Welding robot workstation based on laser welding

Abstract

The invention relates to the technical field of laser welding, and discloses a welding robot workstation based on laser welding, which comprises a plurality of welding workbenches used for bearing a first workpiece and a second workpiece to be welded, and the plurality of welding workbenches pass through a welding station in sequence; the workpiece positioning assembly is arranged at the top end of the welding workbench and can position the first workpiece and the second workpiece in the pre-welding stage; the auxiliary mechanical arm is arranged on one side of the welding workbench, the second workpiece is aligned to the to-be-welded position of the first workpiece based on the visual system, and after pre-welding is completed, the auxiliary mechanical arm drives the to-be-welded workpiece to be transferred to the top of the welding workbench; and the welding mechanical arm is oppositely arranged on one side of the auxiliary mechanical arm. According to the welding robot workstation based on laser welding, the problem that in the prior art, due to lack of workpiece positioning, a robot welding procedure is difficult to adapt to subsequent machining can be solved.

Description

Technical Field

[0001] This invention relates to the field of laser welding technology, and more specifically to a welding robot workstation based on laser welding. Background Technology

[0002] With the rapid development of manufacturing towards automation and intelligence, welding, as a key process in modern industrial production, directly impacts product production efficiency and quality due to its automation level. Among numerous automated welding technologies, laser welding, with its advantages of high energy density, small heat-affected zone, fast welding speed, and aesthetically pleasing weld formation, is widely used in high-end fields such as automotive manufacturing, aerospace, medical devices, and precision electronics. Traditional welding robot workstations typically employ "teach-programming" or offline programming methods, where skilled engineers manually control the robot's motion trajectory or perform offline path planning based on the workpiece's CAD model. While this approach is suitable for simple, high-volume production tasks, it is time-consuming and labor-intensive for small-batch, multi-variety, and complex workpiece shapes. Furthermore, it struggles to ensure a high degree of consistency between the welding trajectory and the actual workpiece, resulting in significant application limitations.

[0003] In related technologies, in order to overcome the technical defects of time-consuming and laborious teaching process and low programming efficiency, for example, the patent with prior art publication number CN211680522U provides a laser welding and cutting robot workstation. The front end of the laser head of the device is equipped with a 3D camera. The function of the 3D camera is to photograph the workpiece, generate the robot welding path and motion trajectory, automatically pick up the spatial coordinate position of the workpiece, automatically pick up the outer surface contour of the workpiece to form point cloud data, and the robot's control system analyzes the point cloud data and generates the welding path. The robot automatically generates the motion trajectory without teaching.

[0004] While the existing technical solutions described above can achieve automatic motion trajectory generation without teaching by acquiring workpiece images with a 3D camera and then analyzing the point cloud data to generate welding paths using the robot's control system, the 3D vision system is extremely sensitive to the surface characteristics of the workpiece. When the workpiece surface is made of highly reflective materials (such as polished stainless steel or aluminum alloy), 3D cameras based on structured light or laser scanning principles are prone to failing to acquire effective data due to specular reflection, resulting in large measurement blind spots. In this case, manual assistance is still required to program and generate a complete welding path. Furthermore, the dual-station worktable used to support the workpiece lacks a positioning structure for the workpiece, making it impossible to position the workpiece after loading. This further leads to inaccurate welding origin points and makes it difficult for the welding program to adapt to subsequent welding operations.

[0005] In addition, in the existing technology, for multi-cycle welding processes, the control between cycles often adopts the start and stop of servo motors. When welding workpieces at the welding station is required, relying solely on the start and stop of the motor will result in a large positioning error, affecting the welding accuracy. Summary of the Invention

[0006] In view of the above-mentioned shortcomings of the existing technology, the present invention provides a welding robot workstation based on laser welding, which can effectively solve the problem that the robot welding program is difficult to adapt to subsequent processing due to the lack of workpiece positioning in the existing technology.

[0007] To achieve the above objectives, the present invention provides the following technical solution: This invention provides a laser welding-based welding robot workstation, comprising: Multiple welding worktables are provided to support the first and second workpieces to be welded, and the multiple welding worktables pass through the welding station in sequence. The workpiece positioning assembly, located at the top of the welding worktable, can position the first and second workpieces during the pre-welding stage. An auxiliary robotic arm is set on one side of the welding worktable. Based on the vision system, it aligns the second workpiece with the position to be welded on the first workpiece. After the pre-welding is completed, the auxiliary robotic arm moves the workpiece to be welded to the top of the welding worktable. The welding robotic arm is positioned on one side of the auxiliary robotic arm.

[0008] Preferably, four welding workbenches are evenly arranged, and when one welding workbench is located at the welding station, the other welding workbenches are located in sequence at the unloading station, the cleaning station and the welding station. A moving component is installed on one side of the welding workbench, which can drive the welding workbench to pass through multiple workstations in sequence; The moving components include: The rotating frame is rotatably mounted on one side of the base and has four support arms. A support plate is installed on the outside of the corresponding support arm of the rotating frame; The rotating seat is located on the side of the support plate away from the rotating frame, and the welding worktable is rotatably connected to the rotating frame through the rotating seat.

[0009] Preferably, the welding worktable includes: Base plate; The support plate is fixedly installed at the top of the base plate; The supporting column is connected to the bottom center of the base plate, and a counterweight is fixedly installed at the bottom of the supporting column; A sliding sleeve is slidably mounted on the outside of the bearing column, and a rotating shaft is connected to one side of the sliding sleeve. The rotating shaft is rotatably mounted on the rotating seat.

[0010] Preferably, a welding station positioning component is provided on one side of the base for positioning the welding workbench located at the welding station; The welding station positioning component includes: A fixed platform is fixedly installed on one side of the base, and a rotating frame is rotatably connected to one side of the fixed platform; The first straight component is connected to the top of the fixed platform; A tapered locating pin is connected to the side of the first linear component away from the fixed platform. The tapered locating pin can move vertically driven by the first linear component. A tapered hole is opened at the bottom of the counterweight corresponding to the tapered locating pin.

[0011] Preferably, a toothed ring is fixedly provided on the side of the rotating frame away from the base; A drive gear is meshed on the outer side of the gear ring. The drive gear is driven to rotate the rotating frame through the gear ring. One rotation of the drive gear can switch the welding workbench to one station. A default opening is provided on one side of the drive gear.

[0012] Preferably, the carrier assembly further includes: The driving rod, a screw, is rotatably mounted inside the support arm of the rotating frame; The driving block is spirally arranged on the outside of the driving rod, and the support plate is fixedly connected to the corresponding driving block; when the support arm rotates to the horizontal position, the two corresponding driving rods are driven to rotate by external force, which in turn drives the corresponding driving block to move.

[0013] Preferably, a shaft hole is provided at the center of the rotating frame; A first rotating ring is provided on one side of the shaft hole, a gearbox is provided on the outer side of the first rotating ring, and a bidirectional drive shaft is provided at the drive end of the gearbox. The bidirectional drive shaft is coaxially arranged with the drive rod that rotates to the horizontal position. A mating block is provided on the side of the driving rod near the bidirectional drive shaft. A set of clamping blocks is provided at both ends of the bidirectional drive shaft. When the driving rod rotates to the horizontal position, the mating block is located in the two clamping blocks of the same set.

[0014] Preferably, the workpiece positioning assembly includes a first positioning block and a second positioning block; the top of both the first positioning block and the second positioning block is provided with a limiting groove adapted to the corresponding workpiece. The support plate is a perforated plate, and the first positioning block can be detachably placed on the top of the support plate via a bottom insert; A sliding plate is provided on the top of the support plate, and a second positioning block is detachably connected to one side of the sliding plate.

[0015] Preferably, a driving component is provided on one side of the base for positioning the workpiece by driving the workpiece positioning component, wherein the driving component includes: The second straight component is located on one side of the base; The U-shaped component is connected to the drive end of the second straight component, and the opening of the U-shaped component is oriented to cooperate with the moving plate. The pressure sensor is located on the side of the U-shaped part away from the first positioning block.

[0016] Preferably, two protective plates are arranged opposite each other on one side of the base, with the side of the protective plates that is far apart from each other inclined downwards. An air blowing assembly is installed below the protective plate; A third linear component is provided on the inner side of the base, and the third linear component drives the air blowing assembly to move via a slide rod.

[0017] The technical solution provided by this invention has the following advantages compared with the prior art: This invention positions the first workpiece by setting a workpiece positioning component on the top of the base, which effectively avoids welding accuracy errors caused by positional shifts during the welding process and ensures that the welding mating surfaces of the first and second workpieces always maintain an accurate relative position. After the first and second workpieces are pre-welded, an auxiliary robotic arm moves the first and second workpieces a certain distance along a preset direction, so that the first and second workpieces are completely detached from the workpiece positioning component after pre-welding. Furthermore, new welding coordinates are automatically generated based on the movement direction and distance of the workpieces by the auxiliary robotic arm. Subsequently, the workpieces can be supported by the welding worktable, and the first and second workpieces can be fully welded separately by the welding robotic arm. This can prevent the welding robotic arm from being unable to obtain the welding origin due to the lack of positioning at the workstation.

[0018] In this invention, the intermittent conveying mechanism of the moving component achieves precise switching of the welding workbench between various workstations through a special transmission design of the active gear and gear ring. Combined with the positioning structure driven by the first linear component, the welding workbench can quickly complete dual positioning in both height and horizontal direction before each welding operation, thereby improving the automated continuous operation capability of the workstation.

[0019] This invention, by setting up a second motor to drive a rod that moves the welding worktable away from the welding area, not only reduces the risk of welding impurities contaminating the workpieces at the loading and unloading stations, but also creates favorable conditions for the subsequent cleaning operation of the welding worktable by the third straight component. This allows the cleaned welding worktable to directly enter the next loading cycle, significantly improving the overall operating efficiency of the workstation and the stability of the workpiece welding quality. Attached Figure Description

[0020] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the accompanying drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are merely some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without any creative effort.

[0021] Figure 1 This is a three-dimensional structural diagram of an embodiment of the present invention; Figure 2 This is a three-dimensional structural schematic diagram of a portion of an embodiment of the present invention; Figure 3 This is a side view of the base structure according to an embodiment of the present invention; Figure 4 This is a schematic diagram of the structure of the base according to an embodiment of the present invention; Figure 5 This is a schematic diagram of the structure of the moving component and the welding workbench according to an embodiment of the present invention; Figure 6 This is an exploded structural diagram of the moving component according to an embodiment of the present invention; Figure 7 This is a schematic diagram of the internal structure of the shaft hole in an embodiment of the present invention; Figure 8 This is a schematic diagram of the structure of the drive rod and the bidirectional drive shaft according to an embodiment of the present invention; Figure 9 This is a schematic diagram of the welding workbench according to an embodiment of the present invention; Figure 10 This is an exploded structural diagram of the welding workbench according to an embodiment of the present invention; Figure 11 for Figure 4 Enlarged structural diagram at point A; Figure 12 for Figure 7 A magnified structural diagram at point B in the middle.

[0022] The labels in the diagram represent: 100, the first workpiece; 200, the second workpiece; 1. Base; 11. Fixing seat; 12. Protective plate; 13. Air blowing assembly; 14. Slide rod; 15. Third straight component; 2. Welding workbench; 21. Base plate; 22. Bearing plate; 23. Side plate; 24. Bearing column; 25. Counterweight; 251. Conical hole; 26. Sliding sleeve; 27. Rotating shaft; 28. Moving plate; 29. ​​Waist hole; 210. Limiting rod; 211. Slide plate; 212. Pulley; 213. Marking mark; 3. Workpiece positioning assembly; 31. First positioning block; 32. Second positioning block; 33. Insert block; 34. Bolt; 35. Limiting groove; 4. Carrier assembly; 41. Rotating frame; 42. Support plate; 43. Rotating seat; 44. Gear ring; 45. Drive gear; 451. Default port; 46. Protective cover; 47. First motor; 48. Drive block; 49. Drive rod; 410. Mating block; 411. Shaft hole; 412. First rotating ring; 413. Gearbox; 414. Bidirectional drive shaft; 415. Clamping block; 416. Second motor; 5. Welding station positioning assembly; 51. Fixed platform; 52. Second rotating ring; 53. First linear component; 54. Conical positioning pin; 6. Drive assembly; 61. Second linear component; 62. U-shaped component; 63. Pressure sensor; 7. Auxiliary robotic arm; 71. Movable base; 72. Guide rail; 73. Chassis; 74. Mechanical gripper; 75. Vision camera; 8. Welding robotic arm; 9. Loading unit; 10. Unloading unit. Detailed Implementation

[0023] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of the present invention. All other embodiments obtained by those skilled in the art based on the embodiments of the present invention without creative effort are within the scope of protection of the present invention.

[0024] The present invention will be further described below with reference to embodiments.

[0025] Please see Figure 1 - Figure 12 The present invention provides a technical solution: referring to Figure 1 and Figure 2A laser welding robot workstation includes a base 1, welding worktables 2, workpiece positioning components 3, a moving component 4, welding station positioning components 5, a drive component 6, an auxiliary robotic arm 7, and a welding robotic arm 8. Several welding worktables 2 are evenly spaced to support the welding of a first workpiece 100 and a second workpiece 200. The workpiece positioning components 3 are located on the top of the welding worktables 2 and are used to limit and align the first workpiece 100 and the second workpiece 200. The moving component 4 is located on one side of the base 1 and is used to intermittently transport several welding worktables 2. The welding station positioning component 5 is located on the outside of the base 1 and between the base 1 and the carrier component 4, and is used to position the welding worktable 2 above. The driving component 6 is located on the outside of the base 1 and is used to drive the workpiece positioning component 3 to position the first workpiece 100 on the top of the welding worktable 2 above. The auxiliary robotic arm 7 is located on the side of the carrier component 4 away from the base 1 and is used to align the second workpiece 200 with the first workpiece 100 based on the vision system, and is used to transfer the first workpiece 100 to the top of the welding worktable 2. The welding robotic arm 8 is fixedly installed on the top of the base 1.

[0026] It should be noted that, referring to Figure 2 The auxiliary robotic arm 7 has a movable base 71 at its bottom. The movable base 71 moves along the guide rail 72. The guide rail 72 is fixedly mounted on the top of the housing 73. The outer sides of both ends of the housing 73 are respectively provided with a loading unit 9 and a unloading unit 10. The execution end of the auxiliary robotic arm 7 is provided with a robotic claw 74. A vision camera 75 is provided on the outer side of the robotic claw 74.

[0027] During laser welding, the auxiliary robotic arm 7 moves back and forth along the guide rail 72 via the movable base 71, allowing it to move between the loading unit 9 and the unloading unit 10. This enables the auxiliary robotic arm 7 to be used for loading and unloading the first workpiece 100 and the second workpiece 200. During loading, the auxiliary robotic arm 7 scans and identifies the workpieces to be welded (i.e., the first workpiece 100 and the second workpiece 200) conveyed by the loading unit 9 using a vision camera 75. Then, based on the vision system, the robotic gripper 74 clamps the first workpiece 100 and the second workpiece 200 and places them on top of the welding worktable 2 located at the loading station. The workpiece positioning component 3 on top of the welding worktable 2 initially limits the first workpiece 100 and the second workpiece 200. When the welding worktable 2 is transferred to the welding station where the welding robotic arm 8 is located under the drive of the carrier component 4, the welding worktable 2 on the welding station is positioned by the welding station positioning component 5.

[0028] Then, the workpiece positioning component 3 on the top of the welding workbench 2 is driven by the drive component 6 to position the first workpiece 100 (with the first workpiece 100 as the welding base), so that the workpiece positioning component 3 is in corresponding contact with the outer side of the first workpiece 100. At this time, the auxiliary robotic arm 7 can use the mechanical claw 74 based on the vision system to clamp the second workpiece 200 and fit it with the workpiece positioning component 3, so that the second workpiece 200 is aligned with the positioned first workpiece 100. On this basis, the welding robotic arm 8 performs preliminary welding connection on the first workpiece 100 and the second workpiece 200 (such as multi-point welding pre-fixing).

[0029] After the first workpiece 100 and the second workpiece 200 are pre-welded, the workpiece positioning component 3 is driven by the drive component 6 to release the limiting effect on the first workpiece 100 (to prevent the workpiece positioning component 3 from obstructing the welding). The auxiliary robotic arm 7 then moves the first workpiece 100 and the second workpiece 200 a certain distance along a preset direction, so that the first workpiece 100 and the second workpiece 200 are completely separated from the workpiece positioning component 3 after pre-welding. Based on the movement direction and distance of the workpiece by the auxiliary robotic arm 7, new welding coordinates are automatically generated. Subsequently, the workpiece can be supported by the welding worktable 2, and the first workpiece 100 and the second workpiece 200 can be fully welded by the welding robotic arm 8. This prevents the welding robotic arm 8 from being unable to obtain the welding origin due to the lack of workpiece positioning. Furthermore, when the workpiece surface is a highly reflective material such as polished stainless steel or aluminum alloy, and manual assistance is required to generate a complete welding path, the welding robotic arm 8 can automatically obtain the new welding coordinates and perform automatic welding work according to the preset welding program, thereby improving the adaptability of the welding robot to the workpiece.

[0030] To make the conveying of the welding workbench 2 more stable and to simplify the conveying structure, refer to Figure 2 and Figure 5 Four welding worktables 2 are arranged in a circular array. The four welding worktables 2 are located in sequence at the loading station, welding station, unloading station and cleaning station. The moving component 4 includes a rotating frame 41 that is driven by external force and is rotatably set on the outside of the base 1. Each rotating frame 41 is provided with a support plate 42 on its outside. Each end of the support plate 42 is fixedly provided with a rotating seat 43. The welding worktable 2 is rotatably connected to the rotating seat 43. The welding worktable 2 always remains horizontal when it rotates around the rotation center of the rotating frame 41.

[0031] By driving the rotating frame 41 to rotate, the welding worktable 2 at the end of the support plate 42 can be driven to pass through the loading station, welding station, unloading station and cleaning station in sequence. During transportation, the welding worktable 2 is kept level, so that the auxiliary robotic arm 7 can load and unload the welding worktables 2 on both sides before, during and after welding. The distance between two adjacent stations and two adjacent welding worktables 2 is shortened, reducing the travel of the auxiliary robotic arm 7 to ensure welding efficiency.

[0032] Specifically, refer to Figure 5 and Figure 9 In order to maintain the horizontal state of the welding workbench 2 during the conveying process, the welding workbench 2 includes a base plate 21 and a support plate 22 fixedly installed on the top of the base plate 21. The base plate 21 is fixedly connected to the support plate 22 through side plates 23 on both sides. A support column 24 is fixedly installed at the center of the bottom of the base plate 21. A counterweight 25 is fixedly installed at the bottom of the support column 24. A sliding sleeve 26 is slidably installed on the outer side of the support column 24 along the axial direction. A rotating shaft 27 is fixedly installed on the outer side of the sliding sleeve 26 perpendicular to the axial direction. The rotating shaft 27 is rotatably connected to the rotating seat 43.

[0033] After the welding workbench 2 is positioned at the welding station, refer to Figure 3 , Figure 5 and Figure 6 To facilitate the positioning of the welding workbench 2, a shaft hole 411 is provided on the inner side of the rotating frame 41 corresponding to the center position. The welding station positioning assembly 5 includes a fixed platform 51 fixedly installed on the outer side of the base 1. The fixed platform 51 is rotatably installed with the shaft hole 411 through the outer second rotating ring 52. A first straight member 53 is fixedly installed on the inner side of the fixed platform 51. A conical positioning pin 54 is fixedly installed at the output end of the top of the first straight member 53. A conical hole 251 is provided at the bottom of the counterweight 25 corresponding to the conical positioning pin 54.

[0034] The first linear component 53 drives the conical positioning pin 54 to move upward, so that the conical positioning pin 54 and the conical hole 251 at the bottom of the counterweight 25 are coaxially engaged, pushing the bearing column 24 to move upward. When the bearing column 24 slides along the inner side of the sliding sleeve 26, it pushes the welding worktable 2 to move upward. When the welding worktable 2 is away from the top of the sliding sleeve 26, the counterweight 25 is coaxially pressed against the top of the conical positioning pin 54, so that each welding worktable 2 is positioned with the conical positioning pin 54 as the reference. This reduces the large error in the welding origin of the welding robot arm 8 caused by the inaccurate position of the welding worktable 2 when the workpiece positioning component 3 positions the workstation.

[0035] To ensure that the positioning process of the welding worktable 2 does not interfere with the drive structure of the rotating frame 41, refer to Figure 6A gear ring 44 is fixedly installed on the side of the rotating frame 41 away from the base 1. A drive gear 45 is meshed on the outer side of the gear ring 44. The drive gear 45 is rotatably installed inside the protective cover 46. The protective cover 46 is rotatably installed on the outer side of the gear ring 44. A first motor 47 for driving the drive gear 45 to rotate is fixedly installed on the outer side of the protective cover 46. A default opening 451 is provided on the outer side of the drive gear 45, and the drive gear 45 drives the gear ring 44 to rotate 90° for each revolution.

[0036] When the first motor 47 drives the drive gear 45 to rotate, the drive gear 45 drives the outer gear ring 44 to rotate synchronously. Since the drive gear 45 only drives the gear ring 44 to rotate 90° for each revolution, the rotating frame 41 can accurately transport the welding worktable 2 to different operating positions in sequence. At this time, the first motor 47 drives the default port 451 on the outside of the drive gear 45 to rotate to the outside of the gear ring 44, which can temporarily disengage from the meshing with the gear ring 44. When the welding worktable 2 is positioned, the rotating frame 41 is in a stationary state, which avoids the continuous operation of the drive structure from affecting the positioning accuracy. This ensures that the welding station positioning component 5 can stably perform coaxial calibration of the welding worktable 2, providing stable working conditions for the subsequent welding operation of the welding robot arm 8.

[0037] In the above technical solutions, conventional motors such as servo motors, although capable of positioning by stopping, suffer from backlash and static friction fluctuations. After the motor stops, the gear transmission chain backlash causes the rotating frame to shift. If the motor brakes, uneven clamping force will also cause angular deviation, and the mechanical wear of the brakes will further aggravate the positioning error in the later stages, failing to meet the positioning accuracy of the welding worktable 2. By using the aforementioned default port 451 design, when the welding worktable 2 is positioned, the default port 451 of the drive gear 45 disengages from the gear ring 44. The gear ring 44 is not driven by external force, and with the automatic centering of the tapered positioning pin 54 and tapered hole 251 of the welding station positioning component 5, the position of the rotating frame is completely locked by the mechanical mechanism, ensuring the positioning accuracy of the welding worktable 2.

[0038] Because welding impurities are generated during the welding process by the welding robotic arm 8, these impurities accumulate on the top of the welding worktable 2, affecting the levelness of the top support. To reduce the impact of welding impurities on welding accuracy, specifically refer to... Figure 7 , Figure 8 and Figure 12 The rotating frame 41 has a sliding drive block 48 on its inner side, and a drive rod 49 is threaded on the inner side of the drive block 48. The drive rod 49 is evenly distributed inside the rotating frame 41 and is rotatably mounted with the rotating frame 41. The drive block 48 has a fixed support plate 42 on its outer side, and the two drive rods 49 located in the horizontal direction are driven to rotate by external force to drive the welding workbench 2 at the end of the support plate 42 away from both sides.

[0039] Specifically, a first rotating ring 412 is rotatably mounted on the side of the shaft hole 411 away from the second rotating ring 52. A gearbox 413 is fixedly mounted on the outside of the first rotating ring 412. A bidirectional drive shaft 414 is fixedly mounted on the drive end of the gearbox 413. The bidirectional drive shaft 414 is coaxially mounted with two driving rods 49 in the horizontal direction. A mating block 410 is fixedly mounted on the end of each driving rod 49 near the bidirectional drive shaft 414. Clamping blocks 415 are symmetrically fixed on both ends of the bidirectional drive shaft 414. A second motor 416 for driving the bidirectional drive shaft 414 to rotate is fixedly mounted on the outside of the gearbox 413. The gearbox 413 is fixedly mounted on the outside of the base 1 through the fixed seat 11, and the gearbox 413 is fixedly connected to the protective cover 46.

[0040] When the welding workbench 2 moves the first workpiece 100 and the second workpiece 200 from the welding station to the unloading station, the rotating frame 41 rotates around the first rotating ring 412, and at the same time, it drives the inner driving rod 49 to rotate from above the bidirectional drive shaft 414 to one side, thereby driving the mating block 410 at the end of the driving rod 49 to be located between the clamping blocks 415. Since the clamping block 415 is fixedly set at the end of the bidirectional drive shaft 414, when the second motor 416 is started, the second motor 416 drives the bidirectional drive shaft 414 at the drive end of the gearbox 413 to rotate, so that the bidirectional drive shaft 414 drives the driving rod 49 to rotate through the clamping block 415 and the mating block 410. This causes the two driving rods 49 located in the horizontal direction to synchronously drive the outer driving block 48 to slide inside the rotating frame 41, and the two move away from each other, away from the welding station in the horizontal direction, to prevent welding impurities generated at the welding station from falling onto the top of the welding workbench 2 at the loading and unloading stations (especially having a greater impact on the welding workbench 2 at the loading station).

[0041] The above design ensures the cleanliness of the welding workbench 2 while also considering the stability of the equipment and the compatibility of the workstations. In other words, if the welding workbench 2 were directly fixed in a large-spacing configuration, it would inevitably increase the length of the rotating frame 41's support arm, increasing the load on the second motor 416 and making the entire machine structure prone to shaking, thus affecting the positioning accuracy of the welding workbench 2.

[0042] Furthermore, to further improve the cleanliness of welding workbench 2, specifically, refer to... Figure 3 and Figure 4A protective plate 12 is symmetrically fixed on one side of the base 1. The two protective plates 12 are inclined downward on the side that is far apart from each other. An air blowing assembly 13 is set below the protective plate 12. A slide rod 14 is fixedly set on the outside of the air blowing assembly 13. The slide rod 14 is slidably connected to the base 1. A third linear member 15 for driving the air blowing assembly 13 to move horizontally is fixedly set on the inside of the base 1. The air blowing assembly 13 is then pushed to move horizontally by the third linear member 15, so that the air blowing assembly 13 generates airflow through the external air supply equipment to clean the welding workbench 2. After cleaning, the welding workbench 2 is moved to the loading station to prepare to receive the workpiece.

[0043] Welding spatter often includes molten metal droplets, which are difficult to clean when they adhere to the working surface. In this application's technical solution, the drive rod 49 and drive block 48 are configured so that when one welding workbench 2 is in the welding position, the other two welding workbench 2s located in the loading and unloading positions are moved away from the welding position, preventing spatter from adhering to the top of the welding workbench and affecting the positioning accuracy of subsequent workpieces. At this time, the welding workbench 2 in the cleaning position also achieves the same effect of preventing spatter from adhering under the protection plate 12. Additionally, welding also generates fumes and dust, which, after floating in the air, will settle on the working surface. These fumes and dust are cleaned by the air blowing assembly 13 described in the above solution, ensuring the cleanliness of the welding workbench 2.

[0044] A movable plate 28 is provided on the top of the support plate 22. The movable plate 28 is driven by an external force to trigger the positioning action of the workpiece positioning assembly 3; see reference. Figure 9 The workpiece positioning assembly 3 includes a first positioning block 31 and a second positioning block 32. The first positioning block 31 is detachably mounted on the top of the support plate 22 via a bottom insert 33. The side of the second positioning block 32 away from the first positioning block 31 is detachably mounted to the moving plate 28 via bolts 34. The tops of both the first positioning block 31 and the second positioning block 32 are provided with limiting grooves 35 that match the first workpiece 100 and the second workpiece 200. Specifically, the inner side of the moving plate 28 is provided with a waist hole 29 for mounting bolts 34. The insert 33 is adapted to the hole structure on the top of the support plate 22. Limiting rods 210 are symmetrically fixed between the side plates 23 on both sides. A sliding plate 211 is slidably mounted on the outer side of the limiting rod 210. The two ends of the sliding plate 211 are fixedly connected to the moving plate 28 via levers 212. Under the drive of the driving assembly 6, the levers 212 drive the moving plate 28 to move along the axial direction of the limiting rod 210.

[0045] Before welding, a workpiece positioning component 3 with a corresponding structure is selected according to the shape of the first workpiece 100 and the second workpiece 200, so that the limiting groove 35 on the top of the first positioning block 31 and the second positioning block 32 fits with the contour of the workpiece (it may not fit completely). When the welding worktable 2 is in the loading station to receive the first workpiece 100, in order to ensure that the first workpiece 100 is placed smoothly inside the limiting groove 35, the limiting distance between the first positioning block 31 and the second positioning block 32 will be larger. When the welding worktable 2 is in the welding station, under the drive of the driving component 6, the second positioning block 32 on the outside of the moving plate 28 can be driven to move closer to the first positioning block 31, so that the second positioning block 32 pushes the first workpiece 100 to fit and clamp with the first positioning block 31, thereby realizing the positioning function of the first workpiece 100.

[0046] Based on this, when the auxiliary robotic arm 7 aligns the second workpiece 200 with the first workpiece 100 using the vision system, it can indirectly align and engage the second workpiece 200 with the first workpiece 100 based on the cooperation between the second workpiece 200 and the limiting groove 35. After the first workpiece 100 and the second workpiece 200 are pre-welded and fixed, the moving plate 28 is driven by the driving component 6 to move the second positioning block 32 away from the first positioning block 31, so that the first positioning block 31 and the second positioning block 32 release the positioning of the workpiece. Then, the auxiliary robotic arm 7 transfers the pre-welded and fixed first workpiece 100 and the second workpiece 200 to the top of the welding workbench 2 according to the specified direction and distance. The welding workbench 2 is used as a support structure to weld the workpieces, so as to ensure that the first workpiece 100 and the second workpiece 200 can be fully welded.

[0047] Specifically, refer to Figure 4 and Figure 11 The drive component 6 includes a second linear member 61 fixedly installed on the outside of the base 1. A U-shaped member 62 is fixedly installed at the drive end of the second linear member 61. A pressure sensor 63 is installed on the side of the U-shaped member 62 away from the first positioning block 31. The U-shaped member 62 is located above the welding workbench 2, and the opening of the U-shaped member 62 faces downward and is corresponding to the toggle block 212. A marking 213 is installed on the side of the support plate 22 near the auxiliary robotic arm 7.

[0048] After the welding workbench 2 is positioned by the welding station positioning component 5, the welding workbench 2 drives the push block 212 to move upward to the inside of the U-shaped part 62. At this time, the second linear component 61 drives the U-shaped part 62 to move, which in turn drives the push block 212 to move horizontally. This causes the push block 212 to drive the second positioning block 32 on the outside of the moving plate 28 to move. When the second positioning block 32 is driven to approach the first positioning block 31 and is in place with the workpiece, the pressure sensor 63 on one side of the U-shaped part 62 can detect the pressure of the U-shaped part 62 on the push block 212, which reflects the clamping force of the second positioning block 32 and the first positioning block 31 on the first workpiece 100. When the pressure value reaches the preset value, it indicates that the positioning of the first workpiece 100 has been completed. At this time, the system can control the operation of the second linear component 61 according to the detection signal of the pressure sensor 63 to achieve automatic positioning.

[0049] Furthermore, when the workpiece on the top of the welding workbench 2 is reset after welding, the welding workbench 2 drives the lever 212 to automatically disengage from the inside of the U-shaped part 62, thereby disconnecting from the drive assembly 6, so that the drive assembly 6 can drive the workpiece positioning assembly 3 on the top of each welding workbench 2 to perform positioning action; and after the welding workbench 2 located at the unloading station unloads the material, the auxiliary robotic arm 7 identifies the position of the lever 212 based on the vision system. The position of the lever 212 is identified by the mark 213, so that the welding workbench 2 ensures that the workpiece positioning assembly 3 is in the preset state before loading the material.

[0050] The first linear component 53, the second linear component 61, and the third linear component 15 mentioned in the above scheme are power components with linear output function, such as pneumatic components, hydraulic components, electric components, or linear guide rails. In actual applications, they can be selected according to specific needs, and no limitation is made here.

[0051] The principle of the welding robot workstation based on laser welding: The first workpiece 100 and the second workpiece 200 to be welded are fed and transported by the loading unit 9. Then, the workpiece is loaded onto the top of the welding worktable 2 by the auxiliary robotic arm 7. The top of the welding worktable 2 is equipped with a first positioning block 31 and a second positioning block 32 in a preset state. In order to ensure that the first workpiece 100 is placed smoothly inside the limiting groove 35, the limiting distance between the first positioning block 31 and the second positioning block 32 will be relatively large. Then, the first motor 47 is started to drive the drive gear 45 to rotate. The drive gear 45 drives the outer toothed ring 44 to rotate synchronously. Since the drive gear 45 only drives the toothed ring 44 to rotate 90° for each rotation, the rotating frame 41 can accurately transport the welding worktable 2 to different operating positions in sequence. At this time, the first motor 47 drives the default port 451 on the outside of the drive gear 45 to rotate to the outside of the toothed ring 44, which can temporarily disengage the meshing with the toothed ring 44.

[0052] Subsequently, the first linear component 53 drives the conical positioning pin 54 to move upward, so that the conical positioning pin 54 and the conical hole 251 at the bottom of the counterweight 25 are coaxially engaged, pushing the bearing column 24 to move upward. When the bearing column 24 slides along the inner side of the sliding sleeve 26, it pushes the welding worktable 2 to move upward. When the welding worktable 2 is away from the top of the sliding sleeve 26, the counterweight 25 is coaxially pressed against the top of the conical positioning pin 54, so that the welding worktable 2 is positioned with the conical positioning pin 54 as the reference. When the welding worktable 2 moves upward to a certain height and completes the positioning, the welding worktable 2 drives the lever 212 to move upward. When the U-shaped component 62 moves to the inside, the second linear component 61 drives the U-shaped component 62 to move, which in turn drives the lever 212 to move horizontally. This causes the lever 212 to move the second positioning block 32 on the outside of the moving plate 28. When the second positioning block 32 moves closer to the first positioning block 31 and is positioned in place, the pressure sensor 63 on one side of the U-shaped component 62 can detect the pressure of the U-shaped component 62 on the lever 212, which reflects the clamping force of the second positioning block 32 and the first positioning block 31 on the first workpiece 100. When the pressure value reaches the preset value, it indicates that the positioning of the first workpiece 100 has been completed.

[0053] Based on the positioning of both the welding workbench 2 and the first workpiece 100, the welding robotic arm 8 performs preliminary welding connection between the first workpiece 100 and the second workpiece 200. After the first workpiece 100 and the second workpiece 200 are pre-welded, the drive component 6 drives the workpiece positioning component 3 to release the limiting effect on the first workpiece 100. The auxiliary robotic arm 7 drives the first workpiece 100 and the second workpiece 200 to move a certain distance along a preset direction, so that the first workpiece 100 and the second workpiece 200 are completely separated from the workpiece positioning component 3 after pre-welding. New welding coordinates are automatically generated according to the movement direction and distance of the workpiece by the auxiliary robotic arm 7. Subsequently, the welding workbench 2 can support the workpiece, and the welding robotic arm 8 can be used to perform full welding of the first workpiece 100 and the second workpiece 200 separately.

[0054] During the welding process, the second motor 416 drives the gearbox 413 to drive the bidirectional drive shaft 414 to rotate. The bidirectional drive shaft 414 drives the drive rod 49 to rotate through the clamping block 415 and the mating block 410. The two drive rods 49 located in the horizontal direction synchronously drive the outer drive block 48 to slide inside the rotating frame 41, and the two move away from each other and away from the welding station in the horizontal direction to prevent welding impurities generated at the welding station from falling onto the top of the welding worktable 2 at the loading and unloading stations. The welding worktable 2 located at the cleaning station (at the lowest position) is pushed horizontally by the third linear component 15 to move the air blowing assembly 13. The air blowing assembly 13 generates airflow through the external air supply equipment to clean the welding worktable 2. After cleaning, the welding worktable 2 is moved to the loading station to prepare to receive the workpiece.

[0055] The above technical solution, by setting the workpiece positioning component 3 on the top of the base 1 to position the first workpiece 100, can effectively avoid welding accuracy errors caused by positional displacement of the workpiece during the welding process, ensuring that the welding mating surfaces of the first workpiece 100 and the second workpiece 200 always maintain an accurate relative position. Simultaneously, the intermittent conveying mechanism of the carrier component 4, through the special transmission design of the drive gear 45 and the gear ring 44, achieves precise switching of the welding workbench 2 between various workstations. Combined with the positioning structure driven by the first linear component 53, the welding workbench 2 can quickly complete dual positioning in both height and horizontal direction before each welding operation, significantly improving the automated continuous operation capability of the workstation. Furthermore, the automatic avoidance function of the drive block 48 during the welding process, driven by the second motor 416 to move the drive rod 49 away from the welding area, not only reduces the risk of welding impurities contaminating the workpieces at the loading and unloading stations, but also creates favorable conditions for the subsequent cleaning operation of the welding workbench 2 by the third linear component 15, allowing the cleaned welding workbench 2 to directly enter the next loading cycle, significantly improving the overall operating efficiency of the workstation and the stability of the workpiece welding quality.

[0056] The foregoing disclosure provides many different embodiments or examples for implementing different structures of this application. To simplify the disclosure, specific examples of components and arrangements are described above. Of course, these are merely examples and are not intended to limit the scope of this application. Furthermore, reference numerals and / or letters may be repeated in different examples; such repetition is for simplification and clarity and does not in itself indicate a relationship between the various embodiments and / or arrangements discussed. In addition, examples of various specific processes and materials are provided in this application, but those skilled in the art will recognize the application of other processes and / or the use of other materials.

[0057] The above embodiments are only used to illustrate the technical solutions of the present invention, and are not intended to limit it. Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features. Such modifications or substitutions will not cause the essence of the corresponding technical solutions to deviate from the protection scope of the technical solutions of the embodiments of the present invention.

Claims

1. A laser welding based welding robot station, characterized in that, The utility model relates to a welding workbench and welding workbench positioning assembly thereof. The utility model discloses a welding workbench and welding workbench positioning assembly thereof. The utility model discloses a welding workbench and welding workbench positioning assembly thereof. The utility model discloses a welding workbench and welding workbench positioning assembly thereof. The utility model discloses a welding workbench and welding workbench positioning assembly thereof.

2. The laser welding based welding robot work station of claim 1, wherein, The utility model discloses a welding workbench and welding workbench positioning assembly thereof. The utility model discloses a welding workbench and welding workbench positioning assembly thereof. The utility model discloses a welding workbench and welding workbench positioning assembly thereof. The utility model discloses a welding workbench and welding workbench positioning assembly thereof. The utility model discloses a welding workbench and welding workbench positioning assembly thereof. The utility model discloses a welding workbench and welding workbench positioning assembly thereof.

3. The laser welding based welding robot station according to claim 2, characterized in that, The utility model discloses a welding workbench and welding workbench positioning assembly thereof. The utility model discloses a welding workbench and welding workbench positioning assembly thereof. The utility model discloses a welding workbench and welding workbench positioning assembly thereof. The utility model discloses a welding workbench and welding workbench positioning assembly thereof. The utility model discloses a welding workbench and welding workbench positioning assembly thereof.

4. The laser welding based welding robot work station of claim 3, wherein, The utility model discloses a welding workbench and welding workbench positioning assembly thereof. The utility model discloses a welding workbench and welding workbench positioning assembly thereof. The utility model discloses a welding workbench and welding workbench positioning assembly thereof. The utility model discloses a welding workbench and welding workbench positioning assembly thereof. The utility model discloses a welding workbench and welding workbench positioning assembly thereof.

5. The laser welding based welding robot work station of claim 2, wherein, The utility model discloses a welding workbench and welding workbench positioning assembly thereof. The utility model discloses a welding workbench and welding workbench positioning assembly thereof. The utility model discloses a welding workbench and welding workbench positioning assembly thereof.

6. The laser welding based welding robot work station of claim 2, wherein, The utility model discloses a welding workbench and welding workbench positioning assembly thereof. The utility model discloses a welding workbench and welding workbench positioning assembly thereof. The utility model discloses a welding workbench and welding workbench positioning assembly thereof.

7. The laser welding based welding robot station according to claim 6, characterized in that, The utility model discloses a welding workbench and welding workbench positioning assembly thereof. The utility model discloses a welding workbench and welding workbench positioning assembly thereof. The utility model discloses a welding workbench and welding workbench positioning assembly thereof. The utility model discloses a welding workbench and welding workbench positioning assembly thereof. The utility model discloses a welding workbench and welding workbench positioning assembly thereof. The utility model discloses a welding workbench and welding workbench positioning assembly thereof. The utility model discloses a welding workbench and welding workbench positioning assembly thereof. The utility model discloses a welding workbench and welding workbench positioning assembly thereof. The utility model discloses a welding workbench and welding workbench positioning assembly thereof. The utility model discloses a welding workbench and welding workbench positioning assembly thereof. The utility model discloses a welding workbench and welding workbench positioning assembly thereof. The utility model discloses a welding workbench and welding workbench positioning assembly thereof. The utility model discloses a welding workbench and welding workbench positioning assembly thereof. The utility model discloses a welding workbench and welding workbench positioning assembly thereof. The utility model discloses a welding workbench and welding workbench positioning assembly thereof. The utility model discloses a welding workbench and welding workbench positioning assembly thereof. The utility model discloses a welding workbench and welding workbench positioning assembly thereof. The utility model discloses a welding workbench and welding workbench positioning assembly thereof. The utility model discloses a welding workbench and welding workbench positioning assembly thereof. 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The laser welding based welding robot work station of claim 3, wherein, The workpiece positioning assembly comprises a first positioning block and a second positioning block; the top of the first positioning block and the top of the second positioning block are provided with a limiting groove matched with a corresponding workpiece; The bearing plate is a perforated plate, and the first positioning block is detachably arranged on the top of the bearing plate through the bottom plug; The top of the bearing plate is provided with a sliding plate, and the second positioning block is detachably connected to one side of the sliding plate.

9. The laser welding based welding robot station according to claim 8, characterized in that, One side of the base is provided with a driving assembly for driving the workpiece positioning assembly to position the workpiece, wherein the driving assembly comprises: A second linear member is arranged on one side of the base; A U-shaped member is connected to the driving end of the second linear member, and the opening of the U-shaped member faces and can cooperate with the moving plate; A pressure sensor is arranged on the side of the U-shaped member away from the first positioning block.

10. The laser welding based welding robot work station of claim 2, wherein, Two protective plates are oppositely arranged on one side of the base, and the sides of the protective plates away from each other are arranged downwardly and obliquely; A blowing assembly is arranged below the protective plate; The inner side of the base is provided with a third linear member, and the third linear member drives the blowing assembly to move through a sliding rod.

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