Intelligent robot welding device for sofa chair metal frame

Abstract

The invention belongs to the field of sofa chair metal frame welding, and particularly relates to a sofa chair metal frame robot intelligent welding device which comprises a robot intelligent frame, the robot intelligent frame comprises a robot main arm and a plurality of robot secondary arms arranged on the robot main arm, and each robot secondary arm comprises a flexible positioning arm; a plurality of auxiliary positioning frames are installed on the welding table, and the auxiliary positioning frames and the flexible positioning arms are of the same structure. The flexible positioning arm comprises a plurality of unit positioning arms which are sequentially connected end to end; the unit positioning arm comprises an angle adjusting piece and a magnetic adsorption piece; the angle adjusting part is used for adjusting the rotating angle of the magnetic adsorption part, and multi-dimensional bending adjustment of the flexible positioning arm is completed by adjusting the bending angles of the multiple local unit positioning arms. The intelligent robot frame can be used for accurately positioning the metal frame of the sofa chair, the intelligent robot frame can be matched with an ion arc welding machine in an intelligent welding system, the intelligent robot frame is suitable for various metal frames of the sofa chair, and accurate welding is conducted.

Description

Technical Field

[0001] This invention relates to the field of welding metal frames for sofas and chairs, specifically to a robotic intelligent welding device for metal frames of sofas and chairs. Background Technology

[0002] A sofa chair, also known as a single sofa, is a type of home seating that combines comfort and decoration, suitable for living rooms, bedrooms, balconies, and other home settings.

[0003] Especially in the field of intelligent welding, there is a high reliance on intelligent systems and unmanned welding mechanisms. While welding heads can be controlled by mature robotic arms, existing technologies for positioning sofa and chair metal frames rely on clamps. These clamps have fixed designs, are only compatible with a single product, and have high replacement costs. This results in the inability to accurately match the welding head with the sofa and chair metal frame during the intelligent welding process. For example, a sofa back support frame welding clamp with application number 201922142960.2 also suffers from the common technical limitation of sofa and chair metal frame welding clamps: "fixed design, only compatible with a single product, and high replacement costs."

[0004] Therefore, in order to solve the above problems, a robotic intelligent welding device for sofa and chair metal frames is proposed. Summary of the Invention

[0005] Existing sofa and chair metal frame welding fixtures suffer from common technical limitations, such as "fixed design, only suitable for a single product, and high cost of replacement," resulting in inaccurate matching between the fixture and the welding joints of different sofa and chair metal frames during intelligent welding processes. To achieve the above objective, this invention provides the following technical solution: A robotic intelligent welding device for sofa chair metal frames includes a welding table and a conveyor belt mounted on a supporting beam. The conveyor belt and the welding table are parallel to each other. A robotic intelligent frame is slidably mounted on the supporting beam. The robotic intelligent frame is used to transfer the sofa chair metal frame transported from the conveyor belt to the welding table for welding using an ion arc welding machine mounted on the welding table. An intelligent welding system is installed on the conveyor belt to intelligently monitor the sofa chair metal frame transported by the conveyor belt, including information on its type, size, structure, and center of gravity. The robotic intelligent frame includes a main robotic arm and multiple secondary robotic arms mounted on the main robotic arm. The secondary robotic arms include flexible positioning arms. Multiple auxiliary positioning frames are mounted on the welding table. The auxiliary positioning frames and flexible positioning arms adopt the same structure. The flexible positioning arms include multiple unit positioning arms connected end-to-end. Each unit positioning arm includes an angle adjustment component and a magnetic adsorption component. The angle adjustment component is used to adjust the rotation angle of the magnetic adsorption component, so as to achieve complete welding by adjusting the bending angle of multiple unit positioning arms locally. The system utilizes a multi-dimensional bending adjustment mechanism for the flexible positioning arms. During the transport of the sofa chair's metal frame, an intelligent welding system mounted on the conveyor belt learns the type, size, structure, and center of gravity of the metal frame. By adjusting the rotation angle of the magnetic adsorption components through angle adjustment devices, the system achieves multi-dimensional bending adjustment of the flexible positioning arms and auxiliary positioning frames in the X and Y axis directions by adjusting the bending angles of multiple local unit positioning arms. This allows the robotic intelligent frame to change its shape based on the actual type, size, structure, and center of gravity of the sofa chair's metal frame. After multi-dimensional bending adjustment, the flexible positioning arms are precisely adsorbed onto suitable stress points on the sofa chair's metal frame via magnetic adsorption components on one or more local unit positioning arms. Subsequently, multiple robotic secondary arms and multiple auxiliary positioning frames pull and position the sofa chair's metal frame in all directions. This precise positioning of the sofa chair's metal frame using the robotic intelligent frame facilitates integration with an ion arc welding machine within the intelligent welding system, enabling precise welding of various sofa chair metal frames. A further embodiment, as shown in the figure, includes an electric telescopic rod B, which is installed at the end of the angle adjustment component. The magnetic adsorption component also includes an electric telescopic rod C and a magnetic chuck. The electric telescopic rod C is installed on the side wall of the electric telescopic rod B, and the magnetic chuck is fixed at the end of the electric telescopic rod C away from the electric telescopic rod B. An electromagnetic coil is laid on the magnetic chuck, which can be magnetized and made to contact magnetism by turning the electromagnetic coil on and off.

[0006] In a further embodiment, the angle adjustment component includes a motor, a fixed plate B fixed on the output shaft of the motor, a fixed plate A mounted on the fixed plate B via a hinge, and an electric telescopic rod E installed between the fixed plate A and the fixed plate B on the side of the hinge; by extending and retracting the electric telescopic rod E, the fixed plates A and B can rotate around the hinge in one direction; the motor has a mounting hole at the end away from the fixed plate B, and the mounting hole is rotatably connected to the electric telescopic rod B on the adjacent unit positioning arm through a bearing and a rotating shaft.

[0007] In a further embodiment, the robot main arm includes an electric telescopic rod A, one end of which is slidably mounted on a support beam. The support beam is controlled by the electric telescopic rod H installed on it to adjust the sliding position of the electric telescopic rod A along the main body of the support beam.

[0008] In a further embodiment, the robot main arm also includes a support plate, with a sliding groove formed around the support plate, on which multiple robot secondary arms are slidably mounted; a limiting flange is provided on each side of the support plate to prevent the robot secondary arms from falling off during sliding on the sliding groove; an electric telescopic rod I is installed inside the sliding groove, and the electric telescopic rod I is distributed along the main body of the sliding groove; the electric telescopic rod I is used to control the sliding position of the robot secondary arms on the sliding groove.

[0009] The robot secondary arm also includes a robotic arm, which is mounted on the end of the flexible positioning arm and is used to adjust the position of the flexible positioning arm as a whole; the robotic arm is slidably mounted on the slide groove.

[0010] The robotic arm includes a primary robotic arm and a secondary robotic arm. The primary robotic arm is mounted on the secondary robotic arm, and the end of the primary robotic arm away from the secondary robotic arm is fixed to the end of the flexible positioning arm. The end of the secondary robotic arm away from the primary robotic arm is slidably mounted on a slide groove.

[0011] The secondary robotic arm includes an electric telescopic rod D, one end of which is fixed to the primary robotic arm and the other end is fixed to a guide plate; the guide plate is slidably mounted on a guide rail, the guide rail is fixed to a guide slider, and the guide slider is slidably mounted on a slide groove.

[0012] The primary robotic arm includes an electric telescopic rod F and a support slide. One end of the electric telescopic rod F is attached to the end of the flexible positioning arm, and the other end is fitted with a support plate. An electric telescopic rod G and a U-shaped support plate B are fixed on the support slide, and the electric telescopic rod G and the U-shaped support plate B are arranged in parallel. The end of the U-shaped support plate B away from the support slide is rotatably mounted at the end of the support plate. A U-shaped support plate A is fixed to the end of the electric telescopic rod G away from the support slide, and the U-shaped support plate A is rotatably mounted on the support slide.

[0013] In a further embodiment, the intelligent welding system includes: A. Multimodal sensing module An integrated 3D line laser scanner and laser-induced breakdown spectrometer are used to simultaneously acquire the dimensions, structure, material composition, and coordinates of the center of gravity of the sofa chair's metal frame. B. Dynamic Decision Engine Based on reinforcement learning algorithms, the gravity center point is transformed into a mechanical equilibrium constraint, generating a stiffness distribution scheme for the magnetorheological fixture and polar coordinate planning for the welding path.

[0014] Compared with the prior art, the present invention can achieve the following: 1) During the transport of the sofa chair's metal frame, the conveyor belt utilizes an intelligent welding system equipped on it. This system acquires information about the type, size, structure, and center of gravity of the metal frame. By adjusting the angle of the magnetic adsorption components, it achieves multi-dimensional bending adjustment of the flexible positioning arms and auxiliary positioning frames in the X and Y axis directions through adjustments to the bending angles of multiple local unit positioning arms. This allows the robotic intelligent frame to change its shape based on the actual type, size, structure, and center of gravity of the sofa chair's metal frame. After multi-dimensional bending adjustment, the flexible positioning arms are precisely adsorbed onto suitable stress points on the sofa chair's metal frame via magnetic adsorption components on one or more local unit positioning arms. Subsequently, multiple robotic secondary arms and multiple auxiliary positioning frames pull and position the sofa chair's metal frame in all directions. This precise positioning of the sofa chair's metal frame using the robotic intelligent frame facilitates integration with an ion arc welding machine within the intelligent welding system, enabling precise welding of various sofa chair metal frames. Compared to traditional clamps that can only clamp inward from two directions and whose force is only applied at the clamping point, the flexible positioning arm and auxiliary positioning frame of this application can use magnetic adsorption components on multiple local unit positioning arms to form adsorption limiting forces at multiple points in multiple dimensions, thereby flexibly adapting to changes in the metal frame of the sofa chair, including its type, size, structure, and gravity center point information. 2) By adjusting the bending angle of multiple local unit positioning arms, multi-dimensional bending adjustment of the flexible positioning arms and auxiliary positioning frame in the X and Y axis combined directions is achieved. Based on this, the electric telescopic rod B is extended to achieve further combination and adjustment of the multi-dimensional bending arc of the flexible positioning arms and auxiliary positioning frame in the Z axis direction. Simultaneously, the electric telescopic rod C can be extended to allow the magnetic chuck to penetrate into various recessed or bent shapes within the sofa chair metal frame, etc. This facilitates precise location of the force point, applying force for pulling or supporting, even with changes in the type, size, structure, and center of gravity information of the sofa chair metal frame. It also facilitates integration with an ion arc welding machine in the intelligent welding system, adapting to various sofa chair metal frames for precise welding. 3) The intelligent welding system mounted on the conveyor belt scans the metal frame of the sofa chair in real time to obtain information on its type, size, structure, and center of gravity. It adjusts the rotation angle of the magnetic adsorption components via angle adjustment devices, and combines this with the bending of the unit positioning arm to achieve multi-dimensional positioning in the X and Y planes. Furthermore, the coordinated Z-axis extension of the electric telescopic rod B and the radial insertion of the electric telescopic rod C enable the flexible positioning arm and auxiliary positioning frame to form a three-dimensional spatial arc adjustment. The magnetic chuck precisely embeds into the recesses and / or bending structures of the frame, combining information perception and dynamic adjustment. Multiple robot secondary arms and the auxiliary positioning frame fix the frame through multi-directional tensile forces, ensuring the stability of the center of gravity. The ion arc welding machine adapts to the welding path based on the characteristics of the sofa chair's metal frame and the intelligent robot frame, achieving high-precision welding and forming collaborative positioning and welding execution. 4) This invention has a gravity center self-balancing effect. It is positioned by using the gravity center point information through the flexible positioning arm and the auxiliary positioning frame. When multiple robot secondary arms and multiple auxiliary positioning frames are pulled by the electric telescopic rod B, a mechanical balance network is automatically formed. The pulling force disperses local stress in real time and offsets welding thermal deformation. 5) This invention has an active cooling function with magnetic adsorption. The magnetic chuck is only used for fixation. At the same time, the electric telescopic rod C can be used to extend and retract the magnetic chuck into the recess of the frame, which becomes a heat dissipation channel, accelerates the cooling of the weld, realizes the temperature gradient reduction in the weld area, and reduces the risk of burn-through. At the same time, the electric telescopic rod C drives the magnetic chuck into the recess to form a micro-shield effect, which improves the welding penetration stability of the thin-walled frame and strengthens the weld in the recessed structure. 6) This invention features vibration suppression of a multi-dimensional bending arm. The flexible positioning arm only achieves positioning adaptation. The multi-degree-of-freedom bending structure of the flexible positioning arm absorbs the vibration of the conveyor belt, thus reducing the amplitude of the welding process. 7) This invention evolves the fixture from a "mechanical fixing device" into a "process optimization intelligent agent", providing the first set of self-sensing, self-decision-making and self-optimizing welding solutions for discrete manufacturing. Attached Figure Description

[0015] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0016] Figure 1 This is a schematic diagram of the intelligent robotic welding device for sofa and chair metal frames of the present invention. Figure 2 for Figure 1 A schematic diagram of the structure of the intelligent robot frame; Figure 3 for Figure 2 A schematic diagram of the main arm of the robot. Figure 4 for Figure 2 A schematic diagram of the secondary arm of the robot. Figure 5 for Figure 4 A schematic diagram of the structure of the robotic arm; Figure 6 for Figure 5 Schematic diagram of the structure of the secondary robotic arm; Figure 7 for Figure 5 Schematic diagram of the structure of a mid-level robotic arm; Figure 8 for Figure 4 Schematic diagram of the flexible positioning arm; Figure 9 for Figure 8 Schematic diagram of the middle unit positioning arm; Figure 10 for Figure 9 Schematic diagram of the mid-angle adjustment component; Figure 11 This is a demonstration diagram of how the robot intelligent frame and auxiliary positioning frame position the metal frame of a sofa chair in this invention; Figure 12 This is a demonstration diagram of the flexible positioning arm after flexible deformation in this invention.

[0017] In the picture: 100. Support beam; 200. Robotic intelligent frame; 300. Conveyor belt; 400. Control panel; 500. Auxiliary positioning frame; 600. Welding table; 700. Sofa chair metal frame. 210. Main robot arm; 220. Secondary robot arm; 211. Electric telescopic rod A; 212. Slide groove; 213. Support plate; 214. Limiting flange; 221. Robotic arm; 222. Flexible positioning arm; 223. Unit positioning arm; 224. Angle adjustment component; 225. Electric telescopic rod B; 226. Electric telescopic rod C; 227. Magnetic chuck; 2211. Primary robotic arm; 2212. Secondary robotic arm; 2213. Electric telescopic rod D; 2214. Guide plate; 2215. Guide rail; 2216. Guide slider; 2241. Electric telescopic rod E; 2242. Fixed plate A; 2243. Fixed plate B; 2244. Motor; 2245. Mounting hole; 22111. Electric telescopic rod F; 22112. U-shaped support plate A; 22113. Electric telescopic rod G; 22114. Support plate; 22115. U-shaped support plate B; 22116. Support slide plate. Detailed Implementation

[0018] The technical solution of the present invention will be further described in detail below with reference to specific embodiments. In the description of the present invention, unless otherwise stated, "a plurality of" means two or more.

[0019] In embodiments of the present invention, such as Figure 1 As shown: A robotic intelligent welding device for a sofa chair metal frame includes a welding table 600 and a conveyor belt 300 mounted on a support beam 100. The conveyor belt 300 and the welding table 600 are distributed in parallel. A robotic intelligent frame 200 is slidably mounted on the support beam 100. The robotic intelligent frame 200 is used to transfer the sofa chair metal frame 700 transferred from the conveyor belt 300 to the welding table 600 for welding using an ion arc welding machine installed on the welding table 600. As described above, the sofa chair metal frame 700 is placed on the conveyor belt 300 and transported to a position parallel to the welding table 600 using the conveyor belt 300. Then, the robotic intelligent frame 200 transfers the sofa chair metal frame 700 from the conveyor belt 300 to the welding table 600. At the same time, the robotic intelligent frame 200 precisely positions the sofa chair metal frame 700, which is beneficial for cooperation with the ion arc welding machine, enabling it to adapt to various sofa chair metal frames 700 and perform precise welding. Regarding the ion arc welding machine, it should be noted that: the ion arc welding machine is an adjustable spectrum pulse ion arc welding machine, which automatically switches the welding energy waveform according to the material composition identified by LIBS, and receives polar coordinate path instructions driven by the center of gravity to execute welding; it belongs to existing technology, which can be found through existing literature and web pages, and its working principle can also be understood through conventional means; it can also be purchased directly on the market, and is not the subject of this invention, so it will not be described in detail here; Furthermore, an operation panel 400 is installed on the welding table 600, which is used to control the welding table 600 and the conveyor belt 300. An intelligent welding system is installed on the conveyor belt 300. The intelligent welding system is used to intelligently monitor the sofa and chair metal frame 700 that is conveyed by the conveyor belt 300, which contains information on type, size, structure and center of gravity. Therefore, the sofa chair metal frame 700 is placed on the conveyor belt 300. During the transfer process, the conveyor belt 300 is equipped with an intelligent welding system. The intelligent welding system obtains information about the type, size, structure, and center of gravity of the sofa chair metal frame 700. This allows the sofa chair metal frame 700 to be transferred to a position parallel to the welding table 600. The robotic intelligent frame 200 then precisely positions the sofa chair metal frame 700 according to its actual condition before transferring it from the conveyor belt 300 to the welding table 600. The robotic intelligent frame 200 also precisely positions the sofa chair metal frame 700, which is beneficial for cooperation with the ion arc welding machine, enabling the adaptation of various sofa chair metal frames 700 for precise welding. Continue reading Figure 1 , Figure 2 , Figure 4 , Figure 8 and Figure 9 The robot intelligent frame 200 includes a robot main arm 210 and multiple robot secondary arms 220 mounted on the robot main arm 210. The robot secondary arms 220 include flexible positioning arms 222. Multiple auxiliary positioning frames 600 are mounted on the welding table 600. The auxiliary positioning frames 600 and the flexible positioning arms 222 adopt the same structure. The flexible positioning arm 222 includes multiple unit positioning arms 223, which are connected end to end. Each unit positioning arm 223 includes an angle adjustment component 224 and a magnetic adsorption component. The angle adjustment component 224 is used to adjust the rotation angle of the magnetic adsorption component, so as to achieve multi-dimensional bending adjustment of the flexible positioning arm 222 by adjusting the bending angle of multiple unit positioning arms 223 locally. Therefore, during the transfer of the sofa chair metal frame 700, the conveyor belt 300 utilizes an intelligent welding system installed on it to obtain information about the type, size, structure, and center of gravity of the sofa chair metal frame 700. The system adjusts the rotation angle of the magnetic adsorption component via the angle adjustment component 224, achieving multi-dimensional bending adjustment of the flexible positioning arm 222 and the auxiliary positioning frame 600 in the X-axis and Y-axis combined directions by adjusting the bending angle of multiple local unit positioning arms 223. This allows the robotic intelligent frame 200 to change its shape according to the actual type, size, structure, and center of gravity information of the sofa chair metal frame 700 (see details for reference). Figure 12 (A demonstration diagram of the flexible positioning arm 222 after flexible deformation) allows the flexible positioning arm 222 to be precisely attached to suitable stress points on the sofa chair metal frame 700 via magnetic adsorption components on one or more localized positioning arms 223 after multi-dimensional bending adjustment; subsequently, multiple robotic secondary arms 220 and multiple auxiliary positioning frames 600 are used to pull and position the sofa chair metal frame 700 in all directions (see details for reference). Figure 11 The diagram shows the positioning of the sofa chair metal frame 700 by the robot intelligent frame 200 and the auxiliary positioning frame 600. This enables the robot intelligent frame 200 to accurately position the sofa chair metal frame 700, which is beneficial for the intelligent welding system to cooperate with the ion arc welding machine and is compatible with various sofa chair metal frames 700 for precise welding. Compared to traditional clamps (such as the sofa back support frame welding clamp of application number 201922142960.2), which can only clamp inward from two directions and whose force is only applied at the clamping point, the flexible positioning arm 222 and auxiliary positioning frame 600 of this application can use magnetic adsorption components on multiple local unit positioning arms 223 to form adsorption limiting forces at multiple points in multiple dimensions, so as to flexibly adapt to changes in the sofa chair metal frame 700, including its type, size, structure and gravity center point information.

[0020] In embodiments of the present invention, such as Figure 9 As shown: The magnetic adsorption component includes an electric telescopic rod B225, which is installed at the end of the angle adjustment component 224; The magnetic adsorption component also includes an electric telescopic rod C226 and a magnetic chuck 227. The electric telescopic rod C226 is installed on the side wall of the electric telescopic rod B225, and the magnetic chuck 227 is fixed to the end of the electric telescopic rod C226 away from the electric telescopic rod B225. An electromagnetic coil is laid on the magnetic chuck 227, which can be magnetized and made to contact magnetism when the electromagnetic coil is energized and de-energized.

[0021] Therefore, by adjusting the bending angle of multiple local unit positioning arms 223, multi-dimensional bending adjustment of the flexible positioning arm 222 and the auxiliary positioning frame 600 in the X-axis and Y-axis combined directions is achieved. On this basis, the electric telescopic rod B225 is used to extend and retract, further combining and adjusting the multi-dimensional bending arc of the flexible positioning arm 222 and the auxiliary positioning frame 600 in the Z-axis direction. At the same time, the electric telescopic rod C226 is used to extend and retract, which can drive the magnetic chuck 227 to insert into various concave or bent shapes of the sofa chair metal frame 700, etc. This is beneficial for accurately finding the force point and applying force for pulling or supporting when the sofa chair metal frame 700 changes in its type, size, structure, and center of gravity information. It is also beneficial for the intelligent welding system to cooperate with the ion arc welding machine, adapting to various sofa chair metal frames 700 for precise welding.

[0022] In summary, the intelligent welding system mounted on the conveyor belt 300 scans the metal frame 700 of the sofa chair in real time to obtain information on its type, size, structure, and center of gravity; and adjusts the rotation angle of the magnetic adsorption component through the angle adjustment component 224, combined with the bending of the unit positioning arm 223 to achieve multi-dimensional positioning in the X-axis and Y-axis planes; and the electric telescopic rod B225 (Z-axis telescopic) and the electric telescopic rod C226 (radial insertion) work together to make the flexible positioning arm 222 and the auxiliary positioning frame 600 form a three-dimensional spatial arc adjustment, and the magnetic suction cup 227 is precisely embedded in the recess and / or bending structure of the frame, which together form information perception and dynamic adjustment; Multiple robot secondary arms 220 and auxiliary positioning frame 600 fix the frame through multi-directional tensile force to ensure the stability of the center of gravity; the ion arc welding machine achieves high-precision welding based on the characteristics of the sofa chair metal frame 700 and the adaptive welding path of the robot intelligent frame 200, forming a collaborative positioning and welding execution; From the above description, we can conclude that: This invention features a gravity center self-balancing effect. It uses only the gravity center point information to assist in positioning via the flexible positioning arm 222 and the auxiliary positioning frame 600. When multiple robot secondary arms 220 and multiple auxiliary positioning frames 600 are pulled by the extension and retraction of the electric telescopic rod B225, a mechanical balance network is automatically formed. The pulling force disperses local stress in real time, thus offsetting welding thermal deformation. This invention features active cooling via magnetic adsorption. The magnetic chuck 227 is used only for fixation, while the electric telescopic rod C226 extends and retracts to embed the magnetic chuck 227 into the recess of the frame, creating a heat dissipation channel to accelerate weld cooling, reduce the temperature gradient in the weld area, and decrease the risk of burn-through. Simultaneously, the electric telescopic rod C226 drives the magnetic chuck 227 into the recess for positioning, forming a micro-shielding effect, which improves the weld penetration stability of the thin-walled frame and strengthens the weld in the recessed structure. The present invention features vibration suppression of a multi-dimensional bending arm. The flexible positioning arm 222 only achieves positioning adaptation. The multi-degree-of-freedom bending structure of the flexible positioning arm 222 absorbs the vibration of the conveyor belt, thereby reducing the amplitude of the welding process.

[0023] In another embodiment of the present invention, such as Figure 9 and Figure 10 As shown: The angle adjustment component 224 includes a motor 2244, a fixed plate B2243 is fixed on the output shaft of the motor 2244, a fixed plate A2242 is mounted on the fixed plate B2243 via a hinge, and an electric telescopic rod E2241 is installed between the fixed plate A2242 and the fixed plate B2243 on the side of the hinge. By adjusting the extension and retraction of the electric telescopic rod E2241, the fixed disks A2242 and B2243 can rotate in one direction around the hinge; The motor 2244 has a mounting hole 2245 at the end away from the fixed plate B2243. The mounting hole 2245 is rotatably connected to the electric telescopic rod B225 on the adjacent unit positioning arm 223 through the cooperation of bearings and rotating shafts.

[0024] The electric telescopic rod E2241 extends and retracts, allowing fixed plates A2242 and B2243 to rotate around the hinge in one direction. Then, the motor 2244 drives the hinge, fixed plates A2242 and B2243 to rotate as a whole, allowing them to rotate in different directions around the hinge. This allows the angle adjustment component 224 to adjust the rotation angle of the magnetic adsorption component. By adjusting the bending angle of multiple local unit positioning arms 223, multi-dimensional bending adjustment of the flexible positioning arm 222 and the auxiliary positioning frame 600 is achieved in the X and Y axis combined directions. The robotic intelligent frame 200 changes its shape according to the actual type, size, structure, and center of gravity information of the sofa chair metal frame 700, so that after multi-dimensional bending adjustment, the flexible positioning arm 222 can be precisely adsorbed onto the appropriate force point of the sofa chair metal frame 700 through the magnetic adsorption components on one or more local unit positioning arms 223.

[0025] In another embodiment of the present invention, such as Figure 2 and Figure 3 As shown: The robot main arm 210 includes an electric telescopic rod A211. One end of the electric telescopic rod A211 is slidably mounted on the support beam 100. The support beam 100 is controlled by the electric telescopic rod A211 installed thereon to adjust the sliding position of the electric telescopic rod A211 along the main body of the support beam 100.

[0026] Further options, such as Figure 2 and Figure 3 As shown: The robot main arm 210 also includes a support plate 213, and a sliding groove 212 is provided around the support plate 213, and multiple robot secondary arms 220 are slidably assembled on the sliding groove 212. A limiting flange 214 is provided on both sides of the support plate 213. The limiting flange 214 is used to prevent the robot secondary arm 220 from falling off during the sliding process on the slide groove 212. An electric telescopic rod I is installed inside the slide 212, and the electric telescopic rod I is distributed along the main body of the slide 212; the electric telescopic rod I is used to control the sliding position of the robot secondary arm 220 on the slide 212.

[0027] like Figures 2-4As shown: The robot secondary arm 220 also includes a mechanical arm 221, which is mounted on the end of the flexible positioning arm 222. The mechanical arm 221 is used to adjust the position of the flexible positioning arm 222 as a whole; the mechanical arm 221 is slidably mounted on the slide groove 212.

[0028] like Figures 4-7 As shown: The robotic arm 221 includes a primary robotic arm 2211 and a secondary robotic arm 2212. The primary robotic arm 2211 is mounted on the secondary robotic arm 2212. The end of the primary robotic arm 2211 away from the secondary robotic arm 2212 is fixed to the end of the flexible positioning arm 222. The end of the secondary robotic arm 2212 away from the primary robotic arm 2211 is slidably mounted on the slide groove 212.

[0029] like Figure 5 and Figure 6 As shown: The secondary robotic arm 2212 includes an electric telescopic rod D2213, one end of which is fixed to the primary robotic arm 2211, and the other end is fixed to the guide plate 2214; the guide plate 2214 is slidably mounted on the guide rail 2215, the guide rail 2215 is fixed to the guide slider 2216, and the guide slider 2216 is slidably mounted on the slide groove 212.

[0030] like Figure 5 and Figure 7 As shown: The first-level robotic arm 2211 includes an electric telescopic rod F22111 and a support slide plate 22116. One end of the electric telescopic rod F22111 is attached to the end of the flexible positioning arm 222, and the other end is equipped with a support plate 22114. An electric telescopic rod G22113 and a U-shaped support plate B22115 are fixed on the support slide 22116. The electric telescopic rod G22113 and the U-shaped support plate B22115 are distributed in parallel. The end of the U-shaped support plate B22115 away from the support slide 22116 is rotatably mounted on the end of the support plate 22114. A U-shaped support plate A22112 is fixed to the end of the electric telescopic rod G22113 away from the support slide 22116. The U-shaped support plate A22112 is rotatably mounted on the support slide 22116.

[0031] Electric telescopic rods A211, angle adjustment component 224, electric telescopic rod C226, electric telescopic rod D2213, electric telescopic rod E2241, electric telescopic rod F22111, electric telescopic rod G22113, electric telescopic rod H, and electric telescopic rod I are all existing technologies, which can be found through existing literature and web pages, and their working principles can also be known through conventional means; they can also be purchased directly on the market, and are not the subject of this invention, so they will not be described in detail here; The electromagnetic coil laid on the magnetic chuck 227 and the power supply wiring method of the motor 2244 are both existing technologies that can be found in existing literature and web pages. Their working principles can also be known through conventional means. They can also be purchased directly on the market and are not protected by this invention, so they will not be described in detail here.

[0032] In another embodiment of the present invention, the intelligent welding system includes: A. Multimodal sensing module An integrated 3D line laser scanner (model LJ-V7300) and a laser-induced breakdown spectrometer (model LIBS) are used to simultaneously acquire the dimensions, structure, material composition, and coordinates of the center of gravity of the sofa chair's metal frame 700. B. Dynamic Decision Engine Based on reinforcement learning algorithms, the gravity center point is transformed into a mechanical equilibrium constraint, generating a stiffness distribution scheme for the magnetorheological fixture and polar coordinate planning for the welding path. C. Magnetorheological self-balancing fixture array It is composed of a flexible capsule filled with magnetorheological fluid, and the local stiffness can be infinitely adjusted from 0.1 to 100 N / μm by the current intensity, with a response time of no more than 18ms; A polar coordinate system is established with the center of gravity as the origin to calculate the anti-deformation pre-compensation matrix of the multi-arm tensile force; infrared thermal imager data is received in real time during the welding process, and the bladder current is dynamically adjusted to suppress thermal deformation.

[0033] Therefore, traditional fixtures passively resist welding deformation, while this invention uses polar coordinate path planning driven by the center of gravity to make the heat input radially symmetrically distributed. Combined with the millisecond-level stiffness reconstruction of the magnetorheological fixture, a dynamic anti-deformation stress field is formed, realizing the coordinated taming of the gravitational field and the thermal field. The flexible capsule filled with magnetorheological fluid achieves viscosity transition within 23ms. Its stepless stiffness adjustment characteristic of 0.1-100N / μm yields unexpected results. The magnetorheological self-balancing fixture array becomes a micro heat sink network, which accelerates heat dissipation through the capsule contact points, increases the cooling rate of aluminum alloy welds by 35%, and refines the grain size to 12μm (compared to 28μm in traditional processes). This invention evolves the fixture from a "mechanical fixing device" into a "process optimization intelligent agent," providing the first self-sensing, self-decision-making, and self-optimizing welding solution for discrete manufacturing.

[0034] In the description of this invention, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "linking" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art will understand the specific meaning of the above terms in this invention based on the specific circumstances.

[0035] The preferred embodiments of the present invention have been described in detail above. However, the present invention is not limited to the above embodiments. Within the scope of knowledge possessed by those skilled in the art, various changes can be made without departing from the spirit of the present invention.

Claims

1. A robotic intelligent welding device for a sofa chair metal frame, comprising a welding table (600) and a conveyor belt (300) mounted on a supporting beam (100), wherein the conveyor belt (300) and the welding table (600) are arranged in parallel, and a robotic intelligent frame (200) is slidably mounted on the supporting beam (100). The robotic intelligent frame (200) is used to transfer the sofa chair metal frame (700) transferred from the conveyor belt (300) to the welding table (600) for welding using an ion arc welding machine mounted on the welding table (600); characterized in that, An intelligent welding system is installed on the conveyor belt (300). The intelligent welding system is used to intelligently monitor the sofa chair metal frame (700) that is conveyed by the conveyor belt (300) and contains information on type, size, structure and center of gravity. The robot intelligent frame (200) includes a robot main arm (210) and multiple robot secondary arms (220) mounted on the robot main arm (210). The robot secondary arms (220) include flexible positioning arms (222). Multiple auxiliary positioning frames (600) are mounted on the welding table (600). The auxiliary positioning frames (600) and the flexible positioning arms (222) adopt the same structure. The flexible positioning arm (222) includes multiple unit positioning arms (223), which are connected end to end. Each unit positioning arm (223) includes an angle adjustment component (224) and a magnetic adsorption component. The angle adjustment component (224) is used to adjust the rotation angle of the magnetic adsorption component, so as to achieve multi-dimensional bending adjustment of the flexible positioning arm (222) by adjusting the bending angle of multiple unit positioning arms (223) locally.

2. The intelligent robotic welding device for a sofa chair metal frame according to claim 1, characterized in that, The magnetic adsorption component includes an electric telescopic rod B (225), which is installed at the end of the angle adjustment component (224); The magnetic adsorption component also includes an electric telescopic rod C (226) and a magnetic chuck (227). The electric telescopic rod C (226) is mounted on the side wall of the electric telescopic rod B (225), and the magnetic chuck (227) is fixed to the end of the electric telescopic rod C (226) away from the electric telescopic rod B (225). An electromagnetic coil is laid on the magnetic chuck (227), which can be magnetized and made to contact magnetism during the process of turning the electromagnetic coil on and off.

3. The intelligent robotic welding device for a sofa chair metal frame according to claim 1, characterized in that, The angle adjustment component (224) includes a motor (2244), a fixed disk B (2243) is fixed on the output shaft of the motor (2244), a fixed disk A (2242) is mounted on the fixed disk B (2243) via a hinge, and an electric telescopic rod E (2241) is installed between the fixed disk A (2242) and the fixed disk B (2243) on the side of the hinge. By adjusting the extension and retraction of the electric telescopic rod E (2241), the fixed plate A (2242) and the fixed plate B (2243) can rotate in one direction around the hinge; The motor (2244) has a mounting hole (2245) at the end away from the fixed plate B (2243). The mounting hole (2245) is rotatably connected to the electric telescopic rod B (225) on the adjacent unit positioning arm (223) through bearings and a rotating shaft.

4. The intelligent robotic welding device for a sofa chair metal frame according to claim 1, characterized in that, The robot main arm (210) includes an electric telescopic rod A (211), one end of which is slidably mounted on a support beam (100). The support beam (100) is controlled by the electric telescopic rod H installed thereon to adjust the sliding position of the electric telescopic rod A (211) along the main body of the support beam (100).

5. The intelligent robotic welding device for a sofa chair metal frame according to claim 4, characterized in that, The robot main arm (210) also includes a support plate (213), and a sliding groove (212) is provided around the support plate (213). Multiple robot secondary arms (220) are slidably assembled on the sliding groove (212). A limiting flange (214) is provided on each side of the support plate (213). The limiting flange (214) is used to prevent the robot secondary arm (220) from falling off during the sliding process on the slide (212). An electric telescopic rod I is installed inside the slide (212), and the electric telescopic rod I is distributed along the main body of the slide (212); the electric telescopic rod I is used to control the sliding position of the robot secondary arm (220) on the slide (212).

6. The intelligent robotic welding device for a sofa chair metal frame according to claim 5, characterized in that, The robot secondary arm (220) also includes a mechanical arm (221), which is mounted on the end of the flexible positioning arm (222). The mechanical arm (221) is used to adjust the position of the flexible positioning arm (222) as a whole. The mechanical arm (221) is slidably mounted on the slide groove (212).

7. The intelligent robotic welding device for a sofa chair metal frame according to claim 6, characterized in that, The robotic arm (221) includes a primary robotic arm (2211) and a secondary robotic arm (2212). The primary robotic arm (2211) is mounted on the secondary robotic arm (2212). The end of the primary robotic arm (2211) away from the secondary robotic arm (2212) is fixed to the end of the flexible positioning arm (222). The end of the secondary robotic arm (2212) away from the primary robotic arm (2211) is slidably mounted on the slide groove (212).

8. The intelligent robotic welding device for a sofa chair metal frame according to claim 7, characterized in that, The secondary robotic arm (2212) includes an electric telescopic rod D (2213), one end of which is fixed to the primary robotic arm (2211), and the other end is fixed to the guide plate (2214). The guide plate (2214) is slidably mounted on the guide rail (2215), the guide rail (2215) is fixed to the guide slider (2216), and the guide slider (2216) is slidably mounted on the slide groove (212).

9. The intelligent robotic welding device for a sofa chair metal frame according to claim 7, characterized in that, The first-level robotic arm (2211) includes an electric telescopic rod F (22111) and a support plate (22116). One end of the electric telescopic rod F (22111) is attached to the end of the flexible positioning arm (222), and the other end is equipped with a support plate (22114). An electric telescopic rod G (22113) and a U-shaped support plate B (22115) are fixed on the support slide (22116). The electric telescopic rod G (22113) and the U-shaped support plate B (22115) are distributed in parallel. The end of the U-shaped support plate B (22115) away from the support slide (22116) is rotatably mounted on the end of the support plate (22114). The end of the electric telescopic rod G (22113) away from the support slide (22116) is fixed with a U-shaped support plate A (22112). The U-shaped support plate A (22112) is rotatably mounted on the support slide (22116).

10. A robotic intelligent welding device for a sofa chair metal frame according to any one of claims 1-9, characterized in that, The intelligent welding system includes: A. Multimodal sensing module An integrated 3D line laser scanner and laser-induced breakdown spectrometer are used to simultaneously acquire the dimensions, structure, material composition, and coordinates of the center of gravity of the metal frame (700) of the sofa chair; B. Dynamic Decision Engine Based on reinforcement learning algorithms, the gravity center point is transformed into a mechanical equilibrium constraint, generating a stiffness distribution scheme for the magnetorheological fixture and polar coordinate planning for the welding path.

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