088] The fourth fixture device is used to clamp the fifth mesh 2010. Specifically, as Figure 19 、 Figure 20As shown, the fifth mesh sheet 2010 includes a fifth grid mesh sheet 2011 and several connecting rods. The fifth grid mesh sheet 2011 is the main part and is in a mesh structure; the connecting rods are arranged end to end around the periphery of the fifth grid mesh sheet 2011. Specifically, the connecting rods include a first connecting rod 2012, a second connecting rod 2013, a third connecting rod 2014, and a fourth connecting rod 2015. The first connecting rod 2012 and the third connecting rod 2014 are horizontally located at the upper end and the lower end of the fifth mesh sheet respectively; the second connecting rod 2013 and the fourth connecting rod 2015 are vertically located at the left side and the right side of the fifth mesh sheet respectively, and the second connecting rod 2013 and the fourth connecting rod 2015 are respectively connected to the first connecting rod 2012 and the third connecting rod 2014, so as to form a closed fifth mesh sheet 2010.

[0089] As Figure 20 shown, the fourth fixture device includes a twenty-first fixture assembly for clamping the four corner nodes of the fifth mesh sheet 2010 and a twenty-second fixture assembly for clamping the upper and lower ends of the fifth mesh sheet 2010. Specifically, the twenty-first fixture assembly includes 4 twenty-first fixtures 26, and the twenty-first fixtures 26 are located on the left and right sides of the fifth mesh sheet 2010. The twenty-second fixture assembly includes 2 twenty-second fixtures 27, and the twenty-second fixtures 27 are located at the upper and lower ends of the fifth mesh sheet 2010. Among them, the structure of the twenty-first fixture 26 is the same as that of the eleventh fixture 16 in the second mesh sheet area, and the structure of the twenty-second fixture 27 is the same as that of the twelfth fixture 17 in the second mesh sheet area. The only difference is the spacing between adjacent twenty-first fixtures 26 and adjacent twenty-second fixtures 27 in the fourth fixture 9 device, and the spacing between the twenty-first fixture 26 and the twenty-second fixture 27, which is different from the spacing distribution between adjacent eleventh fixtures 16 and adjacent twelfth fixtures 17 and the spacing between the eleventh fixture 16 and the twelfth fixture 17 in the second mesh sheet area.

[0090] The mesh sheet arrangement in this embodiment can meet the dual requirements of folding and strength. The mesh sheet serves as the basic framework of the C box. Through reasonable combination, it can build a stable support structure when the box body is unfolded, ensuring the strength required for carrying goods; when folding, the connection design between the mesh sheets enables it to be flexibly folded and the volume is reduced. The structure and distribution positions of multiple fixtures not only make the operation simple and simplify the operation process, but also can accurately fix the mesh sheet and other components, ensuring the accurate positions of each component in production links such as assembly and welding, and avoiding the reduction of structural strength or the failure of the folding function caused by component displacement. That is, in the production of the C box with a modular structure, the assembly of each module is under the precise positioning and clamping of the fixture, ensuring the tight splicing between modules and the quality requirements, realizing rapid assembly and disassembly, and ensuring the stability of the manufacturing quality.

[0091] Sensing module: used to obtain the in-place information of the workpiece to be welded and send the in-place information to the control module; Specifically, the sensing module includes several sensors; the sensors are used to collect the in-place information of the workpiece to be welded in real time. When the workpiece to be welded is placed in the appropriate position, the light of the corresponding sensor will change from yellow to green.

[0092] Control module: stores the preset parameters of the fixture, used to analyze and process the in-place information to obtain the welding parameters corresponding to the workpiece to be welded, and send the welding parameters to the welding module; Specifically, the preset parameters include process parameters and motion control parameters. Among them, the process parameters include the welding current magnitude, voltage, and welding speed. The voltage mainly affects the penetration depth and forming quality of the weld seam; the moving speed of the welding torch determines the heat input, which in turn affects the width of the weld seam and the stability of the forming; the motion control parameters include the trajectory path of the arc-shaped robot, the welding torch posture, and the starting / ending arc parameters. The welding torch posture includes the angle and inclination, and the starting / ending arc parameters are used to gradually increase and decrease the current to prevent defects. In short, the above parameters are mainly used to ensure the stability of the welding process and the quality of the weld joint, and prevent welding defects such as lack of fusion and porosity.

[0093] When the workpiece to be welded is placed in the appropriate position, the light of the corresponding sensor will change from yellow to green. Then, the control module will, according to the corresponding welding parameters, feedback the signal to the welding robot to perform the welding operation.

[0094] Welding module: used to perform welding operations according to the welding parameters.

[0095] This solution, by introducing system control and welding robots, and combining independent and continuous C-box production process links (such as clamping, detecting, and welding of the workpiece to be welded), realizes efficient coordination between various processes, enables each link to focus on specific operations, effectively reduces the process conversion time and the time loss of operator operations, thereby improving the overall production efficiency. At the same time, the standard settings of the dimensions, shapes, and connection methods of each component of the C-box, and the equipped detection equipment (such as sensors) and customized fixture modules form a standardized and normalized production process system. This standardized layout not only improves the interchangeability and assembly consistency between components, but also provides conditions for mass production on the assembly line.

[0096] For example, through the cooperation of each component of the C-box and the special fixture, the rapid clamping of the C-box components can be realized, supporting efficient and stable mass production; the detection equipment (such as sensors) can detect the component position and assembly status in real time in each process, timely identify and intercept unqualified products, avoiding defective products from flowing into the next process, and ensuring the continuity of production and the stability of product quality.

[0097] In summary, through the integrated application of automated equipment, standardized design, and detection means, this solution has constructed an efficient, stable, and replicable production system for C-boxes, providing strong support for large-scale and streamlined manufacturing.

[0098] A welding method for an arc-shaped robot of a container, comprising: S1: Start the system and fix the workpiece to be welded on the specified fixture device; S2: The sensing module detects the workpiece to be welded through a sensor to obtain the in-place information of the workpiece to be welded and transmits it to the control module; S3: The control module analyzes and processes the information sent by the sensing module, selects welding parameters from the preset parameters, and sends the welding parameters to the welding module; S4: The welding module manipulates the arc-shaped welding robot to perform welding operations according to the welding parameters; and after welding is completed, it feeds back an end signal to the control module; S5: After welding is completed, check the welded workpiece to check for any missed welding or false welding; if a missed welding part is found, perform a repair welding operation, S6: After inspection, polish the welded part to make the welding surface smooth and flat, and remove the welding slag and burrs remaining from welding; S7: Repeat the operations of steps S1 - S6 to complete the welding of the bottom plate, long side plate, and short side plate components; S8: Assemble the container.

[0099] The specific implementation process of the arc-shaped welding robot for welding the entire C-box is as follows: 1. Weld the chassis 3010 and the folding limit sleeve 3040 Carry out assembly: The operator accurately places 8 horizontal square tubes, 4 vertical square tubes, and the folding limit sleeve 3040 on the first fixture 6 device and clamps them.

[0100] Sensor trigger: The sensor in the first fixture device detects the in-place information of the relevant materials in real time to ensure the accurate position of the materials and prepare for subsequent welding; then, the control system analyzes the corresponding welding parameters based on the information fed back by the sensor and sends a start command to the arc-shaped welding robot. That is, when the workpiece to be welded is placed in the appropriate position, the light of the corresponding sensor will change from yellow to green and feed back the signal to the welding robot to perform welding operations.

[0101] Robot welding: The first arc-shaped robot 4 receives a signal and, according to the pre-planned process parameters and motion control parameters, successively welds the horizontal square tube, the vertical square tube, and the folding limit sleeve 3040 to form the chassis 3010. In this embodiment, the welding sequence is to first weld the chassis 3010 to form a closed grid frame, and then weld the folding limit sleeve 3040. The welding method of the chassis 3010 is the central symmetry skip welding method. First, fix the four-corner positioning welds, and then perform segmented symmetric welding to reduce thermal deformation.

[0102] 2. Weld the long side plate 1 Assembly: Before the welding of the C-box chassis 3010 starts, the operator places the relevant materials required for the first mesh sheet 1010, the second mesh sheet 1020, the third mesh sheet 1030, the fourth mesh sheet 1040, and the support rod 1120 in the first mesh sheet 1010 area, the second mesh sheet 1020 area, the third mesh sheet 1030 area, the fourth mesh sheet 1040 area, and the support rod 1120 area of the second fixture 7 device respectively, and places the first hinge assembly 1090 at the corresponding installation positions to create conditions for subsequent welding.

[0103] After the welding of the chassis 3010 and the folding limit sleeve 3040 is completed, repeat the "sensor trigger" step to obtain relevant welding parameters; First robot welding: The first arc-shaped robot 4 welds the connections between the first grid sheet 1011 and the border rod, the second grid sheet 1021 and the frame rod, the third grid sheet 1031 and the skeleton rod, and the fourth grid sheet and the border rod. At the same time, weld the connection between the hinge shaft 1093 and the left side of the support rod 1120, and the connection between the hinge seat 1092 and the right side of the support rod 1120 to firmly connect the components of the long side plate 1.

[0104] Second robot welding: The operator transports the four welded long side plate 1 components to the third fixture 8 device. When the sensor in the third fixture 8 device receives a signal, the second arc-shaped robot 5 starts to weld the connections between the first load-bearing secondary column 1070 and the first mesh sheet 1010, the upper end of the first load-bearing main column 1050 and the second mesh sheet 1020, the lower end of the first load-bearing main column 1050 and the third mesh sheet 1030, the upper end of the second load-bearing main column 1060 and the second mesh sheet 1020, the lower end of the second load-bearing main column 1060 and the third mesh sheet 1030, and the connection between the second load-bearing secondary column 1080 and the fourth mesh sheet 1040 to ensure the stability of the long side plate 1 structure.

[0105] 3. Weld the side plate: Assembly: During the second robot welding, the operator fixes the fifth mesh sheet 2011 and the connecting rod on the fourth fixture 9 device; After the welding of the long side plate 1 is completed, repeat the "sensor trigger" step to obtain relevant welding parameters; Robot welding: Then, the second arc-shaped robot 5 welds the fifth grid sheet 2011 and the connecting rod according to the central symmetry skip welding method.

[0106] 4. Subsequent processing Inspection: After welding, the operator carefully observes the overall components of the C box to check for any missed welding, false welding, etc.

[0107] Rewelding: If any missed welding parts are found, perform rewelding operations in a timely manner to ensure the integrity of the welding.

[0108] Grinding: Grind the welded parts to make the welded surface smooth and flat, removing the remaining welding slag, burrs, etc., to improve the appearance quality and service performance of the C box.

[0109] 5. Assembly of the C box The assembly steps are as follows: (1) Preparation work: Inspect components: Confirm that the components of the C box (such as the short side plate 2, bottom plate 3, long side plate 1, connecting parts) are complete and undamaged.

[0110] Environmental layout: Ensure that the working area is clean and flat for easy operation.

[0111] (2) Assembly of the basic structure Assemble the bottom frame: Place the bottom panel flat on the chassis 3010, use welding to connect the chassis 3010 frame, ensure horizontal alignment, and then weld components such as the fork feet columns and folding sheaths 3030 around the bottom plate 3. Weld the first limit pin 1100 at the top of the second mesh sheet 1020, weld the second limit pin 2020 at the top of the fifth mesh sheet 2010, and weld the label plate 1110 in the middle of the third mesh sheet 1030.

[0112] Install the short side plate 2 and the long side plate 1: Vertically insert the long side plate 1 into the folding sheath 3030 and folding limit sleeve 3040 of the bottom plate 3 for fixation; then, connect the short side plate 2 to the bottom plate 3 through a cylindrical hinge, and fix it by inserting the second limit pin 2020 at the top of the short side plate 2 into the load-bearing secondary column of the long side plate 1.

[0113] 6. Quality inspection Structural stability: Shake the box to confirm that there is no looseness or abnormal noise.

[0114] Dimensions and alignment: Check whether the panels are aligned and whether the internal space meets the design requirements.

[0115] Functional test: Simulate loading parts to test the load-bearing capacity of the fixing device.

[0116] 7. Cleaning and Identification Debris cleaning: Remove metal chips or dust generated during the assembly process.

[0117] Identification information: Mark information such as the "C box" number, the upper weight limit, and the affiliated production line on the label plate 1110 outside the box body.

[0118] 8. Precautions Safety protection: Wear gloves and goggles during operation to avoid scratches or tool injuries.

[0119] Through the above operations, the entire production cycle is 25 minutes per unit. 20 finished C boxes can be completed per shift, and 500 C boxes can be produced per month, greatly improving production efficiency. Compared with the cost of purchasing C boxes externally at 1500 yuan per unit, the self-made welding cost of this solution is 1000 yuan per unit (including materials and labor). Each unit saves 1500 - 1000 = 500 yuan. Taking 10,000 C boxes as an example, a total of 10,000 × 500 = 5 million yuan is saved. In addition, the labor cost is reduced from the original 4 people to 1 person, saving 200,000 yuan in labor costs. That is, the welding method of this solution can save 500 + 20 = 5.2 million yuan.

[0120] In the existing technology, the folding method generally uses simple snap connections or bolt fixings. However, during long-term use, the connection parts are prone to loosening or slipping of threads, making it difficult to meet the efficient and stable use requirements of the foldable C box. And this solution adopts a combination form of "limit pin + bolt + folding sheath 3030 + folding limit sleeve 3040 + hinge". It not only realizes tool-free rapid disassembly, greatly improving the operation efficiency, but also provides multiple guarantees to avoid component wear and loosening problems. After testing, this structure can support the C box to be disassembled and assembled repeatedly more than 5000 times and still maintain good structural strength, far exceeding the service life of traditional disassembly methods.

[0121] This solution adopts a mesh design of "special-shaped mesh sheet + special-shaped frame". While meeting the folding function requirements of the C box, it effectively ensures the strength of the overall structure of the C box. The special-shaped mesh sheet has good pressure dispersion performance, which can make the force more uniform and avoid local stress concentration; the special-shaped frame further enhances the structural rigidity and compressive capacity around the mesh sheet. The design of the mesh structure and position in this solution not only improves the stability and durability of the C box during use, but also ensures its flexibility and smoothness during the folding process, greatly reducing the risk of damage and scratches at the folding parts, solving the problem of difficulty in balancing strength and foldability, and realizing the unity of functionality and practicality.

[0122] In addition, the welding process and welding system in this solution are specifically designed as a procedural and simplified solution based on the structural characteristics of the C box, which includes the splicing of multiple components and the special-shaped frame. The welding process designed in this solution specifically addresses problems such as difficult component positioning, complex welding sequence, cumbersome processes, and unstable quality. The entire welding process is divided into two core steps. The first step: "fixing by regions". According to the parts divided by the C box, multiple clamping regions are divided. The workpieces to be welded are fixed and detected through the positions, structures, and sensor settings of multiple jigs on the clamping regions, ensuring the quick clamping and accuracy of the component positions during welding. The second step: "modular welding by regions". According to the different structures and materials of the components, appropriate welding parameters are selected for each clamping region for welding, thus simplifying the welding sequence, streamlining the processes, and ensuring the welding quality.

[0123] The implementation of this welding process has brought significant improvements to the production of the C box from multiple dimensions, effectively improving production efficiency, reducing manufacturing costs, and ensuring the stability of product quality. It not only ensures that the C box meets high-strength requirements while having good folding performance and appearance quality.

[0124] In summary, through the collaborative work of each module, this solution realizes the full-process automation from workpiece clamping, in-place detection, parameter matching to welding execution, significantly improves welding efficiency, reduces manual intervention, and realizes the high-efficiency and low-cost manufacturing of the C box. Specifically, in this solution, each component (such as the bottom plate 3, long side plate 1, and short side plate 2) has a dedicated jig device to ensure its precise position during welding, reduce the risk of deformation, and improve welding efficiency. At the same time, through modular design (division of the container structure and division of the jig device) and automated processes, the changeover time and adjustment time are shortened, the overall efficiency of the production line is improved, and batch production can be supported, enhancing the flexibility and response speed of the production line. In addition, the detection mechanism: only when the position meets the preset standard will the system trigger the welding process, which can avoid welding defects caused by workpiece offset or misalignment and significantly improve the stability of the welding process and the consistency of weld quality.

[0125] The above are only the embodiments of the present invention. Specific technical solutions and / or common knowledge such as well-known characteristics are not described in detail here. It should be noted that for those skilled in the art, without departing from the technical solution of the present invention, several modifications and improvements can be made, which should also be regarded as the protection scope of the present invention, and these will not affect the implementation effect of the present invention and the practicality of the patent. The protection scope required by this application shall be subject to the content of its claims, and the specific implementation manners described in the specification can be used to interpret the content of the claims.

Claims

1. An arc-shaped robot welding system for containers, characterized in that: It includes a control module, a fixture module, a sensing module, and a welding module connected to the control module; Fixture module: Used to fixedly clamp the workpiece to be welded; Sensing module: Used to obtain the in-place information of the workpiece to be welded and send the in-place information to the control module; Control module: Stores the preset parameters of the container, analyzes and processes according to the in-place information to obtain the welding parameters corresponding to the workpiece to be welded, and sends the welding parameters to the welding module; Welding module: Used to perform welding operations according to the welding parameters; After the fixture module fixedly clamps the workpiece to be welded, the sensing module continuously detects the in-place information of the workpiece to be welded and sends the obtained in-place information to the control module; the control module analyzes and processes according to the in-place information, filters out the welding parameters corresponding to the workpiece to be welded from the preset parameters, and sends the welding parameters to the welding module; Start the welding module to perform welding operations.

2. The arc-shaped robot welding system for a container according to claim 1, wherein: The container includes a bottom plate, a long side plate, and a short side plate; the fixture module includes a number of fixture devices and an arc welding robot; the fixture devices include a first fixture device for clamping the bottom plate, a second fixture device, a third fixture device for clamping the long side plate, and a fourth fixture device for clamping the short side plate; the fixture devices are circumferentially distributed, the first fixture device and the fourth fixture device are distributed on the same horizontal axis, the second fixture device and the fourth fixture device are distributed on the same horizontal axis, and the second fixture device and the second fixture device are respectively located below the first fixture device and the fourth fixture device; the arc welding robot includes a first arc robot and a second arc robot distributed on the same horizontal axis, the first arc robot is located between the first fixture device and the second fixture device and is used to control the first fixture device and the second fixture device, and the second arc robot is located between the fourth fixture device and the third fixture device and is used to control the fourth fixture device and the third fixture device.

3. A container arc-shaped robot welding system according to claim 2, characterized in that: The bottom plate includes a chassis and a folding limit sleeve; the first fixture device includes a first fixture assembly for clamping the four corner nodes of the chassis downward, a second fixture assembly for circumferentially clamping the folding limit sleeve, a third fixture assembly for clamping the middle of the chassis upward, and a fourth fixture assembly and a fifth fixture assembly for clamping the middle of the chassis downward; the first fixture assembly is located on the left and right sides of the chassis, the second fixture assembly is located at the front and rear ends of the chassis, and the third fixture assembly, the fourth fixture assembly, and the fifth fixture assembly are located in the middle of the chassis.

4. The arc-shaped robot welding system for a container according to claim 2, characterized in that The long side plate includes a first mesh sheet, a second mesh sheet, a third mesh sheet, a fourth mesh sheet, a support rod, and a first hinge assembly; the second fixture device is divided into five regions: a first mesh sheet region for clamping the first mesh sheet, a second mesh sheet region for clamping the second mesh sheet and part of the first hinge assembly, a third mesh sheet region for clamping the third mesh sheet, a fourth mesh sheet region for clamping the fourth mesh sheet, and a support rod region for clamping the support rod and another part of the hinge assembly; the first mesh sheet region and the fourth mesh sheet region are symmetrically distributed on the left and right sides, and the second mesh sheet region, the third mesh sheet region, and the support rod region are located between the first mesh sheet region and the fourth mesh sheet region, and from top to bottom, they are the second mesh sheet region, the third mesh sheet region, and the support rod region in sequence.

5. A container arc-shaped robot welding system according to claim 4, characterized in that: The first mesh sheet includes a first grid sheet and a plurality of border rods, and the border rods are connected end to end and distributed circumferentially around the first grid sheet; the first mesh sheet region includes a sixth fixture assembly, a seventh fixture assembly, an eighth fixture assembly, a ninth fixture assembly, and a tenth fixture assembly; the sixth fixture assembly is located at the upper part of the first mesh sheet, the seventh fixture assembly is located in the middle of the first mesh sheet, and the eighth fixture assembly, the ninth fixture assembly, and the tenth fixture assembly are located at the bottom of the first mesh sheet; The second mesh sheet includes a second grid sheet and a plurality of frame rods, and the frame rods are connected end to end and distributed circumferentially around the second grid sheet; the second mesh sheet region includes an eleventh fixture assembly, a twelfth fixture assembly, and a thirteenth fixture assembly; the eleventh fixture assembly is located on the left and right sides of the second mesh sheet, the twelfth fixture assembly is located at the upper and lower ends of the second mesh sheet, and the thirteenth fixture assembly is located at the lower end of the second mesh sheet and on both sides of the twelfth fixture; The third mesh sheet includes a third grid sheet and a plurality of skeleton rods, and the skeleton rods are connected end to end and distributed circumferentially around the third grid sheet; the third mesh sheet region includes a fourteenth fixture assembly and a fifteenth fixture assembly; the fourteenth fixture assembly is located on the left and right sides of the third mesh sheet, and the fifteenth fixture assembly is located at the upper and lower ends of the second mesh sheet; The support rod region includes sixteenth fixture assemblies on the left and right sides, and a seventeenth fixture assembly and an eighteenth fixture assembly are arranged between the sixteenth fixture assemblies.

6. The arc-shaped robot welding system for a container according to claim 2, wherein: The long side plate further includes a main load-bearing column and a secondary load-bearing column; the third fixture device includes a nineteenth fixture assembly and a twentieth fixture assembly; the nineteenth fixture assembly is located around the long side plate; the twentieth fixture assembly is located at the upper end of the long side plate and on one side of the nineteenth fixture assembly.

7. The arc-shaped robot welding system for a container according to claim 2, characterized in that: The short side plate includes a fifth mesh sheet, and the fifth mesh sheet includes a fifth grid sheet and a plurality of connecting rods, and the connecting rods are connected end to end and distributed circumferentially around the fifth grid sheet; the fourth fixture device includes a twenty-first fixture assembly and a twenty-second fixture assembly, the twenty-first fixture assembly is located on the left and right sides of the fifth mesh sheet, and the twenty-second fixture assembly is located at the upper and lower ends of the fifth mesh sheet.

8. A container arc-shaped robot welding system according to claim 1, characterized in that: The sensing module includes a number of sensors; the sensors collect the in-place information of the workpiece to be welded in real time.

9. The arc-shaped robot welding system for a container according to claim 1, characterized in that: The preset parameters include process parameters and motion control parameters; the process parameters include the magnitude of the welding current, voltage, and welding speed; the motion control parameters include the trajectory path of the arc welding robot, the posture of the welding torch, and the start / stop arc parameters.

10. An arc welding method for a jig robot, characterized in that: S1: Start the system and fix the workpiece to be welded on the designated fixture device; S2: The sensing module detects the workpiece to be welded through the sensors to obtain the in-place information of the workpiece to be welded and transmits it to the control module; S3: The control module analyzes and processes the information sent by the sensing module, selects the welding parameters from the preset parameters, and sends the welding parameters to the welding module; S4: The welding module manipulates the arc welding robot to perform the welding operation according to the welding parameters; and after the welding is completed, sends an end signal to the control for feedback; S5: After the welding is completed, check the welded workpiece to check for any missed welding or false welding.

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