Pre-assembly intelligent welding workstation and welding method thereof

Abstract

The invention provides an advanced small assembly intelligent welding workstation and a welding method thereof, and relates to the technical field of assembly welding. The advanced small assembly intelligent welding workstation comprises a support, a carrying execution mechanism, a grabbing visual detector, a welding execution mechanism and a welding visual detector. The carrying executing mechanism comprises a carrying mechanical arm, a base, an electromagnetic adsorption mechanism and a pneumatic clamping jaw mechanism. The base is connected with the tail end of the carrying mechanical arm. The pneumatic clamping jaw mechanism and the electromagnetic adsorption mechanism are arranged on the base. The pneumatic clamping jaw mechanism is used for enabling the rib plates to be erected on the bottom plates with the numbers matched one to one. The grabbing visual detector is used for identifying the numbers on the rib plate and the bottom plate respectively, and the welding visual detector is used for detecting the relative positions of the bottom plate and the rib plate vertically arranged on the top surface of the bottom plate; the welding executing mechanism is used for welding the bottom plate and the corresponding rib plates erected on the top face of the bottom plate together.

Description

Technical Field

[0001] This invention relates to the field of assembly welding technology, and more specifically, to a prefabricated small assembly intelligent welding workstation and its welding method. Background Technology

[0002] To improve the efficiency of assembly welding, a modular manufacturing process is often adopted in shipbuilding welding, where the bottom plate and stiffening plate are assembled first and then the subsequent welding assembly is carried out.

[0003] Meanwhile, due to the large number of welding parts in the preliminary group assembly, although the existing technology has achieved automated and intelligent welding methods using welding robots, the cumbersome and complex usage methods result in low welding efficiency, which limits the improvement of welding efficiency in the preliminary group assembly. Further improvements are still needed to further enhance the welding efficiency of the group assembly. Summary of the Invention

[0004] To address the aforementioned issues, this invention provides a prefabricated intelligent welding workstation, comprising: a support, a transport actuator, a gripping vision detector, a welding actuator, and a welding vision detector; The support is used to keep multiple stiffening plates upright and arranged side by side; The handling actuator includes: a handling robotic arm, a base, an electromagnetic adsorption mechanism, and a pneumatic gripper mechanism. The handling robotic arm is a multi-degree-of-freedom manipulator, and the base is connected to the end of the handling robotic arm. The pneumatic gripper mechanism and the electromagnetic adsorption mechanism are respectively disposed on the base. The electromagnetic adsorption mechanism is used to erect multiple stiffening plates in the loading area on the support and to place the bottom plate of the loading area flat on the welding platform. The pneumatic gripper mechanism is used to make the stiffening plates erect on the bottom plate with matching numbers. The grasping vision detector is located at the end of the handling robot arm and is used to identify the numbers on the stiffening plate and the base plate respectively. The welding vision detector is located at the welding execution mechanism and is used to detect the relative position of the base plate and the corresponding stiffening plate erected on its top surface. The welding execution mechanism is used to weld the base plate and the corresponding stiffening plate erected on its top surface together. The welding platform is used to lay the base plate with at least two non-overlapping corners.

[0005] Furthermore, the support includes multiple upright plates and a base. The upright plates are rectangular plates with their wide sides vertically arranged. Multiple upright plates are arranged in parallel along the front-to-back direction. The bottom end of each upright plate is connected to the top surface of the base. Multiple fixing slots are provided at the top of each upright plate. The fixing slots are recessed downwards and are arranged at intervals along the long side of each upright plate. The opening end of each fixing slot is inclined backwards. The stiffening plate is simultaneously inserted into the multiple parallel fixing slots of the multiple upright plates. The width of the top groove of each fixing slot is greater than the width of its bottom groove.

[0006] Furthermore, the base extends vertically downwards, and the pneumatic gripper mechanism includes: Multiple first cylinder mechanisms are arranged vertically and parallel to each other at the base. The top of the cylinder body of each first cylinder mechanism is hinged to the base, and the telescopic end of the first cylinder mechanism is arranged downward. Multiple fixed clamping arms extend vertically downwards in parallel with each other, and each fixed clamping arm is connected to the bottom of the base; Multiple swing clamping arms are provided in a one-to-one correspondence with multiple fixed clamping arms. The swing clamping arms extend vertically downward, and the side of each swing clamping arm is hinged to the fixed clamping arm. A plurality of first links, one end of each first link being hinged to the top end of one of the swing grippers, and the other end of each first link being hinged to the telescopic end of one of the first cylinder mechanisms; and Multiple second links, one end of each second link is hinged to the top end of one of the fixed clamping arms, and the other end of each second link is hinged to the telescopic end of one of the first cylinder mechanisms.

[0007] Furthermore, the base is an upright plate-shaped structure, and multiple first cylinder mechanisms, multiple fixed clamping arms, multiple swing clamping arms, multiple first connecting rods and multiple second connecting rods are arranged on one side plate of the base; The electromagnetic adsorption mechanism includes: The slide block is slidably connected to the other side plate of the base via a linear guide rail; A second cylinder mechanism is vertically mounted on the top of the other side plate of the base, and the second cylinder mechanism is used to move the slide block up and down; and Two electromagnets are positioned below the slide block and are connected to the slide block via corresponding connecting posts; When the slide moves to the bottom of its stroke, the two electromagnets are located below the swinging clamp arm.

[0008] Furthermore, a connecting shaft is provided at the end of the handling robotic arm, and the connecting shaft is connected to the base through a spring buffer mechanism. An inductive switch is provided at the spring buffer mechanism, and an inductive baffle is provided at the top of the base. The grasping vision detector is a line laser vision detector and is located at the connecting shaft.

[0009] Furthermore, the conveying actuator also includes a conveying track, and the conveying robotic arm is disposed on the conveying track and is used to reciprocate along the conveying track; the welding actuator includes a welding robotic arm and a welding track, and the welding robotic arm is disposed on the welding track and is used to reciprocate along the welding track; the conveying track and the welding track are arranged parallel to each other in the front-back direction, and the welding platform includes a first welding table and a second welding table, the first welding table and the second welding table are respectively used to lay the corresponding base plate flat, and the first welding table and the second welding table are arranged adjacent to each other between the conveying track and the welding track; The loading area includes a stiffener frame and a base plate frame. The stiffener frame, the support, and the base plate frame are arranged from front to back along the transport track. Multiple stiffeners are arranged to extend in the left and right direction at the support. A finished product frame is provided at the rear end of the transport track. The stiffeners and base plate welded together are transported into the finished product frame by the transport actuator.

[0010] Furthermore, the welding vision detector is disposed at the end of the welding robotic arm, the welding torch is disposed at the end of the welding robotic arm, and a tracking vision detector is disposed at the end of the welding robotic arm, the tracking vision detector is disposed facing the welding torch, and the tracking vision detector is used to perform real-time visual tracking of the welding path of the welding torch.

[0011] In addition, the present invention also provides a welding method for pre-assembly, using the aforementioned pre-assembly intelligent welding workstation, the welding method comprising: S100. Input the theoretical outline data, corresponding numbers and theoretical assembly welding positions of multiple stiffening plates and base plates, and match the numbers of the stiffening plates with the numbers of the base plates one by one, and lay the multiple stiffening plates and multiple base plates flat in the loading area. S200: Using a gripping vision detector at the conveying actuator, visual inspection is performed on multiple stiffening plates and multiple base plates in the loading area to obtain actual contour data, corresponding numbers, and placement information of multiple stiffening plates and multiple base plates. S300. Based on the feeding information, the electromagnetic adsorption mechanism and the grasping vision detector are used to erect and place multiple stiffeners one by one on the support, and obtain stiffener placement information containing the placement position and corresponding number of each stiffener. S410. Based on the feeding information, the base plate is laid flat on the first position of the welding platform using the electromagnetic adsorption mechanism. S420. Based on the feeding information and the stiffener placement information, the stiffener with the matching number is taken out from the support by a pneumatic gripper mechanism, and the stiffener with the matching number is erected on the base plate at the first position based on the corresponding theoretical assembly and welding position. S510. By using the welding vision detector at the welding actuator, the base plate at the first position and the stiffening plate standing above it are visually inspected to obtain the actual assembly welding position. Based on the actual assembly welding position and the theoretical assembly welding position, the relative position of the base plate at the first position and the stiffening plate standing above it is adjusted to the correct vertical position by the pneumatic gripper mechanism. S520. Control the pneumatic gripper mechanism to keep the stiffening plate at the first position in the correct vertical position, and weld the base plate at the first position and the stiffening plate standing above it together by the welding execution mechanism. S610. Control the electromagnetic adsorption mechanism to execute S410 and S420 at the second position of the welding platform; S620. Simultaneously, the base plate and the stiffening plate, which are positioned at the first location, are fully welded together using the welding execution mechanism and the welding vision detector. S710, Control the welding actuator and the transport actuator, and at the second position, execute S510 and S520 to weld the base plate at the second position and the rib plate standing above it together at the positioning point. S720. The base plate and the stiffening plate, which are positioned together at the second location, are fully welded using the welding execution mechanism and the welding vision detector. S730. Simultaneously, control the electromagnetic adsorption mechanism to move the fully welded base plate and the stiffening plate away from the first position. S740. At the first position, perform S410 to S520 to weld the new base plate and the matching stiffener plate together at the positioning point. S810. At the first position, the new base plate and the matching stiffening plate are fully welded. S820. Simultaneously, control the electromagnetic adsorption mechanism to move the fully welded base plate and the stiffening plate away from the second position. S830, At the second position, perform S410 to S520 to weld the new base plate and the matching stiffener together at the positioning point; S900, S720 to S830 are performed alternately in the first position and the second position until all the stiffening plates on the support are fully welded together with the matching base plate.

[0012] Furthermore, the welding platform includes a first welding table and a second welding table arranged adjacent to each other, the first position being the top surface of the first welding table and the second position being the top surface of the second welding table; After all the stiffening plates on the support are fully welded together with the matching base plate, S100 to S900 are repeated.

[0013] Furthermore, a welding torch and a tracking vision detector are respectively provided at the execution end of the welding actuator. The tracking vision detector is positioned towards the welding torch and includes the following before executing S520: S511. Based on the theoretical positioning weld point positions of each of the base plates and the stiffening plates erected above them, the actual assembly welding positions, and the theoretical assembly welding positions, the welding execution mechanism is controlled to visually verify, through the tracking vision detector, whether the actual positioning spot welding positions of the base plates and the stiffening plates erected above them match the theoretical positioning weld point positions. If a match is found, then execute S520; If there is no match, repeat steps S510 and S511. S620. Full welding of the base plate and the stiffening plate, which are positioned at the first location and welded together, using the welding actuator and the welding vision detector, includes: S621. The actual docking position of the stiffening plate and the base plate within a set range in front of the welding torch is detected in real time by the tracking vision detector. S622. Verify and fit the actual docking position and the theoretical welding path of the welding gun obtained in real time to obtain the actual welding path; S623. The welding torch is used to fully weld the base plate and the stiffening plate standing above it according to the actual welding path.

[0014] The technical effects of this invention include at least the following: In this invention, by combining the feature of spot welding the stiffening plates and base plates together before full welding, the transport actuator, in cooperation with the welding actuator, spots welds a set of stiffening plates and base plates together at the first position. Only the welding actuator remains to continue full welding. Simultaneously, the transport actuator assembles another set of stiffening plates and base plates at the second position. After the welding actuator completes its full welding, it then cooperates with the transport actuator to spot weld the stiffening plates and base plates at the second position together, while the welding actuator continues full welding. The transport actuator then moves the fully welded stiffening plates and base plates from the first position away and assembles the next set of stiffening plates and base plates. Thus, the aforementioned welding is performed alternately at the first and second positions, significantly improving the welding efficiency of the initial assembly.

[0015] Furthermore, since the stiffening plates need to be erected on the base plate, and these plates are often laid flat during transport, using existing conventional handling mechanisms to erect them is very inconvenient. For example, while electromagnets can easily grip and move the flat stiffening plates, they also cause the erected plates to adhere tightly to the base plate, making it difficult to adjust their position and potentially leading to inaccurate spot welding. Clamping mechanisms, on the other hand, cannot effectively adhere the bottom surface of the stiffening plate to the base plate, making spot welding impossible. Therefore, an effective handling method is urgently needed to accurately erect the flat stiffening plates at designated positions on the base plate.

[0016] Therefore, this invention ingeniously integrates the electromagnetic adsorption mechanism and the pneumatic gripper mechanism at the end of the handling robot arm. By utilizing the handling robot arm as a multi-degree-of-freedom manipulator, such as a six-degree-of-freedom manipulator, the end of the handling robot arm can be rotated in multiple directions, realizing the mutual conversion between the working state of the electromagnetic adsorption mechanism and the working state of the pneumatic gripper mechanism.

[0017] Moreover, the electromagnetic adsorption mechanism can also realize the rapid transport of the base plate and the fully welded base plate and stiffening plate, eliminating the need for multiple robotic arms. Furthermore, the gripping vision detector is located at the end of the transport robotic arm, and the welding vision detector is located at the welding execution mechanism, which simplifies the structure of the entire workstation, greatly reduces the number of devices, and significantly reduces the footprint of the workstation.

[0018] More importantly, by using the support as a transfer station, the electromagnetic adsorption mechanism is first used to erect the flat stiffening plates one by one onto the support, realizing the conversion of the stiffening plate's placement state. This facilitates the pneumatic gripper mechanism to quickly grasp the top of the stiffening plate. Furthermore, by using the pneumatic gripper mechanism to grasp the top of the stiffening plate, and in conjunction with the movement of the handling robotic arm, the bottom surface of the stiffening plate is easily erected on the base plate, ensuring accurate spot welding between the stiffening plate and the bottom surface. In this way, through the cooperation between the support and the handling actuator, not only is the handling efficiency of the stiffening plate improved, but also the accuracy of the spot welding with the base plate is guaranteed.

[0019] Furthermore, a grasping vision detector is used to identify the numbers on the stiffening plates and the base plate, and based on this, the stiffening plates are erected at designated positions on the base plates with matching numbers. This completes the matching of the stiffening plates and corresponding base plates. Through the cooperation of a welding vision detector and a handling actuator, the position of the stiffening plate and base plate assembly is detected and corrected, ensuring accurate positioning of the stiffening plates and base plates. Attached Figure Description

[0020] Figure 1 A schematic perspective view showing various types of stiffening plates welded together with corresponding base plates in specific embodiments of the present invention; Figure 2 A schematic perspective view of a preliminary intelligent welding workstation for a specific embodiment of the present invention; Figure 3 for Figure 2 A schematic enlarged view of point Q; Figure 4 for Figure 2 A schematic enlarged view of point P; Figure 5 A schematic perspective view of a conveying actuator according to a specific embodiment of the present invention; Figure 6 for Figure 5 A schematic enlarged view of point R; Figure 7 Another schematic perspective view of the conveying actuator according to a specific embodiment of the present invention; Figure 8 This is a schematic main body diagram of a pneumatic gripper mechanism according to a specific embodiment of the present invention; Figure 9 This is a schematic flowchart illustrating the main steps of the welding method according to a specific embodiment of the present invention. Figure 10 A detailed flowchart illustrating the steps preceding S520 in the welding method according to a specific embodiment of the present invention; Figure 11 This is a schematic flowchart illustrating the detailed steps of S620 in the welding method according to a specific embodiment of the present invention.

[0021] Reference numerals: 1. Support; 11. Vertical plate; 12. Fixing slot; 13. Base; 2. Handling actuator; 21. Handling robotic arm; 22. Base; 23. Connecting shaft; 24. Spring buffer mechanism; 241. Inductive switch; 242. Inductive baffle; 25. Handling track; 26. Electromagnetic adsorption mechanism; 261. Slide; 262. Second cylinder mechanism; 263. Electromagnet; 264. Linear guide rail; 27. Pneumatic gripper mechanism; 271. 1. Cylinder mechanism; 272. Fixed clamping arm; 273. Swinging clamping arm; 274. First connecting rod; 275. Second connecting rod; 3. Grasping vision detector; 4. Welding execution mechanism; 41. Welding robotic arm; 42. Welding track; 43. Welding torch; 51. Rib plate; 52. Base plate; 61. Rib plate material frame; 62. Base plate material frame; 63. Finished product material frame; 64. First welding table; 65. Second welding table; 7. Tracking vision detector; 8. Welding vision detector. Detailed Implementation

[0022] To make the above-mentioned objects, features, and advantages of the present invention more apparent and understandable, specific embodiments of the present invention will be described in detail below with reference to the accompanying drawings. Many specific details are set forth in the following description to provide a thorough understanding of the embodiments of the present invention. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention. The embodiments of the present invention can be implemented in many ways different from those described herein, and those skilled in the art can make similar modifications without departing from the spirit of the invention. Therefore, the present invention is not limited to the specific embodiments disclosed below.

[0023] Unless otherwise defined, all technical and scientific terms used in this invention have the same meaning as commonly understood by one of ordinary skill in the art to which this invention pertains. The terminology used in this specification is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention.

[0024] In addition, in the attached figures, the Z-axis represents the vertical direction, that is, the up-down direction, and the positive direction of the Z-axis (that is, the direction the arrow points to) represents up, and the negative direction of the Z-axis (that is, the direction opposite to the positive direction of the Z-axis) represents down; in the attached figures, the Y-axis represents the longitudinal direction, that is, the front-back direction, and the positive direction of the Y-axis (that is, the direction the arrow points to) represents forward, and the negative direction of the Y-axis (that is, the direction opposite to the positive direction of the Y-axis) represents backward; in the attached figures, the X-axis represents the transverse direction, that is, the left-right direction; it should also be noted that the aforementioned representations of the Z, Y, and X axes are only for the convenience of describing the present invention and simplifying the description, and are not intended to indicate or imply that the device or component referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of the present invention.

[0025] See Figures 1 to 11This embodiment provides a preliminary small-scale intelligent welding workstation, including: Support 1 is used to keep multiple stiffening plates 51 upright and arranged side by side; The handling actuator 2 includes: a handling robotic arm 21, which is a multi-degree-of-freedom manipulator; a base 22 connected to the end of the handling robotic arm 21, the base 22 extending vertically downward; an electromagnetic adsorption mechanism 26 disposed at the base 22, the electromagnetic adsorption mechanism 26 being used to erect multiple stiffening plates 51 in the loading area at the support 1 and to place the bottom plate 52 of the loading area flat at the welding platform; and a pneumatic gripper mechanism 27 disposed at the base 22, the pneumatic gripper mechanism 27 being used to make the stiffening plates 51 erect at designated positions on the corresponding bottom plate 52.

[0026] A grasping vision detector 3 is disposed at the end of the conveying robotic arm 21. The grasping vision detector 3 is used to identify the numbers on the stiffening plate 51 and the bottom plate 52. Welding actuator 4 is used to weld the base plate 52 and the stiffening plate 51 erected on its top surface together; A welding vision detector 8 is installed at the welding actuator 4. The welding vision detector 8 is used to detect the relative position of the base plate 52 and the stiffening plate 51 erected on its top surface.

[0027] The welding method of the preliminary independent intelligent welding workstation of the present invention is detailed in S100 to S900 of this embodiment, and will not be repeated here.

[0028] It should be noted that in this embodiment, the welding platform is used to lay at least two non-overlapping corners of the base plate 52, thereby forming two non-interfering base plate 52 placement positions, namely the first position and the second position mentioned later in this embodiment; of course, the welding platform can also be two independent welding tables, such as the first welding table 64 and the second welding table 65 described later in this embodiment, as long as the welding platform can simultaneously lay at least two non-overlapping corners of the base plate 52.

[0029] Next, taking advantage of the characteristic of first spot welding and fixing the stiffening plate 51 and the base plate 52 together, and then fully welding them, the transport actuator 2, in cooperation with the welding actuator 4, spot welds and fixes one set of stiffening plates 51 and base plates 52 together at the first position. Only the welding actuator 4 remains to continue full welding. Simultaneously, the transport actuator 2 assembles another set of stiffening plates 51 and base plates 52 at the second position. After the welding actuator 4 completes its full welding, it cooperates with the transport actuator 2 again to spot weld the stiffening plates 51 and base plates 52 at the second position together, while the welding actuator 4 remains to continue full welding. The transport actuator 2 then moves the fully welded stiffening plates 51 and base plates 52 from the first position and assembles the next set of stiffening plates 51 and base plates 52. In this way, the aforementioned welding is performed alternately at the first and second positions, significantly improving the welding efficiency of the preliminary assembly.

[0030] Furthermore, since the stiffening plate 51 needs to be erected on the base plate 52, and the stiffening plate 51 is often laid flat during transportation, it is very inconvenient to use existing ordinary handling actuators to erect the flat stiffening plate 51 on the base plate. For example, although using an electromagnet is convenient for gripping and transporting the flat stiffening plate, the electromagnet will cause the erected stiffening plate 51 to be tightly attracted to the base plate 52, making it inconvenient to adjust the erection position of the stiffening plate 51 and easily leading to inaccurate positioning spot welding. On the other hand, using a gripper mechanism cannot effectively attach the bottom surface of the stiffening plate 51 to the base plate 52, making positioning spot welding impossible. Therefore, there is an urgent need for an effective handling method to accurately erect the flat stiffening plate at the designated position on the base plate.

[0031] Therefore, this embodiment cleverly integrates the electromagnetic adsorption mechanism 26 and the pneumatic gripper mechanism 27 at the end of the handling robot arm. By utilizing the handling robot arm as a multi-degree-of-freedom manipulator, such as a six-degree-of-freedom manipulator, the end of the handling robot arm can be rotated in multiple directions, realizing the mutual conversion between the working state of the electromagnetic adsorption mechanism 26 and the working state of the pneumatic gripper mechanism 27.

[0032] Moreover, the electromagnetic adsorption mechanism 26 can also realize the rapid transport of the base plate and the fully welded base plate and stiffening plate, eliminating the need for multiple robotic arms. Furthermore, the grasping vision detector 3 is located at the end of the transport robotic arm 21, and the welding vision detector 8 is located at the welding execution mechanism 4, which simplifies the structure of the entire workstation, greatly reduces the number of equipment, and significantly reduces the footprint of the workstation.

[0033] More importantly, by using support 1 as a conversion station, the electromagnetic adsorption mechanism 26 first uses the flat rib plates to stand upright one by one on support 1, realizing the conversion of the rib plate placement state, thus facilitating the pneumatic gripper mechanism 27 to quickly grasp the top of the rib plate. Furthermore, by using the pneumatic gripper mechanism 27 to grasp the top of the rib plate, and in conjunction with the movement of the handling robotic arm 21, the bottom surface of the rib plate is easily erected on the base plate, ensuring accurate spot welding between the rib plate and the bottom surface. In this way, through the cooperation of support 1 and the handling actuator 2, not only is the handling efficiency of the rib plate improved, but also the accuracy of the spot welding with the base plate is guaranteed.

[0034] Furthermore, the grasping vision detector 3 identifies the numbers on the stiffening plate 51 and the base plate 52, and accordingly, the stiffening plate 51 is erected at a designated position on the base plate 52 with a matching number. This completes the matching grouping of the stiffening plate 51 and the corresponding base plate 52. The welding vision detector 8 and the handling actuator 2 work together to detect and correct the position of the stiffening plate 51 and the base plate 52 grouping, thus ensuring accurate positioning of the stiffening plate 51 and the base plate 52.

[0035] Furthermore, the support 1 includes multiple upright plates 11 and a base 13. The upright plates 11 are rectangular plates with their wide sides vertically arranged. Multiple upright plates 11 are arranged in parallel along the front-back direction. The bottom end of the upright plate 11 is connected to the top surface of the base 13. Multiple fixing slots 12 are provided at the top of the upright plate 11. The fixing slots 12 are recessed downwards. Multiple fixing slots 12 are arranged at intervals along the long side of the upright plate 11. The opening end of each fixing slot 12 is inclined backwards. The stiffening plate 51 is simultaneously inserted into multiple parallel fixing slots 12 of the multiple upright plates 11. The width of the top groove of the fixing slot 12 is greater than the width of its bottom groove.

[0036] Preferably, the opening end of the fixing slot 12 is tilted backward by 15° to 25°.

[0037] Preferably, there are four upright plates 11.

[0038] Since the stiffening plates 51 of different types of prefabricated group members have different lengths, longer stiffening plates 51 can be placed in the corresponding fixing slots 12 of each upright plate 11, while shorter stiffening plates 51 can be placed in the corresponding fixing slots 12 of two adjacent upright plates 11, thereby achieving vertical support for various types of stiffening plates 51. Furthermore, the top groove width of the fixing slot 12 is greater than its bottom groove width to prevent the stiffening plate 51 from getting stuck in the fixing slot 12, facilitating the placement and removal of the stiffening plate 51.

[0039] In addition, since all the stiffening plates 51 in the loading area are laid flat horizontally, they need to be erected one by one on the support 1 by electromagnet 263 or pneumatic gripper. This requires the handling actuator 2 to adjust the posture multiple times, which increases the placement time. However, by tilting the open end of the fixing slot 12 backward, the handling actuator 2 does not need to adjust the posture multiple times, which makes it convenient for the electromagnet 263 or pneumatic gripper to quickly erect the stiffening plate 51 on the support 1.

[0040] Preferably, a counterweight is provided at the rear of the handling robot arm 21 to improve the stability of the handling robot arm 21 during the handling process.

[0041] Furthermore, by utilizing the electromagnetic adsorption mechanism 26 and the pneumatic gripper mechanism 27, the handling operations of the handling actuator 2 are further refined and categorized, avoiding the use of a single handling fixture, such as using only the electromagnet 263 or only the pneumatic gripper mechanism 27, which would require the handling actuator 2 to repeatedly adjust its posture to switch between various handling operations. This improves the gripping and handling efficiency of the handling actuator 2.

[0042] Furthermore, the pneumatic gripper mechanism 27 includes: Multiple first cylinder mechanisms 271 are arranged vertically and parallel to each other at the base 22. The top of the cylinder body of each first cylinder mechanism 271 is hinged to the base 22, and the telescopic end of the first cylinder mechanism 271 is arranged downward. Multiple fixed clamping arms 272 extend vertically downward in parallel with each other, and each fixed clamping arm 272 is connected to the bottom of the base 22; Multiple swing clamping arms 273 are provided in a one-to-one correspondence with multiple fixed clamping arms 272. The swing clamping arms 273 extend vertically downward, and the side of each swing clamping arm 273 is hinged to the fixed clamping arm 272. A plurality of first links 274, one end of each first link 274 being hinged to the top end of a swing arm 273, and the other end of each first link 274 being hinged to the telescopic end of a first cylinder mechanism 271; and A plurality of second links 275, one end of each second link 275 being hinged to the top end of a fixed clamping arm 272, and the other end of each second link 275 being hinged to the telescopic end of a first cylinder mechanism 271.

[0043] When the pneumatic gripper mechanism 27 needs to open, the telescopic end of the first cylinder mechanism 271 moves downward, causing the first connecting rod 274 and the second connecting rod 275 to open. This causes the swinging gripper arm 273 to open relative to the fixed gripper arm 272. After the handling robot arm 21 moves the pneumatic gripper mechanism 27 downward to a set height, the rib plate 51 is positioned between the swinging gripper arm 273 and the fixed gripper arm 272. The telescopic end of the first cylinder mechanism 271 then moves upward, causing the first connecting rod 274 and the second connecting rod 275 to clamp the swinging gripper arm 273 and the fixed gripper arm 272, and then vertically transport it to the corresponding base plate 52. Furthermore, since the handling robot arm 21 is a multi-degree-of-freedom manipulator, it can swing or tilt the rib plate in any direction, thereby adjusting the vertical posture of the rib plate.

[0044] Preferably, there are four components: the first cylinder mechanism 271, the fixed clamping arm 272, the swing clamping arm 273, the first connecting rod 274, and the second connecting rod 275.

[0045] The pneumatic gripper mechanism 27 in this embodiment has a simple structure, provides a large gripping force on the stiffener 51, and is firmly fixed. Moreover, the movement interference between the swinging gripper arm 273 and the fixed gripper arm 272 is small.

[0046] Furthermore, the base 22 is an upright plate-shaped structure, and a plurality of first cylinder mechanisms 271, a plurality of fixed clamping arms 272, a plurality of swing clamping arms 273, a plurality of first connecting rods 274 and a plurality of second connecting rods 275 are disposed on one side plate surface of the base 22; The electromagnetic adsorption mechanism 26 includes: The slide block 261 is slidably connected to the other side plate of the base 22 via a linear guide rail 264; A second cylinder mechanism 262 is vertically disposed at the top of the other side plate of the base 22. The second cylinder mechanism 262 is used to move the slide 261 up and down; and Two electromagnets 263 are disposed below the slide 261 and are connected by corresponding connecting posts; When the slide 261 moves to the bottom of its stroke, the two electromagnets 263 are located below the swing arm 273.

[0047] When adsorbing and fixing the flat or laid-out stiffening plate 51 or base plate 52, the second cylinder mechanism 262 drives the two electromagnets 263 to extend downward to the lower part of the swing clamp arm 273, so as to prevent the pneumatic gripper mechanism 27 from causing motion interference to the adsorption and fixing of the electromagnets 263.

[0048] After the electromagnet 263 has finished moving the object, the second cylinder mechanism 262 raises it to prevent motion interference with the pneumatic gripper mechanism 27.

[0049] Furthermore, a connecting shaft 23 is provided at the end of the handling robotic arm 21. The connecting shaft 23 is connected to the base 22 through a spring buffer mechanism 24. An induction switch 241 is provided at the spring buffer mechanism 24. An induction baffle 242 is provided at the top of the base 22. The grasping vision detector 3 is a line laser vision detector and is provided at the connecting shaft 23.

[0050] Preferably, the spring buffer mechanism 24 includes multiple guide posts, multiple springs, multiple limiting mechanisms, and a connecting seat. Each spring is sleeved on a guide post, the limiting mechanism is located at the bottom end of the guide post, the bottom end of the guide post is connected to the base 22, the top end of each guide post is inserted into the connecting seat, the top end of the spring rests on the bottom surface of the connecting seat, and the connecting seat is connected to the connecting shaft 23.

[0051] The spring buffer mechanism 24 acts as a buffer during the picking process of the electromagnet 263 and the pneumatic gripper mechanism. Simultaneously, when the inductive stop plate 242 triggers the inductive switch 241, the system is notified that the spring buffer mechanism 24 has reached its maximum buffer position, thus stopping the conveying robotic arm 21 from pressing down. This ensures the safe operation of the conveying actuator 2 and prevents deformation of the stiffening plate 51 and the base plate 52 during the conveying process.

[0052] Furthermore, the conveying actuator 2 also includes a conveying track 25, and the conveying robotic arm 21 is disposed on the conveying track 25. The conveying robotic arm 21 is used to reciprocate along the conveying track 25. The welding actuator 4 includes a welding robotic arm 41 and a welding track 42. The welding robotic arm 41 is disposed on the welding track 42 and is used to reciprocate along the welding track 42. The conveying track 25 and the welding track 42 are arranged parallel to each other in the front-back direction. The welding platform includes a first welding table and a second welding table. The first welding table and the second welding table are respectively used to lay the corresponding base plate flat. The first welding table and the second welding table are arranged adjacent to each other between the conveying track and the welding track. The loading area includes a stiffener plate 51 frame and a base plate 52 frame. The stiffener plate 51 frame, the support 1, and the base plate 52 frame are arranged from front to back along the transport track 25. Multiple stiffener plates 51 are arranged extending in the left and right direction at the support 1. A finished product frame 63 is provided at the rear end of the transport track 25. The stiffener plate 51 and the base plate 52, which are welded together, are transported into the finished product frame 63 by the transport execution mechanism 2. This arrangement improves the overall intelligent welding efficiency of the workstation, especially the efficiency of the handling actuator 2 and the welding actuator 4. Furthermore, it has a compact structure and occupies a small area.

[0053] Furthermore, the welding vision detector 8 is disposed at the end of the welding robotic arm 41, the welding robotic arm 41 is provided with a welding torch 43, and the welding robotic arm 41 is provided with a tracking vision detector 7, which is disposed towards the welding torch 43. The tracking vision detector 7 is used to perform real-time visual tracking of the welding path of the welding torch 43.

[0054] The welding accuracy of stiffening plate 51 and base plate 52 is improved by using a tracking vision detector 7, thus ensuring welding quality.

[0055] Preferably, the tracking visual detector 7 can be a line scan visual detector composed of a line laser and a CCD camera.

[0056] In addition, this embodiment also provides a welding method for preliminary assembly, using the aforementioned intelligent welding workstation for preliminary assembly, the welding method including: S100. Input the theoretical outline data, corresponding numbers and theoretical assembly welding positions of multiple stiffening plates and base plates, and match the numbers of the stiffening plates with the numbers of the base plates one by one, and lay the multiple stiffening plates and multiple base plates flat in the loading area. S200: Using a gripping vision detector at the conveying actuator, visual inspection is performed on multiple stiffening plates and multiple base plates in the loading area to obtain actual contour data, corresponding numbers, and placement information of multiple stiffening plates and multiple base plates. S300. Based on the feeding information, the electromagnetic adsorption mechanism and the grasping vision detector are used to erect and place multiple stiffeners one by one on the support, and obtain stiffener placement information containing the placement position and corresponding number of each stiffener. S410. Based on the feeding information, the base plate is laid flat on the first position of the welding platform using the electromagnetic adsorption mechanism. S420. Based on the feeding information and the stiffener placement information, the stiffener with the matching number is taken out from the support by a pneumatic gripper mechanism, and the stiffener with the matching number is erected on the base plate at the first position based on the corresponding theoretical assembly and welding position. S510. By using the welding vision detector at the welding actuator, the base plate at the first position and the stiffening plate standing above it are visually inspected to obtain the actual assembly welding position. Based on the actual assembly welding position and the theoretical assembly welding position, the relative position of the base plate at the first position and the stiffening plate standing above it is adjusted to the correct vertical position by the pneumatic gripper mechanism. S520. Control the pneumatic gripper mechanism to keep the stiffening plate at the first position in the correct vertical position, and weld the base plate at the first position and the stiffening plate standing above it together by the welding execution mechanism. S610. Control the electromagnetic adsorption mechanism to execute S410 and S420 at the second position of the welding platform; S620. Simultaneously, the base plate and the stiffening plate, which are positioned at the first location, are fully welded together using the welding execution mechanism and the welding vision detector. S710, Control the welding actuator and the transport actuator, and at the second position, execute S510 and S520 to weld the base plate at the second position and the rib plate standing above it together at the positioning point. S720. The base plate and the stiffening plate, which are positioned together at the second location, are fully welded using the welding execution mechanism and the welding vision detector. S730. Simultaneously, control the electromagnetic adsorption mechanism to move the fully welded base plate and the stiffening plate away from the first position. S740. At the first position, perform S410 to S520 to weld the new base plate and the matching stiffener plate together at the positioning point. S810. At the first position, the new base plate and the matching stiffening plate are fully welded. S820. Simultaneously, control the electromagnetic adsorption mechanism to move the fully welded base plate and the stiffening plate away from the second position. S830, At the second position, perform S410 to S520 to weld the new base plate and the matching stiffener together at the positioning point; S900, S720 to S830 are performed alternately in the first position and the second position until all the stiffening plates on the support are fully welded together with the matching base plate.

[0057] By combining spot welding for fixation and then full welding, and by alternately executing S720 to S830 at the first and second positions, welding and transport assembly can be carried out simultaneously, thereby improving the welding efficiency of the preliminary assembly.

[0058] Furthermore, the welding platform includes a first welding table and a second welding table arranged adjacent to each other, the first position being the top surface of the first welding table and the second position being the top surface of the second welding table; After all the stiffening plates on the support are fully welded together with the matching base plate, S100 to S900 are repeated.

[0059] By utilizing the first and second welding stations, continuous cyclic welding of the two sets of stiffening plates 51 and the base plate 52 is achieved, thereby significantly reducing the idle rate of the handling actuator 2 and the welding actuator 4 and improving the welding efficiency of the entire workstation.

[0060] The first and second welding stations are used to separate the first and second positions, avoiding mutual movement interference between the welding robot and the handling robot during operation. Furthermore, distinguishing between the first and second positions is convenient and accurate.

[0061] Furthermore, a welding torch 43 and a tracking vision detector 7 are respectively provided at the execution end of the welding actuator. Here, the execution end of the welding actuator is the end of the welding robotic arm 41, meaning that a welding torch 43 and a tracking vision detector 7 are respectively provided at the end of the welding robotic arm 41. The tracking vision detector 7 is positioned towards the welding torch 43. Before executing S520, it includes: S511. Based on the theoretical positioning weld point positions of each of the base plates and the stiffening plates erected above them, the actual assembly welding positions, and the theoretical assembly welding positions, the welding execution mechanism is controlled to visually verify, through the tracking vision detector, whether the actual positioning spot welding positions of the base plates and the stiffening plates erected above them match the theoretical positioning weld point positions. If a match is found, then execute S520; If there is no match, repeat steps S510 and S511. S620. Full welding of the base plate and the stiffening plate, which are positioned at the first location and welded together, using the welding actuator and the welding vision detector, includes: S621. The actual docking position of the stiffening plate and the base plate within a set range in front of the welding torch is detected in real time by the tracking vision detector. S622. Verify and fit the actual docking position and the theoretical welding path of the welding gun obtained in real time to obtain the actual welding path; S623. The welding torch is used to fully weld the base plate and the stiffening plate standing above it according to the actual welding path.

[0062] Ensure the accuracy of full welding and make corresponding adjustments when a mismatch is found with the theoretical welding path.

[0063] The following experiment records the execution time of the aforementioned S100 to S900 processes. To facilitate the calculation of equipment production capacity, the time for material handling per piece is included in the calculation. Therefore, the time to produce one piece of pre-assembled finished product is 8.28 minutes, which means the equipment production capacity is 8.28 minutes / piece.

[0064] If the daily production capacity is set at 58 units, then the equipment operating time is 8.28 × 58 = 480.24 min ≈ 8 hours. This time is the equipment operating time; the time for personnel rest, maintenance, and replacement of consumables needs to be calculated separately.

[0065] Based on an 8-hour shift per day and an 85% operating rate, each shift produces approximately 49.27 pieces (8 × 60 × 85% / 8.28). Assuming a single stiffener length of 1.2m and a single weld seam length of 2.4m, a single shift produces 49 × 2.4 = 118m. This significantly improves work efficiency.

[0066] While the present invention has been disclosed above, its scope of protection is not limited thereto. Those skilled in the art can make various changes and modifications without departing from the spirit and scope of the present invention, and all such changes and modifications will fall within the scope of protection of the present invention.

Claims

1. A pre-assembly cell intelligent welding workstation, characterized in that, Comprise: a support, a carrying execution mechanism, a grabbing visual detector, a welding execution mechanism and a welding visual detector; The support is used to keep a plurality of rib plates upright and arranged in parallel; The carrying execution mechanism comprises a carrying mechanical arm, a base, an electromagnetic adsorption mechanism and a pneumatic clamping mechanism, the carrying mechanical arm is a multi-degree-of-freedom manipulator, the base is connected with the end of the carrying mechanical arm, the pneumatic clamping mechanism and the electromagnetic adsorption mechanism are arranged at the base respectively, the electromagnetic adsorption mechanism is used to place a plurality of rib plates in the feeding area upright at the support, and place a bottom plate in the feeding area flat on a welding platform, the pneumatic clamping mechanism is used to make the rib plates upright on the bottom plates matched one by one; The grabbing visual detector is arranged at the end of the carrying mechanical arm, and is used to identify the numbers on the rib plates and the bottom plates respectively, the welding visual detector is arranged at the welding execution mechanism, and is used to detect the relative positions of the bottom plates and the corresponding rib plates upright on the top surfaces of the bottom plates, and the welding execution mechanism is used to weld the bottom plates and the corresponding rib plates upright on the top surfaces of the bottom plates together; The welding platform is used to lay at least two bottom plates with non-overlapping corners.

2. The smart welding work cell of claim 1, wherein, The support comprises a plurality of vertical plates and a base, the vertical plate is a rectangular plate-shaped member, the wide edge of the vertical plate is uprightly arranged, a plurality of the vertical plates are arranged in parallel along the front-rear direction, the bottom end of the vertical plate is connected with the top surface of the base, a plurality of fixed clamping grooves are formed in the top end of the vertical plate, the fixed clamping grooves are concave downward, a plurality of the fixed clamping grooves are arranged in sequence with a spacing along the long edge of the vertical plate, the opening end of each fixed clamping groove is inclined backward, the rib plate is inserted in a plurality of the fixed clamping grooves arranged in parallel of a plurality of the vertical plates at the same time, and the top groove width of the fixed clamping groove is greater than the bottom groove width.

3. The smart welding work cell of claim 2, wherein, The base vertically extends downward, and the pneumatic clamping mechanism comprises: a plurality of first cylinder mechanisms, which are vertically and parallel arranged at the base, the cylinder body top end of each first cylinder mechanism is hinged with the base, and the telescopic end of the first cylinder mechanism is arranged downward; a plurality of fixed clamping arms, which vertically and parallel extend downward, and each fixed clamping arm is connected with the bottom of the base; a plurality of swing clamping arms, which are arranged one by one corresponding to a plurality of the fixed clamping arms, and each swing clamping arm vertically extends downward, and the side surface of each swing clamping arm is hinged with the fixed clamping arm; a plurality of first connecting rods, one end of each first connecting rod is hinged with the top end of one swing clamping arm, and the other end of each first connecting rod is hinged with the telescopic end of one first cylinder mechanism; and a plurality of second connecting rods, one end of each second connecting rod is hinged with the top end of one fixed clamping arm, and the other end of each second connecting rod is hinged with the telescopic end of one first cylinder mechanism.

4. The smart welding work cell of claim 3, wherein, The base is a vertically arranged plate-shaped structural member, a plurality of the first cylinder mechanisms, a plurality of the fixed clamping arms, a plurality of the swing clamping arms, a plurality of the first connecting rods and a plurality of the second connecting rods are arranged at one side plate surface of the base; The electromagnetic adsorption mechanism comprises: The sliding base is connected with the other side plate of the base through a linear guide rail; A second cylinder mechanism is vertically arranged at the top end of the other side plate of the base, and is used to move the sliding base up and down; and Two electromagnets are arranged below the sliding base and are connected with the sliding base through corresponding connecting columns; When the sliding base moves to the bottom end of its stroke, the two electromagnets are located below the swing clamping arm.

5. The smart welding work cell of claim 4, wherein, A connecting shaft is arranged at the end of the carrying mechanical arm, the connecting shaft is connected with the base through a spring buffer mechanism, the spring buffer mechanism is provided with an induction switch, the top end of the base is provided with an induction baffle, the grabbing visual detector is a line laser visual detector, and is arranged at the connecting shaft.

6. The pre-assembly group intelligent welding workstation according to claim 5, wherein, The carrying execution mechanism further comprises a carrying track, the carrying mechanical arm is arranged on the carrying track, and the carrying mechanical arm is used to reciprocate along the carrying track; the welding execution mechanism comprises a welding mechanical arm and a welding track, the welding mechanical arm is arranged on the welding track, and the welding mechanical arm is used to reciprocate along the welding track; the carrying track and the welding track are arranged in parallel with each other along the front-back direction, the welding platform comprises a first welding table and a second welding table, the first welding table and the second welding table are respectively used to lay corresponding bottom plates, and the first welding table and the second welding table are arranged adjacent to each other in front of and behind the carrying track and the welding track. The feeding area comprises a rib plate material frame and a bottom plate material frame, the rib plate material frame, the support and the bottom plate material frame are arranged from front to back along the carrying track, a plurality of rib plates are arranged and extended along the left-right direction at the support, and a finished product material frame is arranged at the rear end of the carrying track.

7. The pre-assembly group intelligent welding workstation according to claim 6, wherein, The welding visual detector is arranged at the end of the welding mechanical arm, a welding gun is arranged at the end of the welding mechanical arm, a tracking visual detector is arranged at the end of the welding mechanical arm, the tracking visual detector is arranged towards the welding gun, and the tracking visual detector is used to track the welding path of the welding gun in real time.

8. A pre-assembly group welding method, using the pre-assembly group intelligent welding workstation according to any one of claims 1 to 7, the welding method comprising: S100, inputting theoretical contour data, corresponding numbers and theoretical assembly welding positions of a plurality of rib plates and bottom plates, matching the numbers of the rib plates with the numbers of the bottom plates, and laying the plurality of rib plates and the plurality of bottom plates flat in a feeding area; S200, visual inspection is performed on the plurality of webs and the plurality of bases in the feeding area by a grabbing visual detector at a carrying executive mechanism, actual contour data, corresponding numbers and placement postures of the plurality of webs and the plurality of bases are obtained, and feeding information is obtained; S300, based on the feeding information, the plurality of webs are placed one by one on the support by an electromagnetic adsorption mechanism and the grabbing visual detector, and web placement information containing the placement position and corresponding number of each web is obtained; S410, based on the feeding information, the base is laid flat on the first position on the welding platform by the electromagnetic adsorption mechanism; S420, based on the feeding information and the web placement information, the web with the matching number is taken out from the support by a pneumatic clamping jaw mechanism, and based on the corresponding theoretical assembly welding position, the web with the matching number is erected on the base at the first position; S510, the base at the first position and the web erected thereon are visually inspected by a welding visual detector at a welding executive mechanism, an actual assembly welding position is obtained, and based on the actual assembly welding position and the theoretical assembly welding position, the relative position of the base at the first position and the web erected thereon is adjusted to a correct erection position by the pneumatic clamping jaw mechanism; S520, the pneumatic clamping jaw mechanism is controlled to keep the web at the first position in the correct erection position, and the base at the first position and the web erected thereon are spot-welded together by the welding executive mechanism; S610, the electromagnetic adsorption mechanism is controlled to perform S410 and S420 at the second position of the welding platform; S620, at the same time, the base and the web spot-welded together at the first position are full-welded by the welding executive mechanism and the welding visual detector; S710, the welding executive mechanism and the carrying executive mechanism are controlled to perform S510 and S520 at the second position, and the base at the second position and the web erected thereon are spot-welded together; S720, the base and the web spot-welded together at the second position are full-welded by the welding executive mechanism and the welding visual detector; S730, at the same time, the electromagnetic adsorption mechanism is controlled to carry away the base and the web full-welded together from the first position; S740, at the first position, S410 to S520 are performed to spot-weld a new base and a matching web together; S810, at the first position, the new base and the matching web are full-welded; S820, at the same time, the electromagnetic adsorption mechanism is controlled to carry away the base and the web full-welded together from the second position; S830, at the second position, S410 to S520 are performed to spot-weld a new base and a matching web together; S830, at the second position, S410 to S520 are performed to spot-weld a new base and a matching web together; S900, alternately circulating S720-S830 at the first position and the second position until all the web plates on the support are fully welded with the matching bottom plates.

9. The welding method of claim 8, wherein, The welding platform comprises a first welding table and a second welding table arranged adjacently, the first position is the top surface of the first welding table, and the second position is the top surface of the second welding table. After all the web plates on the support are fully welded with the matching bottom plates, S100-S900 are repeatedly executed.

10. The welding method of claim 9, wherein, The execution end of the welding execution mechanism is respectively provided with a welding gun and a tracking visual detector, the tracking visual detector is arranged towards the welding gun, and before S520 is executed, it comprises: S511, based on the theoretical positioning weld point position of each bottom plate and the web plate erected thereon, the actual assembly welding position, and the theoretical assembly welding position, the welding execution mechanism is controlled to visually check whether the actual positioning weld point position of the bottom plate and the web plate erected thereon matches the theoretical positioning weld point position through the tracking visual detector; If matched, S520 is executed; If not matched, S510 and S511 are repeatedly executed; S620, the welding execution mechanism and the welding visual detector are used to fully weld the bottom plate and the web plate positioned and welded together at the first position, which comprises: S621, the tracking visual detector is used to detect the actual butt joint position of the web plate and the bottom plate within a set range in front of the welding gun in real time; S622, the actual butt joint position acquired in real time and the theoretical welding path of the welding gun are checked and fitted to obtain an actual welding path; S623, the welding gun is made to fully weld the bottom plate and the web plate erected thereon according to the actual welding path.

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