Full-automatic stud welding equipment for aluminum veneer

Abstract

The invention discloses full-automatic stud welding equipment for aluminum veneers. The full-automatic stud welding equipment comprises a feeding and discharging robot (1) and an automatic stud welding stud welding system (2). The automatic stud welding stud planting system comprises a multifunctional host, an automatic stud welding gun, an automatic stud feeding system and a gantry operation table. The gantry operation table comprises a gantry truss, an X-axis and Y-axis driving mechanism and a positioning workbench. The full-automatic stud welding equipment for the aluminum veneers is developed by changing a traditional stud welding production process for the aluminum veneers and combining automatic model selection, transformation, upgrading and configuration. According to the equipment, automatic programming can be carried out by importing drawings and editing parameters so as to control the whole equipment to operate automatically, and debugging and renovating can also be carried out by switching a manual mode. The system controls the feeding and discharging robot to complete automatic feeding and discharging of materials. The gantry operating platform is used for positioning the aluminum veneer and controlling the X-axis and Y-axis operation of the automatic welding gun; and the automatic stud feeding system is responsible for continuously supplying studs to the automatic welding gun.

Description

TECHNICAL FIELD

[0001] The present application relates to a kind of aluminum veneer full-automatic stud welding equipment, belong to aluminum veneer assembly production automation field. BACKGROUND

[0002] Aluminum veneer is a kind of building decoration material, it has public welfare good, corrosion resistance, high strength, easy to clean, recyclable and many other characteristics.Aluminum veneer production is made by punching, bending forming, assembly, welding, polishing and other processes to raw material, aluminum veneer is processed into the shape and size required.Among them, assembly process is divided into stud, assembly, lock three production processes.

[0003] In assembly process, stud process has the highest precision requirement, too large stud welding current will damage the plate and cause indentation deformation;Too small stud welding current will lead to stud drop.Stud welding position and perpendicularity of stud will affect subsequent assembly and fastening process, and stud process needs to rely on a large number of production personnel.Stud process automation is difficult, and stud process, quality and efficiency are greatly dependent on the skill level and experience of workers.

[0004] How to improve the automation level, efficiency and quality of aluminum veneer stud, is particularly important. SUMMARY

[0005] The purpose of the present application is to solve the above problems existing in the production and manufacture of existing aluminum veneer stud, improve the stud production quality and automation level of aluminum veneer, disclose a kind of aluminum veneer full-automatic stud welding equipment.

[0006] The technical scheme realized by the present application is as follows, a kind of aluminum veneer full-automatic stud welding equipment, including feeding and discharging robot and stud automatic stud welding system;The stud automatic stud welding system includes multifunctional host, automatic stud welding gun, automatic stud feeding system, gantry operating platform and pneumatic system;Gantry operating platform includes gantry truss, positioning workbench and XY axis driving mechanism;Feeding and discharging robot is installed on the left side of stud automatic stud welding system;The multifunctional host is arranged on the right side of gantry operating platform;Automatic stud welding gun, automatic stud feeding system, XY axis drive are all installed on gantry truss;Through the processing flow of aluminum veneer stud welding equipment, processing program and processing work order program are prepared, and the multifunctional host realizes the full-automatic control of aluminum veneer stud welding.

[0007] The multifunctional host includes a control system, a host and an intelligent control box, the whole system is instructed and information is collected by the intelligent control box, and the efficient collaborative operation of the feeding and discharging robot and the stud automatic welding system is coordinated through the modular architecture. The control system supports three-axis space linear, circular and elliptical arc interpolation, and adopts a speed look-ahead algorithm to automatically smooth the corner speed; it has a graphic import function, provides a rich set of motion and auxiliary instructions, as well as teaching, batch modification, array copying, translation, scaling, automatic rounding, and advanced editing functions of common graphic library; intuitive graphic display and real-time processing trajectory dynamic monitoring facilitate operation; the intelligent control box is internally provided with a self-developed stud welding special software and cooperates with the host in depth: not only can the welding parameters be programmed, but also the specific welding parameters of each screw, including voltage, time, current and welding gun pressure, can be monitored and recorded in real time, to ensure that the welding parameters and quality can be saved, traced and copied throughout the process; the stud automatic welding system not only uses a drawing import method to automatically generate a program to complete the welding programming; it also supports a variety of advanced editing functions such as batch modification, array copying, graphic translation, graphic scaling, automatic rounding, has a graphic display function, and can very intuitively display the graphic shape in the programming file; the software supports setting production work orders, and the production work order content includes: work order name, processing program, length and size, quantity, processing time and processing information; one production work order can be edited, the production work order is sorted by default according to the production time, and can also be manually sorted by dragging; the processing sequence is produced in the order of the sorting sequence by default, and a standby processing work order can also be set, and after the processing work order is completed, it will automatically switch to the sequence work order or the standby processing work order for processing and production; the control system can communicate with the robot and exchange information with the office system; the control system uses a human-machine interface to cooperate with a programmable logic controller, which is simple, stable and reliable to operate and maintain; the control software has three modes, namely setting mode, manual mode and automatic mode; setting monitoring, real-time display of current locking state; synchronous integrated safety interlocking mechanism to ensure accurate and controllable production rhythm, while reserving an industrial internet of things interface to meet the factory-level data acquisition and remote monitoring requirements; the intelligent control box includes an electrical system and a drive system, the electrical system coordinates the energy distribution between four sets of capacitors, four sets of pneumatic systems and two welding guns; the drive system coordinates the efficient collaborative operation of each device based on a preset protocol.

[0008] The electrical system includes a power supply, a capacitor and a connection circuit of the device; a power supply is connected with four sets of capacitors, four sets of nail feeders and two automatic welding guns, and they are connected through the main multi-functional circuit design, combined with the programming software and the receiving device signal feedback free switching communication and parameter selection; the driving system includes an upper controller, a servo driver, a servo motor and an encoder, the upper controller is connected with and controls the servo driver, the servo driver controls the servo motor to work, and the encoder is a sensor installed on the servo motor to measure the magnetic pole position, the servo motor rotation angle and the rotation speed; the driving system separately debugs the motion timing of each motion device, completes the built-in operation program, issues the graphic instruction parameters from the main system, and performs operation adjustment; the four sets of capacitors are laser welding gun "energy storage" capacitors, each welding gun uses two sets, and the welding efficiency is improved in the mode of mutual energy charging; the pneumatic system includes a compressor, a gas storage tank, pneumatic elements and a gas conveying pipe; the compressor supplies gas to the gas storage tank, and the gas storage tank supplies gas to the pneumatic equipment through the gas conveying pipe and the pneumatic elements, and the compressor is controlled by the control system.

[0009] The gantry operation platform includes a gantry truss, a positioning workbench and an XY axis driving mechanism; the positioning workbench includes a table top and a positioning device, and the positioning device is installed on the table top of the positioning workbench; the gantry operation platform adopts a gantry structure and an H-shaped steel structure, so as to ensure the bearing capacity of the equipment and ensure that the equipment does not deform during long-term use; the positioning workbench is paved with insulating plates to prevent sparking; the positioning device is divided into a fixed module and an arc pressing module, both of which are fixed in a U-shaped groove to realize quick replacement, 6 rotating arc pressing modules are arranged at both ends of the length and width, a total of 12 pressing modules, and the fixed module is used for positioning at the same time; the arc pressing module is rotated and pressed in the length and width directions to the fixed module for positioning, and a displacement sensor is arranged to detect whether the aluminum veneer is inclined, so as to ensure the accurate positioning of the subsequent seed welding nails; the XY axis driving mechanism drives the gantry truss to displace along the truss track (X axis direction); the double welding guns are moved left and right (Y axis direction) to walk, the fixed position of the aluminum veneer does not change, and the automatic welding gun movement mode is adopted for guidance; the gantry operation platform and the stud welding power supply are independently separated, so as to ensure the stable voltage of both sides and smooth and accurate seed welding process; the control system and the electrical control part have strict anti-interference measures to ensure stable and efficient operation for a long time.

[0010] The automatic stud feeding system is a dedicated stud feeding unit for the automatic stud welding system, employing piezoelectric ceramic vibration feeding. The system includes an automatic stud feeder, a feeding tube, and a pin-pressing mechanism. Screws of the same diameter with a length difference of up to 5mm share a single feeding system; screws of different diameters cannot share the same system. The structure consists of an automatic stud feeder → feeding tube → pin-pressing mechanism. The feeder includes a hopper, a linear vibration track, and a stud-separating mechanism. Bolts in the hopper enter the linear vibration track and are separated by piezoelectric ceramic vibration, ensuring that the threaded ends of all passing screws face downwards. The linear vibration track is equipped with a detection mechanism: a through-beam photoelectric sensor in the middle section of the track detects "no stud" or "stud stuck" in real time; if a stud is missing for more than 3 seconds, an alarm is sent to the host computer. In case of stud blockage, the vibrator automatically reverses for more than 2 seconds to attempt to clear the blockage. Clean compressed air is blown into the feeding tube to feed the stud into the pressing mechanism; the compressed air is supplied by an air pump system. The pin-pressing mechanism feeds the stud into the welding torch head. The automatic nail feeder can automatically deliver and receive nails, ensuring high reliability of nail delivery. It is also equipped with an automatic detection mechanism to automatically detect the presence or absence of welding nails, improving the efficiency of the system. The automatic nail feeding system is controlled by a single-chip microcomputer, which can flexibly set process parameters according to actual production conditions. The built-in control software can achieve optimal coordination between the automatic stud welding gun, the automatic nail feeder, and the stud welding machine.

[0011] The automatic stud welding torch is a laser welding torch, comprising a metal torch body, precision pneumatic and electromagnetic components. The metal torch body is equipped with precision pneumatic and electromagnetic components; the electromagnetic components include an electromagnetic coil inside the torch body, a solid-state relay and a control transformer outside the torch body. The control transformer supplies power to the solid-state relay and electromagnetic coil, and the solid-state relay is used as a contactless fast-charging switching capacitor; the energized electromagnetic coil generates magnetic force to pull the iron core lever, raising the screw to establish the arc-starting gap; the automatic stud welding torch has good welding stability, high stud feeding reliability, and convenient initial welding position setting; the welding pressure and stud lifting height are adjustable, and a dedicated pin-pressing stud receiving device is designed and used to improve the reliability and stability of stud feeding; the automatic stud welding torch has automatic detection... The system features the ability to detect screw positioning, welding verticality, welding voltage, downward pressure, and speed. The automatic welding torch's vertical, horizontal, and telescopic movement distances are designed to meet processing dimensions, and a custom-designed long-distance cylinder ensures precise vertical welding of screws on uneven surfaces within ±1cm of the sheet metal. Two automatic welding torches can move, position, and weld two screws of the same diameter and length simultaneously, according to actual production rhythm requirements. Screws with the same diameter and a length difference within 5mm can share one automatic stud welding torch. Both automatic stud welding torches are equipped with four sets of capacitors; while one set is in operation, the other is in reserve to reduce charging time. The system can also communicate with a control system, allowing simultaneous control of voltage adjustments and welding for multiple automatic welding torches as needed.

[0012] An automatic stud welding torch is equipped with two automatic stud feeding systems. The screw feeding process is as follows: vibration inside the screw feeder → ejector pin-type screw delivery device feeds the screw to the air tube feed port → air is supplied into the air tube → ejector pin-type screw delivery device receives and ejects the screw → automatic welding torch receives the screw → X and Y axis drive mechanism moves the automatic welding torch to the workpiece screw welding position for screw welding; during the feeding process, screw selection and feeding are achieved through software programs and conversion sensors. Screws of the same diameter with a length difference of up to 5mm can share one feeding system, while screws of different diameters cannot share one system; the conversion sensor determines which feeding tube to blow compressed air into; its function is to switch between feeding system A and system B.

[0013] The pneumatic system is mainly used for conveying, receiving, and grounding welding studs. It employs SMC devices and is equipped with a pressure monitoring unit, which automatically alarms when the pressure falls below a set level.

[0014] The loading and unloading robot includes a six-axis robotic arm, a vacuum suction cup, and a floor rail. The robot is responsible for loading and unloading aluminum panels. The robot moves together with the floor rail, which is controlled by the robot's teach-program program and connected to its built-in controller, facilitating the picking and placing of aluminum panels of various sizes. When the robot picks up panels, the incoming panels must be neatly stacked, of a single type, and facing in a single direction. The robot has a panel presence detection function and uses a vacuum suction cup to pick up the panels. The loading and unloading robot is uniformly controlled by a control system.

[0015] The programming route for the automated stud welding process of aluminum single-panel is as follows: Power on (multi-functional host) → Open the program editor → Enter the program name → Import the graphic (or edit the parameters) → Complete the programming (the system will automatically record the information).

[0016] The programming route for the automated stud welding process of aluminum single-panel is as follows: Power on (control console) → Open the work order editor → Enter the work order name → Select the saved program → Enter the dimensions, quantity, and processing time → Sort the work orders (or set up a pre-processing work order) → Complete the work order programming (the system will automatically produce according to the time sequence or the pre-processing work order).

[0017] The described automated stud welding process for aluminum single-panel panels is as follows: Start-up (select work order) → Forklift feeding → Loading and unloading robot loading → Positioning worktable positioning (displacement sensor detects whether there is deviation) → Automatic feeding system feeds studs to automatic welding guns → XY axis drives the dual automatic welding guns to the welding point → Dual automatic welding guns move down synchronously for welding → Repeat the feeding and welding action until welding is completed → Loading and unloading robot unloads → Manual material collection.

[0018] The beneficial effects of this invention are that it develops a fully automatic stud welding equipment for aluminum single-panel panels by changing the traditional stud welding production process and combining automated selection, modification, upgrading, and configuration. This equipment can be automatically programmed by importing drawings and editing parameters to control the automatic operation of the entire machine, and can also be switched to manual mode for debugging and maintenance. The system controls the loading and unloading robot to complete the automatic loading and unloading of materials; the gantry control panel completes the positioning of the aluminum single-panel panels and controls the XY axis movement of the automatic welding gun; and the automatic stud feeding system is responsible for the uninterrupted supply of studs to the automatic welding gun. Attached Figure Description

[0019] Figure 1 This is a schematic diagram of the overall structure of a fully automatic stud welding device for aluminum single-panel according to the present invention; Figure 2 This is a schematic diagram of the automatic stud welding system of the fully automatic stud welding equipment for aluminum single-panel according to the present invention; In the diagram, 1 is the loading and unloading robot; 2 is the automatic stud welding system; 21 is the multi-functional host; 22 is the automatic stud welding gun; 23 is the automatic stud feeding system; 24 is the gantry truss; 25 is the XY axis drive; 26 is the positioning device; 27 is the positioning worktable; and 28 is the gantry operating table. Detailed Implementation

[0020] This embodiment discloses a fully automatic stud welding equipment for aluminum single panels, including a loading and unloading robot 1 and an automatic stud welding system 2. The automatic stud welding system 2 includes a multi-functional host 21, an automatic stud welding gun 22, an automatic stud feeding system 23, and a gantry operating table 28; the gantry operating table 28 includes a gantry truss 24, an XY axis drive mechanism 25, and a positioning worktable 27.

[0021] like Figure 1 The image shows the fully automatic stud welding equipment of this embodiment, with the loading and unloading robot 1 installed on the left side of the automatic stud welding system 2.

[0022] like Figure 2 The diagram shown is a structural schematic of the automatic stud welding system 2 of this embodiment, which includes a multi-functional host 21, an automatic stud welding gun 22, an automatic stud feeding system 23, and a gantry control panel 28.

[0023] The gantry control panel 28 includes a gantry truss 24, an XY-axis drive mechanism 25, and a positioning worktable 27. The multi-functional main unit 21 is located on the right side of the gantry control panel 28. The automatic stud welding torch 22, the automatic stud feeding system 23, and the XY-axis drive mechanism 25 are all mounted on the gantry truss 24. The automatic stud welding torch 22 is driven by the gantry truss 24 and the XY-axis drive mechanism 25 to move to the designated position for stud welding. The automatic stud feeding system 23 is fixed on the gantry truss 24 to facilitate the feeding of materials to the automatic stud welding torch 22.

[0024] The multi-functional host 21 in this embodiment includes a control system, a host, and an intelligent control cabinet. The intelligent control cabinet includes a drive system and an electrical system. The drive system is responsible for coordinating and controlling the efficient collaborative operation between various devices; the electrical system is responsible for coordinating and controlling the energy distribution among four sets of capacitors, four sets of pneumatic systems, and two welding torches. The control system uses a self-developed software platform with a built-in speed-forward algorithm to automatically smooth the running trajectory and speed. The program is compiled using two methods: importing graphics and editing parameters. It provides a rich instruction set and various advanced editing functions to facilitate program editing and modification. The self-developed software platform works in deep collaboration with the host, enabling not only programming but also real-time monitoring and recording of the specific welding parameters of each screw and the welding torch pressure. The control system supports editing production work orders, including: name, processing program, size, quantity, and production time. Multiple production work orders can be edited at once. By default, production work orders are sorted by production time. After the previous work order is completed, the next work order is automatically produced by default in the same order. Alternatively, a pre-processing work order can be set, switching to the pre-processing work order after the current work order is completed. When automatically switching to the next work order, it is necessary to ensure that the screw specifications in the automatic screw feeder are correct. The host displays the current product processing status and equipment operating status in real time. In case of fault alarms, the equipment will stop suddenly and trigger three-color alarms.

[0025] The gantry operating table 28 in this embodiment includes a gantry truss 24, an XY axis drive mechanism 25, and a positioning worktable 27. The gantry operating table 28 adopts a gantry frame and H-shaped steel structure, and undergoes high-precision machining and appropriate heat treatment processes, giving it the characteristics of high rigidity, stability, durability, and long-term non-deformation. The positioning worktable 27 includes a worktable surface and a positioning device 26. The worktable surface is covered with insulating and fireproof material to ensure safety. The positioning device 26 uses an automatic arc module positioning system. This module uses a rotating arc clamping module, with a total of 12 clamping modules. Six clamping modules are symmetrically arranged at each end of each workpiece, and fixed limit modules are arranged in the gaps at both ends and in the middle of the clamping modules. Both the fixed limit modules and the arc clamping modules are fixed using U-shaped grooves for easy quick replacement. The positioning worktable 27 is equipped with a displacement sensor to detect whether the aluminum single panel is skewed, ensuring accurate positioning of subsequent nails.

[0026] In this embodiment, an automatic stud welding gun 22, an automatic stud feeding system 23, and an XY-axis drive mechanism 25 are installed on the gantry truss 24. The XY-axis drive mechanism 25 drives the gantry truss 24 to move in the X-axis direction and drives the two automatic stud welding guns 22 to move in the Y-axis direction. The XY-axis drive mechanism 25 adopts a gear and rack structure, which is simple in structure and has high precision.

[0027] The automatic stud feeding system 23 of this embodiment includes an automatic stud feeder, a stud feeding tube, and a dedicated screw feeding device for a pin-pressing structure. Screws of the same diameter with a length difference within 5mm can share one feeding system; screws of different diameters cannot share the same system. The stud feeder enables automatic feeding and receiving of screws, ensuring high reliability, and is equipped with an automatic detection mechanism to automatically detect the presence of welding studs, improving system efficiency. This automatic stud feeding system is a dedicated stud feeding unit for automatic stud welding systems. It adopts an advanced piezoelectric ceramic vibration mode, featuring lightweight, smooth, stable, low-energy consumption, and durability. The control method uses a highly reliable single-chip microcomputer, allowing for flexible setting of process parameters according to actual production conditions. The built-in control software enables optimal coordination between the automatic stud welding gun, the automatic stud feeder, and the stud welding machine. The machine uses precision-machined structural components to ensure accurate operation of the stud feeding mechanism. Key components employ special material processing technology to ensure the long-term stability of the stud feeder.

[0028] The automatic stud welding gun 22 in this embodiment is a laser welding gun, comprising a metal gun body, precision pneumatic and electromagnetic components. The metal gun body is equipped with precision pneumatic and electromagnetic components; the electromagnetic components include an electromagnetic coil inside the gun body, a solid-state relay and a control transformer outside the gun body. The control transformer supplies power to the solid-state relay and electromagnetic coil. The solid-state relay is used as a contactless fast-charging switching capacitor. The function of the electromagnetic coil is: when the coil is energized → it generates magnetic force → pulls the iron core / lever → the stud is instantly lifted by 0.3-1 mm, establishing an arc-starting gap; after power loss, the spring resets, completing the downward pressure. The automatic stud welding gun has good welding stability, high stud feeding reliability, and facilitates the setting of the initial welding position. The welding pressure and stud lifting height are adjustable, and a dedicated pin-pressing stud receiving device is designed and used to improve the reliability and stability of stud feeding. The automatic stud welding gun has an automatic detection function, which can detect the screw positioning status, welding perpendicularity, welding voltage, downward pressure, and speed, etc. The automatic welding torch's vertical, horizontal, and telescopic movement distances are designed to meet processing dimensions. Furthermore, a custom-designed long-distance cylinder ensures precise vertical welding of screws on uneven surfaces within ±1cm of the sheet metal. Two automatic welding torches can move, position, and weld two screws of the same diameter and length simultaneously, according to actual production rhythm requirements. Screws with the same diameter and lengths differing by no more than 5mm can share a single automatic stud welding torch.

[0029] The four sets of capacitors are the "energy storage" capacitors for the laser welding guns. Each welding gun uses two sets, and they are mutually charged to improve welding efficiency. The two automatic stud welding guns are equipped with four sets of capacitors. When one set of capacitors is working, the other set of capacitors is stored as backup to reduce charging time. At the same time, they can communicate with the control system and control the voltage adjustment and welding of multiple automatic welding guns simultaneously as needed.

[0030] One automatic stud welding torch is equipped with two automatic stud feeding systems. The screw feeding process is as follows: Vibration within the screw feeder → A pin-type screw ejector delivers the screw to the air supply port → Air is supplied into the air pipe → A pin-type screw ejector receives and ejects the screw → The automatic welding torch receives the screw → The X and Y axes move the automatic welding torch to the screw welding position on the workpiece for welding. Screw selection and feeding during the process are achieved through software programs and conversion sensors. Screws of the same diameter with a length difference within 5mm can share one feeding system; screws of different diameters cannot share a system.

[0031] The pneumatic system is mainly used for conveying, receiving, and grounding welding studs. It employs SMC components and is equipped with a pressure monitoring unit that automatically alarms when the pressure falls below a set level.

[0032] The loading / unloading robot 1 in this embodiment includes a six-axis robotic arm, a vacuum suction cup, and a floor rail. The loading / unloading robot 1 is responsible for loading and unloading aluminum panels. The floor rail is controlled by the loading / unloading robot 1 through a teach-program program and is connected to the robot's built-in controller. The loading / unloading robot 1 moves together with the floor rail, facilitating the picking and placing of aluminum panels of various sizes. When the robot picks up panels, the incoming materials must be neatly stacked, of a single type, and in a single direction. The robot has a panel presence detection function, and uses a vacuum suction cup to pick up panels with a suction force approximately 1.5 times the weight of the product. The loading / unloading robot is uniformly controlled by a control system.

[0033] The programming route for a fully automatic stud welding equipment for aluminum single-panel in this embodiment is as follows: Power on (multi-functional host) → Open program editor → Enter program name → Import graphics (or edit parameters) → Complete programming (system automatically records).

[0034] In this embodiment, the processing work order route of a fully automatic stud welding equipment for aluminum single panels is as follows: power on (control console) → open work order editor → enter work order name → select a stored program → enter dimensions, quantity, and processing time → sort work orders (or set up pre-processing work orders) → complete work order programming (the system automatically produces according to time sequence or pre-processing work orders).

[0035] The operation process of a fully automatic stud welding equipment for aluminum single panels in this embodiment is as follows: Start-up (select work order) → Forklift feeding → Loading and unloading robot loading → Positioning worktable positioning (displacement sensor detects whether there is deviation) → Automatic feeding system feeds studs to automatic welding guns → XY axis drives the dual automatic welding guns to the welding point → Dual automatic welding guns move down synchronously to perform welding → Repeat the feeding and welding action until welding is completed → Loading and unloading robot unloads material → Manual material collection.

Claims

1. A fully automatic stud welding equipment for aluminum single-panel panels, characterized in that, The fully automatic stud welding equipment includes a loading and unloading robot and an automatic stud welding system. The automatic stud welding system comprises a multi-functional main unit, an automatic stud welding gun, an automatic stud feeding system, a gantry control panel, and a pneumatic system, forming a complete system integrating automatic stud feeding and stud installation. The gantry control panel includes a gantry truss, a positioning worktable, and an XY-axis drive mechanism. The loading and unloading robot is installed on the left side of the automatic stud welding system. The multi-functional main unit is located on the right side of the gantry control panel. The automatic stud welding gun, the automatic stud feeding system, and the XY-axis drive are all mounted on the gantry truss. By configuring the processing flow of the aluminum veneer stud welding equipment, processing programs and work order programs are created, enabling the multi-functional main unit to achieve fully automatic control of the aluminum veneer stud welding process. The automatic stud feeding system is a dedicated stud feeding unit for the automatic stud welding system, employing piezoelectric ceramic vibration feeding. The system includes an automatic stud feeder, a feeding tube, and a pin-pressing mechanism. The feeder consists of a hopper, a linear vibration track, and a stud-separating mechanism. Bolts from the hopper enter the linear vibration track and are separated by piezoelectric ceramic vibration, keeping the threaded end facing downwards. The linear vibration track is equipped with a detection mechanism; a through-beam photoelectric sensor in the middle of the track continuously detects "no stud" or "stud stuck," and an alarm is triggered to the host computer if a stud is missing for more than 3 seconds. In case of stud blockage, the vibrator automatically reverses for more than 2 seconds. Troubleshooting is attempted; clean compressed air is blown into the nail feeding tube to feed the stud into the pressing mechanism, and the compressed air is supplied by the pneumatic system; the ejector pin pressing mechanism feeds the stud into the welding gun head; screws of the same diameter with a length difference of up to 5mm share a single nail feeding system, while screws of different diameters cannot share the same system; the automatic nail feeder can realize the automatic feeding and receiving of nails, and the automatic nail feeding system is controlled by a single-chip microcomputer, which can flexibly set process parameters according to actual production conditions. The built-in control software can achieve optimal coordination between the automatic stud welding gun, the automatic nail feeder, and the stud welding machine.

2. The fully automatic stud welding equipment for aluminum single-panel according to claim 1, characterized in that, The multi-functional host includes a control system, a host, and an intelligent control box. The control system supports three-axis spatial linear, circular, and elliptical interpolation and uses a speed look-ahead algorithm to automatically smooth corner speeds. It features a graphics import function, provides a rich set of motion and auxiliary instructions, and offers advanced editing functions such as teaching, batch modification, array copying, translation, scaling, automatic filleting, and commonly used graphics libraries. Intuitive graphical display and real-time dynamic monitoring of machining trajectories facilitate operation. The intelligent control box incorporates self-developed stud welding software that works deeply with the host: it can not only program welding parameters but also monitor and record the specific welding parameters for each screw in real time, including voltage, time, current, and welding torch pressure. The automatic stud planting system not only uses a drawing import method to automatically generate programs to complete the planting welding programming, but also... It also supports advanced editing functions such as batch modification, array copying, graphic panning, graphic scaling, and automatic corner rounding. It features a graphic display function, which can intuitively display the graphic shapes in the programming file. The software supports setting production work orders, which include: work order name, processing program, length and short dimensions, quantity, processing time, and processing information. Multiple production work orders can be edited at once. Production work orders are sorted by production time by default, but can also be manually sorted by dragging and dropping. The processing sequence defaults to the sorted order, but pre-processing work orders can also be set. After the currently processing work order is completed, it will automatically switch to the sequential work order or the pre-processing work order for processing and production. The control system can interact with robots. The system features communication capabilities, enabling information exchange with office systems. The control system utilizes a human-machine interface combined with a programmable logic controller (PLC), ensuring simple, stable, reliable, and convenient maintenance. The control software offers three modes: setting mode, manual mode, and automatic mode. Monitoring settings display the current locking status in real time. A synchronized safety interlock mechanism ensures precise and controllable production cycle time, while also reserving an industrial IoT interface to accommodate factory-level data acquisition and remote monitoring needs. The intelligent control enclosure includes an electrical system and a drive system. The electrical system coordinates and controls the energy distribution among four sets of capacitors, four sets of pneumatic systems, and two welding torches. The drive system coordinates and controls the efficient collaborative operation of each device based on a preset protocol. The electrical system includes a power supply, capacitors, and connection circuits for the equipment. One power supply connects four sets of capacitors, four sets of nail feeders, and two automatic welding torches. These are freely switched and connected, and parameters are selected, through a multi-functional circuit design on the host computer, combined with programming software and signal feedback from receiving devices. The drive system includes a host controller, servo drivers, servo motors, and encoders. The host controller connects to and controls the servo drivers, which in turn control the servo motors. The encoder is a sensor installed on the servo motors to measure the magnetic pole position, servo motor rotation angle, and speed. The drive system individually debugs the motion sequence of each moving device, completes the built-in running program, and receives graphic command parameters from the host system for operational adjustments. The four sets of capacitors are "energy storage" capacitors for the laser welding torches. Each welding torch uses two sets of capacitors, which are mutually charged to improve welding efficiency. The pneumatic system includes a compressor, an air tank, pneumatic components, and air supply pipes. The compressor supplies air to the air tank and to the pneumatic equipment through the air supply pipes and pneumatic components. The compressor is controlled by the control system.

3. The fully automatic stud welding equipment for aluminum single-panel according to claim 1, characterized in that, The gantry control panel includes a gantry truss, a positioning worktable, and an XY-axis drive mechanism. The positioning worktable includes a tabletop and a positioning device, which is installed on the worktable. The gantry control panel adopts a gantry frame and H-shaped steel structure to ensure the equipment's load-bearing capacity and prevent deformation during long-term use. The positioning worktable is covered with insulating material. The positioning device consists of a fixed module and an arc-shaped clamping module, both using a U-groove fixing method for quick replacement. Six rotating arc-shaped clamping modules are configured at each end of the length and width, totaling 12 clamping modules. The fixed module is used for positioning. The circular arc clamping module rotates and clamps the aluminum panel in both length and width directions to the fixed module for positioning, and is equipped with a displacement sensor to detect whether the aluminum panel is skewed, ensuring accurate positioning of subsequent welding studs; the XY axis drive mechanism drives the gantry truss to move along the truss track; the dual welding guns move left and right, the aluminum panel remains in a fixed position, and the guide uses an automatic welding gun movement mode; the gantry operating table and the stud welding power supply are independent and separate to ensure stable voltage on both sides and a smooth and precise welding process; the control system and electrical control part have strict anti-interference measures to ensure stable and efficient operation during long-term operation.

4. The fully automatic stud welding equipment for aluminum single-panel according to claim 1, characterized in that, The automatic stud welding torch is a laser welding torch, comprising a metal torch body, precision pneumatic and electromagnetic components. The metal torch body is equipped with precision pneumatic and electromagnetic components. The electromagnetic components include an electromagnetic coil inside the torch body, a solid-state relay and a control transformer externally mounted on the torch body. The control transformer supplies power to the solid-state relay and electromagnetic coil. The solid-state relay acts as a contactless fast-charging switching capacitor. When energized, the electromagnetic coil generates magnetic force that pulls the iron core lever, lifting the stud to establish the arc-starting gap. The automatic stud welding torch exhibits good welding stability, high stud feeding reliability, and convenient initial welding position setting. The welding pressure and stud lifting height are adjustable. A dedicated pin-pressing stud receiving device is designed and used to improve the reliability and stability of stud feeding. The automatic stud welding torch also features automatic detection. Functionally, it can detect screw positioning, welding verticality, welding voltage, downward pressure, and speed. The automatic welding torch's up-and-down, left-and-right movement and telescopic design distance, while meeting processing dimensions, utilizes a custom-designed long-distance cylinder to ensure precise vertical welding of screws on ±1cm uneven surfaces of the sheet metal. Two automatic welding torches can move, position, and weld two screws of the same diameter and length simultaneously according to actual production rhythm requirements. Screws with the same diameter and a length difference within 5mm can share one automatic stud welding torch. Both automatic stud welding torches are equipped with four sets of capacitors; while one set is working, the other set stores energy for backup, reducing charging time. It can also communicate with the control system, allowing simultaneous control of voltage adjustment and welding for multiple automatic welding torches as needed. The automatic stud welding torch is equipped with two automatic stud feeding systems. The screw feeding method is as follows: vibration inside the screw feeder → ejector pin type screw delivery device feeds the screw to the air tube feed port → air is supplied into the air tube → ejector pin type screw device receives the screw and ejects it → automatic welding torch receives the screw → X and Y axis drive mechanism drives the automatic welding torch to the workpiece screw welding position for screw welding; during the feeding process, screw selection and feeding are realized through software program and conversion sensor device; screws of the same diameter with a length difference within 5mm can share one feeding system, while screws of different diameters cannot share one system; the conversion sensor device determines which feeding tube to blow compressed air into and which feeding system material to select.

5. The fully automatic stud welding equipment for aluminum single-panel according to claim 1, characterized in that, The pneumatic system is mainly used for conveying, receiving and grounding welding studs; it adopts SMC devices and is equipped with an air pressure monitoring unit, which automatically alarms when the air pressure is lower than the set value.

6. The fully automatic stud welding equipment for aluminum single-panel according to claim 1, characterized in that, The loading and unloading robot includes a six-axis robotic arm, a vacuum suction cup, and a ground rail. The loading and unloading robot is responsible for loading and unloading aluminum panels. The loading and unloading robot moves on the ground rail and is controlled by teach-programmed control. It is connected to the built-in controller of the loading and unloading robot to facilitate the picking and placing of aluminum panels of various sizes. The loading and unloading robot has a panel detection function and uses a vacuum suction cup to pick up the panels.

7. The fully automatic stud welding equipment for aluminum single-panel according to claim 1, characterized in that, The programming process is as follows: Open the multi-functional host → Open the program editor → Enter the program name → Import the graphics → Complete the programming.

8. The fully automatic stud welding equipment for aluminum single-panel according to claim 1, characterized in that, The programming route for the processing work order is as follows: Power on, console → open work order editor → enter work order name → select a saved program → enter dimensions, quantity, and processing time → sort work orders (or set up a pre-processing work order) → complete work order programming.

9. The fully automatic stud welding equipment for aluminum single-panel according to claim 1, characterized in that, The processing flow is as follows: power on, select work order → forklift feeding → loading and unloading robot loading → positioning workbench positioning → automatic feeding nail system feeds nails to automatic welding gun → XY axis drives the dual automatic welding guns to the welding point → dual automatic welding guns move down synchronously to perform seed welding → repeat the nail feeding and seed welding action until seed welding is completed → loading and unloading robot unloads material → manual material collection.

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