Modular robot welding system

Abstract

The invention discloses a modular robot welding system which comprises a welding robot module, a modular clamp, a positioner device, a clamp positioning and transferring device and a clamp storing and switching device. The position changing device comprises a position changing mechanism, a base plate is arranged on the position changing mechanism, and the base plate is used for installing the modular clamp. The base plate can rotate and turn over up and down under the action of the displacement mechanism; the clamp storing and switching device is used for storing different modular clamps and can switch the different modular clamps to face the clamp positioning and transferring device; the clamp positioning and transferring device is used for conveying the modular clamps on the positioner device to the clamp storage and switching device and conveying the modular clamps on the clamp storage and switching device to the positioner device. Different clamps can be quickly and automatically switched to meet the production requirement, and the replacement time of the clamps is saved; and meanwhile, a single robot workstation can produce various workpieces, and the utilization efficiency of the robot workstation is improved.

Description

Technical Field

[0001] The present invention relates to the technical field of automobile frame production, and in particular to a modular robot welding system. Background Art

[0002] In the production of automobile frames, arc welding is widely used for welding components such as cross beams, longitudinal beams, and front suspension brackets. At present, manual welding or robot welding is mostly used correspondingly. Manual welding has problems of high labor intensity and high labor costs. If robot welding is adopted, due to the variety of components and the mismatch between the production volume of components and the production capacity of workstations, the efficiency of each robot workstation is only about 30%, resulting in low utilization efficiency of robot workstations and a great waste of investment. Summary of the Invention

[0003] In order to solve the problems in the prior art, the present invention provides a modular robot welding system.

[0004] To achieve the above object, the present invention adopts the following technical solutions: A modular robot welding system includes a welding robot block, and also includes a modular fixture, a positioner device, a fixture positioning and transfer device, and a fixture storage and switching device; The positioner device includes a positioning mechanism, and one or more substrates are provided on the positioning mechanism. The substrates are used for installing modular fixtures; the substrates can perform rotational operations and up-and-down flipping operations under the action of the positioning mechanism; The fixture storage and switching device is used for storing different modular fixtures and can switch different modular fixtures to face the fixture positioning and transfer device; The fixture positioning and transfer device is used for transporting the modular fixture on the positioner device to the fixture storage and switching device, and for transporting the modular fixture of the fixture storage and switching device to the positioner device.

[0005] Preferably, the positioning mechanism includes a rotary shaft seat, and a main rotary shaft vertically installed on the rotary shaft seat. The main rotary shaft can rotate under the action of a rotary drive unit; Two T-shaped support arms are symmetrically arranged on the upper part of the main rotary shaft in the left-right direction. The T-shaped support arms include a longitudinal arm extending in the left-right direction and a transverse arm extending in the front-back direction. The longitudinal arms of the two T-shaped support arms are fixedly connected to the main rotary shaft; One or more substrate mounting positions are arranged on the transverse arms of the two T-shaped support arms in the front-back direction. Substrates are correspondingly arranged at the substrate mounting positions. The left and right ends of the substrates are respectively rotatably connected to the transverse arms of the two T-shaped support arms through a flipping shaft. At the same time, one of the flipping shafts is connected to a flipping motor; The two T-shaped support arms are also respectively fixedly connected to downwardly extending support rods. Rollers are installed at the lower parts of the support rods, and the rollers are installed on a circular track; A substrate locking mechanism for locking the modular fixture is also provided on the substrate.

[0006] Preferably, the connection mode between the substrate and the turning shaft is as follows: the turning shaft is rotationally connected to the cross arm of the T-shaped support arm, a positioning support block is fixedly provided at the inner end of the turning shaft, two coaxial turning shafts are in a group, and the left and right ends of the substrate are fixedly connected to the positioning support blocks of the two turning shafts in the same group.

[0007] Preferably, multiple groups of the substrate locking mechanism are provided on the substrate around the modular fixture; The substrate locking mechanism includes a first locking cylinder, a locking guide block and a locking block. The first locking cylinder is a telescopic cylinder, a locking block is installed on the piston of the first locking cylinder, the locking guide block is installed on the substrate, and the locking block slides through the locking guide block to form a locking fit with the modular fixture; The substrate locking mechanism further includes a substrate positioning pin fixed on the substrate, and a first group of positioning holes are correspondingly provided on the modular fixture, and the substrate positioning pin is matched with the first group of positioning holes.

[0008] Preferably, the locking block and the corresponding mating surface on the BASE plate of the modular fixture adopt a tapered surface fit.

[0009] Preferably, the fixture storage and switching device includes a support base, a bracket rotatably connected to the upper end of the support base, and a switching drive unit for driving the bracket to rotate is connected to the bracket at the same time; A plurality of mounting surfaces are provided on the bracket around its rotation center axis, storage positioning pins and corresponding storage locking mechanisms are provided on the mounting surfaces respectively, different modular fixtures are respectively placed on different mounting surfaces, and are positioned by the storage positioning pins and locked by the storage locking mechanisms, wherein the storage positioning pins are matched with the first group of positioning holes of the modular fixture.

[0010] Preferably, the bracket is a triangular frame and has three mounting surfaces.

[0011] Preferably, multiple groups of the storage locking mechanism are provided on the mounting surface around the modular fixture; The storage locking mechanism includes a second locking cylinder provided at the mounting surface. The second locking cylinder is a rotary cylinder, and a locking rod is connected to the movable end of the second locking cylinder.

[0012] Preferably, the fixture positioning and transfer device includes a sliding guide rail provided on a fixing plate, a sliding base slidably matched with the sliding guide rail, and a sliding drive unit for driving the sliding base to move is connected to the sliding base at the same time; A jacking mechanism is installed on the sliding base, and a support block is fixed on the movable rod of the jacking mechanism. A transition surface for placing the modular fixture is formed on the upper side of the support block, and matching transition locating pins are provided on the transition surface; a second set of locating holes is correspondingly provided on the modular fixture, and the transition locating pins cooperate with the second set of locating holes.

[0013] Preferably, the sliding guide rail is provided with a first limit block and a second limit block at both ends respectively; a limit part is provided on the sliding base, and when the limit part of the sliding base acts with the first limit block, the sliding base is exactly located at the fixture storage switching device; when the limit part of the sliding base acts with the second limit block, the sliding base is exactly located at the positioner device.

[0014] Beneficial effects of the present invention: 1. The modular robotic welding system of the present invention utilizes the cooperation of modular fixtures, positioner devices, fixture positioning and transfer devices, and fixture storage and switching devices to quickly and automatically switch different fixtures to meet production needs, saving fixture replacement time; at the same time, it also enables a single robotic workstation to produce a variety of parts, improves the utilization efficiency of the robotic workstation, and solves the current problems of high labor costs and low robot utilization.

[0015] 2. In the fixture storage and switching device of the present invention, the bracket preferably adopts a triangular frame, which can ensure the installation of three sets of modular fixtures. After one set of fixtures is removed, the other two sets of fixtures can basically maintain balance, which can greatly reduce the rotational inertia caused by uneven force during the rotation of the bracket, and can reduce the power of the required motor and reduce investment.

[0016] 3. The modular fixture of the present invention has two different groups of positioning holes, one group for the transition positioning pins on the jacking mechanism, and the other group for the substrate positioning pins on the substrate and the storage positioning pins on the bracket. The position specifications of the substrate positioning pins and the storage positioning pins are consistent, thereby facilitating fixture replacement.

[0017] 4. In the present invention, the locking cylinder adopts a telescopic cylinder. The locking cylinder is telescopic and drives the locking block to pass through the locking guide block to lock the modular fixture. The locking block and the corresponding mating surface on the BASE plate of the modular fixture adopt conical surface matching, which eliminates the looseness problem caused by long-term switching surface wear, and utilizes the inclined wedge force amplification function to achieve strong locking with a small locking cylinder, thereby realizing the lightweight locking mechanism.

[0018] 5. The second locking cylinder in the present invention adopts a rotary cylinder. The locking rod connected to the rotary cylinder can be rotated 90 degrees, which can ensure that it can be avoided when the clamp is installed and can be locked and fixed after the clamp is installed on the bracket body. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 It is an overall schematic diagram of the present invention; Figure 2 is the front view of the positioner device in the present invention; Figure 3 is the right view of the positioner device in the present invention; Figure 4 is the top view of the positioner device in the present invention; Figure 5 is the front view of the fixture positioning and transfer device and the fixture storage and switching device in the present invention; Figure 6 is the top view of the fixture positioning and transfer device and the fixture storage and switching device in the present invention.

[0020] The drawings are only for illustrative purposes and should not be construed as a limitation of this patent; for better illustration of this embodiment, some components in the drawings may be omitted, enlarged or reduced, which do not represent the dimensions of the actual product; for those skilled in the art, it is understandable that some well-known structures and their descriptions in the drawings may be omitted. Detailed implementation manners

[0021] Next, the technical solutions in the embodiments of the present invention will be clearly and completely described in conjunction with the drawings in the embodiments of the present invention.

[0022] Embodiment 1: As Figures 1 to 6 shown, this embodiment provides a modular robot welding system, including a welding robot block 1, a modular fixture 2, a positioner device, a fixture positioning and transfer device, and a fixture storage and switching device.

[0023] The welding robot block 1 is an arc welding robot block 1, including a welding torch, a welding machine, a controller, etc.

[0024] Two groups of positioning holes are correspondingly provided on the BASE plate of the modular fixture 2, namely the first group of positioning holes and the second group of positioning holes.

[0025] The positioner device includes a positioning mechanism. Two substrates are provided on the positioning mechanism, and the substrates are used to install the modular fixture; under the action of the positioning mechanism, the substrates can perform rotational operations and up-and-down flipping operations.

[0026] Specifically, the positioning mechanism includes a rotary shaft seat 3, and a main rotary shaft 4 vertically installed on the rotary shaft seat 3. The lower part of the main rotary shaft 4 is connected with a rotary motor 5 and can rotate under the action of the rotary motor 5.

[0027] Two T-shaped support arms 6 are symmetrically arranged on the upper part of the main rotary shaft 3 in the left-right direction. The T-shaped support arm 6 includes a longitudinal arm extending in the left-right direction and a transverse arm extending in the front-back direction. The longitudinal arms of the two T-shaped support arms 6 are located on the same straight line and are both fixedly connected to the main rotary shaft 3.

[0028] On the cross arms of the two T-shaped support arms 6, two substrate mounting positions are arranged in the front-back direction. At the two substrate mounting positions, two substrates are correspondingly arranged. The left and right ends of the substrate 10 are respectively rotationally connected to the cross arms of the two T-shaped support arms through a rotation shaft 7. At the same time, one of the rotation shafts 7 is connected to a rotation motor 8.

[0029] In this embodiment, the connection method between the substrate 10 and the rotation shaft 7 is as follows: the rotation shaft 7 is rotationally connected to the cross arm of the T-shaped support arm. A positioning support block 9 is fixedly arranged at the inner end of the rotation shaft 7. Two coaxial rotation shafts 7 are in a group. The left and right ends of the substrate 10 are fixedly connected to the positioning support blocks 9 of the two rotation shafts 7 in the same group.

[0030] At the T-shaped joints of the two T-shaped support arms, support rods 11 extending downward are respectively fixedly connected. A roller 12 is installed at the lower part of the support rod 11. The roller 12 is installed on a circular track 13.

[0031] A substrate locking mechanism for locking the modular fixture 2 is also arranged on the substrate 10. Four groups of substrate locking mechanisms are arranged around the modular fixture on the corresponding substrate 10.

[0032] The substrate locking mechanism includes a locking cylinder one 15, a locking guide block 16 and a locking block 18. The locking cylinder one 15 is a telescopic cylinder. A locking block 18 is installed on the piston of the locking cylinder one 15. The locking guide block 16 is installed on the substrate 10. The locking block 18 slides through the locking guide block 16 and forms a locking fit with the modular fixture.

[0033] At the same time, the locking block 18 and the corresponding mating surface on the BASE plate of the modular fixture 2 adopt a conical surface fit, which not only eliminates the looseness problem caused by long-term switching surface wear, but also uses the wedge force-increasing function to achieve strong locking with a small locking cylinder, realizing the light weight of the locking mechanism.

[0034] The substrate locking mechanism also includes a substrate positioning pin 17 fixed on the substrate. The substrate positioning pin 17 is a 1:10 taper positioning pin, which is matched with the first group of positioning holes of the modular fixture 2, and the matching accuracy is H7 / g6.

[0035] The fixture storage and switching device is used to store different modular fixtures and can switch different modular fixtures to face the fixture positioning and transfer device.

[0036] Specifically, the fixture storage and switching device includes support seats 23, 24. At the upper ends of the support seats 23, 24, a bracket 25 rotationally connected thereto is provided. At the same time, the bracket 25 is connected to a switching motor 32 that drives it to rotate.

[0037] The bracket 25 is preferably a triangular frame. Three mounting surfaces 28 are provided around its rotation center axis on the bracket 25. Storage positioning pins 29 and matching storage locking mechanisms are respectively provided on the mounting surfaces 28. Different modular jigs are respectively placed on different mounting surfaces, and are positioned by the storage positioning pins 29 and locked by the storage locking mechanisms. Among them, the storage positioning pin 29 is matched with the first set of positioning holes of the modular jig 2. The position specifications of the storage positioning pin 29 and the substrate positioning pin 17 are the same.

[0038] In other embodiments, the bracket 25 can also adopt a frame with two upper and lower mounting surfaces or a polygon according to needs.

[0039] Multiple groups of storage locking mechanisms are provided around the modular jig on the mounting surface 28. The storage locking mechanism includes a locking cylinder two 30 provided at the mounting surface 28. The locking cylinder two 30 is a rotary cylinder, and a locking rod 31 is connected to the movable end of the locking cylinder two 30. The locking rod 31 connected to the rotary cylinder can rotate by 90°, which can ensure that it can avoid interference during jig installation and can be locked and fixed after the jig is installed on the bracket body.

[0040] The jig positioning and transfer device is used to transport the modular jig on the positioner device to the jig storage and switching device, and to transport the modular jig of the jig storage and switching device to the positioner device.

[0041] Specifically, the jig positioning and transfer device includes a sliding guide rail 26 provided on the fixing plate 19. A sliding base 20 that is slidably matched with it is provided on the sliding guide rail 26. At the same time, the sliding base 20 is connected with a sliding cylinder 21 that drives its movement.

[0042] A jacking cylinder 22 is installed on the sliding base 20. A support block 33 is fixed on the movable rod of the jacking cylinder 22. A transition surface for placing the modular jig is formed on the upper side of the support block 33. A matching transition positioning pin 36 is provided on the transition surface. The transition positioning pin 26 is a 1:10 taper positioning pin, which is matched with the second set of positioning holes of the modular jig 2, and the matching accuracy is H7 / g6.

[0043] The sliding guide rail 26 is respectively provided with a first limit block 271 and a second limit block 272 at its head and tail. A limit part is provided on the sliding base 20. The position setting of the limit part should meet the following requirements: when the limit part of the sliding base 20 acts on the first limit block 271, the sliding base 20 is exactly located at the jig storage and switching device; when the limit part of the sliding base 20 acts on the second limit block 272, the sliding base 20 is exactly located at the positioner device.

[0044] The working principle of the present invention is as follows: During use, when it is necessary to replace the modular fixture 2, the rotating shaft seat 3 and the main rotating shaft 4 move under the action of the rotating motor 5, driving the T-shaped support arm 6 to rotate to a specified position. The turning shaft 7 and the substrate 10 thereon turn under the action of the turning motor 8, rotating the modular fixture 2 by 180°, that is, the working surface faces downward. At this time, the sliding base 20 is located at the initial position (i.e., exactly below the substrate 10), and the second lifting cylinder 22 below the substrate 10 rises, and the transition positioning pin 34 on the support block 33 thereon enters the corresponding second set of positioning holes on the modular fixture BASE plate.

[0045] At this time, the first locking cylinder 15 on the substrate 10 retracts, driving the locking block 16 to move backward and separate from the modular fixture 2. The second lifting cylinder 22 descends, and the modular fixture 2 separates from the substrate positioning pin 17 on the substrate 10. Then, the sliding cylinder 21 acts to move the sliding base 20 to the bracket 25. The limit block 27 ensures that the movement position of the sliding base 20 is accurate and constant. At this time, the fixture installation position on the corresponding installation surface of the bracket 25 is vacant. The second lifting cylinder 22 rises, driving the corresponding first set of positioning holes on the modular fixture 2 BASE plate to enter the corresponding storage positioning pins 29 on the installation surface 28. The second locking cylinder 30 on the installation surface 28 acts to drive the rotatable locking rod 31 to lock and fix the fixture. Then, the switching motor 32 on the bracket 25 acts to rotate the installation surface 28, turning the next set of modular fixtures 2 above the lifting cylinder 22. The lifting cylinder 22 rises, and the transition positioning pin thereon enters the corresponding second set of positioning holes on the modular fixture 2. The second locking cylinder 30 on the installation surface 28 acts to drive the rotatable locking rod 31 to release the fixture. The lifting cylinder 22 descends, and the modular fixture 2 separates from the installation surface 28.

[0046] Then, the sliding cylinder 21 acts to move the sliding base 20 to the initial position. Then, the second lifting cylinder 22 rises to send the BASE hole on the fixture into the substrate positioning pin 17 on the substrate 10. The first locking cylinder 15 on the substrate 10 operates to drive the locking block 16 to move forward to lock the modular fixture 2 and the substrate 10. Then, the lifting cylinder 22 descends to the original position, waiting for the next fixture replacement. Then, the turning shaft 7 reversely turns under the action of the turning motor 8, rotating the modular fixture 2 by 180° to the normal working posture, completing an automatic replacement of the fixture.

[0047] When the workpiece is installed on the modular fixture 2, the rotating motor 5 acts to drive the main rotating shaft 4 and the T-shaped support arm 6 to rotate to the working area, and the welding robot block 1 performs welding. The corresponding fixture on the other side of the T-shaped support arm 6 assembles the workpiece. After the operation is completed, it rotates again, and the newly installed workpiece enters the working area for welding. At this time, the welded workpiece is moved to the outside and taken off, and a new workpiece is installed for the next round of welding. The fixture replacement method at this position is the same as the above method.

[0048] This embodiment enables the rapid automatic switching of different jigs to meet production needs, saving the jig replacement time. At the same time, it also enables a single robot workstation to produce multiple workpieces, improving the utilization efficiency of the robot workstation and solving the problems of high labor costs and low robot utilization rate currently.

[0049] The present invention can adopt modular switching of jigs and integrate robot workstations, which can reduce labor production costs and greatly reduce the jig replacement time, significantly improving the use efficiency of robot workstations.

[0050] Embodiment 2: Based on Embodiment 1, multiple sets of modular robot welding systems can be set up and coordinated with a multi-workstation control system. The multi-workstation control system includes a PLC module and communication lines, and the communication lines connect different modular robot welding systems to the PLC module.

[0051] The PLC module calculates based on the welding time of different jigs and the workpiece loading and unloading time to determine how the operator should handle the operations of multiple sets of arc welding robot blocks 1. When the welding time in a set of workstation jigs is long and the workpiece loading and unloading time is short, the installation and welding of workpieces on another set of workstations can be carried out during the welding waiting time. The control system can compare according to the difference between the input welding time and the workpiece loading and unloading time, match multiple workpiece production modes, and dynamically adjust according to the actual production requirements to meet the actual production needs.

[0052] If production abnormalities occur or no suitable production mode can be matched, the PLC module controls the alarm to give an alarm prompt, and the operator manually handles the corresponding problems.

[0053] This embodiment automatically screens different robot workstations for the production of different workpieces through a multi-workstation control system, which not only ensures the matching of manual operations and robot operations but also ensures the integrity of workpiece production.

[0054] The above embodiments are only used to illustrate rather than limit the technical solutions of the present invention. Although the present invention has been described in detail with reference to the above embodiments, those of ordinary skill in the art should understand that: the present invention can still be modified or equivalently replaced, and any modification or partial replacement without departing from the spirit and scope of the present invention shall be covered by the scope of the claims of the present invention.

[0055] If terms such as "first" and "second" are used in this article to limit components, those skilled in the art should be aware that the use of "first" and "second" is only for the convenience of describing the present invention and simplifying the description. Without additional statements, the above terms have no special meanings.

[0056] In the description of the present invention, it should be understood that the orientation or positional relationship indicated by the terms "center", "longitudinal", "transverse", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential", etc. is based on the orientation or positional relationship shown in the drawings, and is only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be construed as a limitation on the present invention.

[0057] In the description of the present invention, it should be noted that unless otherwise clearly specified and defined, the terms "mounted", "connected" and "coupled" shall be construed in a broad sense. For example, it may be a fixed connection, a detachable connection, or an integral connection; it may be a mechanical connection or an electrical connection; it may be directly connected or indirectly connected through an intermediate medium, and it may be the communication inside two elements. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

Claims

1. A modular robot welding system, comprising a welding robot module, characterized in that: It further includes a modular fixture, a positioner device, a fixture positioning and transfer device, and a fixture storage and switching device; The positioner device includes a positioning mechanism, on which one or more substrates are provided for mounting the modular fixture; the substrate can perform rotation operation and up-and-down flipping operation under the action of the positioning mechanism; The fixture storage and switching device is used for storing different modular fixtures and enabling different modular fixtures to be switched to face the fixture positioning and transfer device; The fixture positioning and transfer device is used for transporting the modular fixture on the positioner device to the fixture storage and switching device, and transporting the modular fixture of the fixture storage and switching device to the positioner device.

2. The modular robot welding system according to claim 1, wherein: The positioning mechanism includes a rotating shaft seat and a main rotating shaft vertically installed on the rotating shaft seat, and the main rotating shaft can rotate under the action of a rotation driving unit; Two T-shaped support arms are symmetrically arranged on the upper part of the main rotating shaft in the left-right direction. The T-shaped support arm includes a longitudinal arm extending in the left-right direction and a transverse arm extending in the front-back direction. The longitudinal arms of the two T-shaped support arms are fixedly connected to the main rotating shaft; One or more substrate mounting positions are arranged on the transverse arms of the two T-shaped support arms in the front-back direction. Substrates are correspondingly arranged at the substrate mounting positions. The left and right ends of the substrate are respectively rotatably connected to the transverse arms of the two T-shaped support arms through a turning shaft. At the same time, one of the turning shafts is connected with a turning motor; The two T-shaped support arms are also respectively fixedly connected with downwardly extending support rods, and rollers are installed at the lower parts of the support rods. The rollers are installed on a circular track; A substrate locking mechanism for locking the modular fixture is also provided on the substrate.

3. The modular robot welding system according to claim 2, wherein: The connection mode of the substrate and the turning shaft is as follows: the turning shaft is rotatably connected to the transverse arm of the T-shaped support arm, a positioning support block is fixedly provided at the inner end of the turning shaft, two coaxial turning shafts are in a group, and the left and right ends of the substrate are fixedly connected to the positioning support blocks of the two turning shafts in the same group.

4. The modular robot welding system according to claim 2, characterized in that: Multiple groups of the substrate locking mechanism are provided around the modular fixture on the corresponding substrate; The substrate locking mechanism includes a first locking cylinder, a locking guide block and a locking block. The first locking cylinder is a telescopic cylinder, a locking block is installed on the piston of the first locking cylinder, the locking guide block is installed on the substrate, and the locking block slides through the locking guide block to form a locking fit with the modular fixture; The substrate locking mechanism further includes a substrate positioning pin fixed on the substrate, and a first group of positioning holes are correspondingly provided on the modular fixture. The substrate positioning pin cooperates with the first group of positioning holes.

5. The modular robot welding system according to claim 4, characterized in that: The locking block and the corresponding mating surface on the BASE plate of the modular fixture adopt a conical surface fit.

6. The modular robot welding system according to claim 4, wherein: The fixture storage and switching device includes a support seat, and a bracket rotatably connected to the upper end of the support seat. At the same time, the bracket is connected with a switching driving unit for driving its rotation; Multiple mounting surfaces are arranged around the rotation center axis of the bracket. Storage positioning pins and matching storage locking mechanisms are correspondingly provided on the mounting surfaces. Different modular fixtures are respectively placed on different mounting surfaces and are positioned by the storage positioning pins and locked by the storage locking mechanisms. The storage positioning pin cooperates with the first group of positioning holes of the modular fixture.

7. The modular robot welding system according to claim 6, wherein: The bracket is a triangular frame with three mounting surfaces thereon.

8. The modular robot welding system according to claim 6, characterized in that: Multiple groups of the storage locking mechanism are provided around the modular fixture on the mounting surface; The storage locking mechanism includes a second locking cylinder provided at the installation surface. The second locking cylinder is a rotary cylinder, and a locking rod is connected to the movable end of the second locking cylinder.

9. The modular robot welding system according to claim 4, characterized in that: The fixture positioning and transfer device includes a sliding guide rail provided on a fixed plate. A sliding base that is slidably matched with the sliding guide rail is provided on the sliding guide rail. At the same time, the sliding base is connected with a sliding driving unit for driving its movement. A lifting mechanism is installed on the sliding base. A support block is fixed on the movable rod of the lifting mechanism. A transition surface for placing the modular fixture is formed on the upper side of the support block. A matching transition positioning pin is provided on the transition surface. A second set of positioning holes is correspondingly provided on the modular fixture, and the transition positioning pin is matched with the second set of positioning holes.

10. The modular robot welding system according to claim 9, wherein: The sliding guide rail is respectively provided with a first limit block and a second limit block at the head and tail ends. A limiting portion is provided on the sliding base. When the limiting portion of the sliding base acts on the first limit block, the sliding base is exactly located at the fixture storage and switching device. When the limiting portion of the sliding base acts on the second limit block, the sliding base is exactly located at the positioner device.

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