Automatic welding station

Abstract

The invention provides an automatic welding station. A welding robot is arranged among a plurality of welding workbenches, the welding robot welds to-be-welded parts on the welding workbenches according to a preset track, a carrying robot is arranged on the same side of the welding robot and the welding workbenches, and a plurality of positioning tables and a plurality of material frames are arranged on one side of the carrying robot; the multiple material frames are arranged, at least two of the multiple material frames load different materials, the carrying robot carries the different materials to the corresponding positioning tables for posture positioning, the multiple materials are carried to the welding workbench according to a preset strategy, and the carrying robot is matched with the welding robot to weld the multiple materials. The controller is in communication connection with the welding robot, the carrying robot, the image collector and the welding workbench, and the controller is used for controlling the welding robot, the carrying robot and the welding workbench to be started and stopped and arranging the image collector on the carrying robot.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of intelligent welding, in particular to an automatic welding station. BACKGROUND

[0002] The end nodes of the flexible photovoltaic support are usually welded by artificial welding of the bottom plate and the vertical plate. As the main force component in the photovoltaic support system, the end nodes of the flexible photovoltaic support require full penetration of the weld during welding of the flexible bottom plate and the vertical plate.

[0003] However, when the bottom plate and the vertical plate are welded by artificial welding, the strength of the welded joint is different due to unstable artificial welding operation, which may result in weld failure under strong load, thereby affecting the stability and safety of the entire flexible photovoltaic support. SUMMARY

[0004] Therefore, the embodiments of the present application provide an automatic welding station to solve the problem that the end nodes of the existing flexible photovoltaic support are welded by artificial welding, which is unstable and may result in different strength of the welded joint, thereby causing weld failure under strong load and affecting the stability and safety of the entire flexible photovoltaic support.

[0005] To achieve the above object, the embodiments of the present application provide the following technical solutions:

[0006] An automatic welding station comprises a welding robot, a carrying robot, a controller, an image collector, a plurality of welding workbenches, a plurality of positioning tables and a plurality of material frames.

[0007] The welding robot is arranged between the plurality of welding workbenches, and the welding robot welds the workpiece on the welding workbench according to a preset trajectory, wherein the workpiece is composed of at least two materials.

[0008] The carrying robot is arranged on the same side of the welding robot and the plurality of welding workbenches.

[0009] The plurality of positioning tables and the plurality of material frames are arranged on one side of the carrying robot, wherein the materials loaded in at least two of the plurality of material frames are different.

[0010] The carrying robot carries different materials to the corresponding positioning tables for posture positioning, and carries the plurality of materials to the welding workbenches according to a preset strategy, and cooperates with the welding robot to weld the plurality of materials.

[0011] The controller is in communication connection with the welding robot, the carrying robot, the image collector and the welding workbenches, and is used to control the welding robot, the carrying robot and the welding workbenches to start and stop.

[0012] The image collector is arranged on the carrying robot, and is used for identifying the materials in the material frame and acquiring position information of the materials in the material frame, and sending the identification result and the position information of the materials to the controller, so that the controller controls the carrying robot to grab the materials in the material frame.

[0013] Preferably, the positioning table comprises a support frame, a support plate, a first limiting piece and a second limiting piece.

[0014] The support plate is arranged on the support frame at a first preset angle.

[0015] The first limiting piece and the second limiting piece are arranged on the upper end surface of the support plate, and the first limiting piece and the second limiting piece cooperate to form a positioning position for the materials in a preset posture.

[0016] Preferably, the number of the first limiting piece and the second limiting piece is multiple.

[0017] The multiple first limiting pieces and the multiple second limiting pieces are one-to-one corresponding and cooperating to form multiple positioning positions.

[0018] Preferably, the positioning table further comprises multiple balls.

[0019] The multiple balls are rotatably and uniformly arranged on the upper end surface of the support plate and located between the first limiting piece and the second limiting piece.

[0020] Preferably, the lower end of the first limiting piece is connected with the lower end of the second limiting piece.

[0021] Preferably, the carrying robot comprises a track, a walking body and a mechanical hand.

[0022] The track is arranged on the same side of the multiple welding workbenches.

[0023] The walking body is movably arranged on the track.

[0024] The mechanical hand is arranged on the walking body, and is used for carrying the multiple materials to the corresponding positioning table for posture positioning, then carrying the multiple materials to the welding workbenches according to a preset strategy, and cooperating with the welding robots to weld the multiple materials.

[0025] Preferably, the positioning table is arranged on one side of the material frame which carries the same materials as the corresponding materials of the positioning table.

[0026] Preferably, the multiple material frames at least comprise one material frame for loading the welded welding pieces.

[0027] The carrying robot is further used for carrying the welded welding pieces on the welding workbenches to the material frame for loading the welded welding pieces.

[0028] Preferably, the detection device for detecting the welding seam quality between the multiple materials on the welding workbenches is further comprised.

[0029] Preferably, the detection device is an ultrasonic detector.

[0030] Based on the above-mentioned automatic welding station, the welding robot is arranged between the plurality of welding workbenches, the welding robot welds the workpieces on the welding workbenches according to the preset trajectory, the carrying robot is arranged on the same side of the welding robot and the plurality of welding workbenches, the plurality of positioning tables and the plurality of material frames are arranged on one side of the carrying robot, at least two material frames of the plurality of material frames carry different materials, the carrying robot carries the different materials to the corresponding positioning tables for posture positioning respectively, and carries the plurality of materials to the welding workbenches according to the preset strategy respectively, and cooperates with the welding robot to weld the plurality of materials, the controller is in communication connection with the welding robot, the carrying robot, the image collector and the welding workbenches respectively, the controller is used for controlling the welding robot, the carrying robot and the welding workbenches to start and stop respectively, the image collector is arranged on the carrying robot, the image collector is used for identifying the materials in the material frames and acquiring the position information of the materials in the material frames, and sending the identification result and the position information of the materials to the controller, so that the controller controls the carrying robot to grab the materials in the material frames. Through the above-mentioned automatic welding station, not only the automatic feeding of the materials can be realized by the carrying robot, but also the welding of the plurality of materials can be realized by cooperating with the welding robot. Compared with the existing manual welding method, since the welding robot and the carrying robot move according to the respective preset trajectories, when the welding robot and the carrying robot cooperate to weld the plurality of materials, not only the requirement of full penetration of the weld can be met, but also the weld quality at the welding position of the plurality of materials can be effectively guaranteed. When the welding workpiece is the end node of the flexible photovoltaic support, the materials are the bottom plate and the vertical plate, and the bottom plate and the vertical plate are welded by the above-mentioned automatic welding station, the welding strength and the welding efficiency can be effectively improved, and the stability and the safety of the flexible photovoltaic support can be guaranteed. BRIEF DESCRIPTION OF DRAWINGS

[0031] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the following will briefly introduce the drawings needed to be used in the embodiments or the prior art description. Obviously, the drawings in the following description are only embodiments of the present application, and for those skilled in the art, other drawings can also be obtained without creative labor on the basis of the provided drawings.

[0032] Figure 1 A structural schematic diagram of an automatic welding station provided by the embodiment of the present application;

[0033] Figure 2 Another angle structural schematic diagram of the automatic welding station provided by the embodiment of the present application;

[0034] Figure 3This is a schematic diagram of the structure of the robotic arm provided in an embodiment of the present invention;

[0035] Figure 4 This is a schematic diagram of the positioning stage provided in an embodiment of the present invention;

[0036] Figure 5 This is a schematic diagram of another positioning stage provided in an embodiment of the present invention;

[0037] Figure 6 This is a schematic diagram of another automatic welding station provided in an embodiment of the present invention;

[0038] Figure 7 This is a schematic diagram of the communication connections between various components of an automatic welding station provided in an embodiment of the present invention.

[0039] Among them, there are: welding robot 1, handling robot 2, track 21, walking body 22, manipulator 23, controller 3, image acquisition device 4, welding workbench 5, positioning table 6, support frame 61, support plate 62, first limiting component 63, second limiting component 64, ball bearing 65, material frame 7, truss 8, safety fence 9, and material 10. Detailed Implementation

[0040] 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 embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0041] In this application, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes said element.

[0042] This invention provides an automatic welding station, see [link / reference] Figure 1 and combined Figures 2 to 7 , Figure 1 The diagram shows the structure of an automatic welding station, which includes: a welding robot 1, a handling robot 2, a controller 3, an image acquisition device 4, multiple welding worktables 5, multiple positioning tables 6, and multiple material frames 7.

[0043] Welding robot 1 is set between multiple welding worktables 5. Welding robot 1 welds the workpieces to be welded on the welding worktables 5 according to a preset trajectory. The workpieces to be welded are composed of at least two kinds of materials 10.

[0044] The handling robot 2 is located on the same side as the welding robot 1 and multiple welding worktables 5;

[0045] Multiple positioning platforms 6 and multiple material boxes 7 are all located on one side of the handling robot 2, wherein at least two of the multiple material boxes 7 are loaded with different materials 10;

[0046] The handling robot 2 transports different materials 10 to the corresponding positioning table 6 for posture positioning, and transports multiple materials 10 to the welding worktable 5 according to the preset strategy, and cooperates with the welding robot 1 to weld multiple materials 10.

[0047] The controller 3 is communicatively connected to the welding robot 1, the handling robot 2, the image acquisition device 4, and the welding workbench 5, respectively. The controller 3 is used to control the start and stop of the welding robot 1, the handling robot 2, and the welding workbench 5, respectively.

[0048] Image acquisition device 4 is installed on the handling robot 2. Image acquisition device 4 is used to identify the material 6 in the material box 7 and obtain the position information of the material in the material box 7. The identification result and the position information of the material are sent to the controller 3 so that the controller 3 controls the handling robot 2 to grab the material in the material box 7.

[0049] It should be noted that in the multiple material frames 7 of this application, multiple material frames 7 may contain the same type of material 10 (e.g., 3 material frames 7 are all loaded with material A 10, and 2 material frames 7 are all loaded with material B 10), or multiple material frames 7 may contain multiple different materials 10 (e.g., one material frame 7 is loaded with material A 10, and one material frame 7 is loaded with material B 10).

[0050] It should also be noted that since the workpiece to be welded is composed of multiple materials 10, and the handling robot 2 can only handle one material 10 at a time, the handling robot 2 needs to handle the workpiece according to the preset program. For example, it first handles material A 10 from one material box 7 to the corresponding positioning table 6 for positioning, then handles the positioned material A 10 to the welding worktable 5, then handles material B 10 from another material box 7 to the corresponding positioning table 6 for positioning, then handles the positioned material B 10 to the welding worktable 5, and cooperates with the welding robot 1 to achieve the welding of material A 10 and material B 10.

[0051] This application sets up an image acquisition device 4 and places it in the handling robot 2. When the handling robot 2 needs to handle materials, it can first identify the material 10 in the material box 7 and obtain the position information of the material 10 in the material box 7. The identification result and position information are then sent to the controller 3. The controller 3 controls the handling robot 2 to accurately grab the required material 10 in multiple material boxes 7 according to the identification result and the position information of the material.

[0052] It is worth noting that after the handling robot 2 transports the corresponding material 10 to the corresponding positioning table 6, the material 10 can move to the corresponding target position and maintain the required posture. At this time, the handling robot 2 grabs the material 10 according to the preset trajectory and can transport the material 10 to the welding worktable 5 for welding.

[0053] In this embodiment of the invention, a welding robot 1 is positioned between multiple welding workbenches 5. The welding robot 1 welds the workpieces to be welded on the welding workbenches 5 according to a preset trajectory. A transport robot 2 is positioned on the same side of the welding robot 1 and the multiple welding workbenches 5. Multiple positioning platforms 6 and multiple material frames 7 are all positioned on one side of the transport robot 2, and at least two of the multiple material frames 7 contain different materials 10. The transport robot 2 transports the different materials 10 to the corresponding material 10 platform for posture positioning, and transports the multiple materials 10 to the welding workbenches 5 according to a preset strategy, and cooperates with the welding robot 1 to weld the multiple materials 10. A controller 3 is communicatively connected to the welding robot 1, the transport robot 2, the image acquisition device 4, and the welding workbenches 5. The controller 3 is used to control the start and stop of the welding robot 1, the transport robot 2, and the welding workbenches 5, and to position the image acquisition device 4 on the transport robot 2. The image acquisition device 4 is used to identify the materials 6 in the material frames 7 and obtain the position information of the materials in the material frames 7, and sends the identification results and the position information of the materials to the controller 3, so that the controller 3 controls the transport robot 2 to grab the materials in the material frames 7. The aforementioned automated welding workstation not only enables automatic feeding of materials 10 via the handling robot 2, but also allows for welding of multiple materials 10 in conjunction with the welding robot 1. Compared to existing manual welding methods, this application ensures that both the welding robot 1 and the handling robot 2 operate according to their pre-set trajectories. Therefore, when welding multiple materials 10 are welded together, the requirement for full weld penetration is met, and the weld quality at the welding points of multiple materials 10 is effectively guaranteed. When the welded component is the end node of a flexible photovoltaic support, the materials 10 are the base plate and the upright plate. Welding the base plate and the upright plate using the aforementioned automated welding station can effectively improve the welding strength and welding efficiency, thereby ensuring the stability and safety of the flexible photovoltaic support.

[0054] Specifically, the positioning platform 6 includes: a support frame 61, a support plate 62, a first limiting member 63, and a second limiting member 64;

[0055] The support plate 62 is set at a first preset angle on the support frame 61;

[0056] The first limiting member 63 and the second limiting member 64 are disposed on the upper end surface of the support plate 62. The first limiting member 63 and the second limiting member 64 cooperate to form a positioning position that makes the material 10 present a preset posture.

[0057] It should be noted that the support plate 62 is set at a first preset angle on the support frame 61, and the first limiting member 63 and the second limiting member 64 are set on the upper surface of the support plate 62. The first limiting member 63 and the second limiting member 64 cooperate to form a positioning position for the material 10 to be in a preset posture. After the material 10 is placed on the support plate 62 by the positioning platform 6 disclosed above, the material 10 will slide down under its own gravity. When the material 10 slides to contact the first limiting member 63 and the second limiting member 64, the material 10 reaches the target position and is in the required posture.

[0058] It should also be noted that the opening direction formed by the first limiting member 63 and the second limiting member 64 of this application is the same as the tilt direction of the support plate 62. Therefore, after the handling robot 2 places the material 10 on the support plate 62, the material 10 will slide down under its own gravity. The material 10 will definitely slide to contact the first limiting member 63 and the second limiting member 64. When the material 10 reaches the target position, it will also be in the required posture.

[0059] Preferably, the first limiting member 63 and the second limiting member 64 are limiting blocks or composed of multiple limiting bars.

[0060] It should be noted that the reference Figure 4 and Figure 5 , Figure 4 The first limiting member 63 and the second limiting member 64 are composed of multiple limiting rods, while Figure 5 The first limiting member 63 and the second limiting member 64 at the top are composed of multiple limiting rods. Figure 5 The first limiting member 63 and the second limiting member 64 below are limiting blocks.

[0061] Specifically, there are multiple first limiting members 63 and second limiting members 64;

[0062] Multiple first limiting members 63 and multiple second limiting members 64 correspond one-to-one to form multiple positioning positions.

[0063] It should be noted that by setting the number of first limiting members 63 and second limiting members 64 to multiple, and by forming multiple positioning positions by corresponding the multiple first limiting members 63 with the multiple second limiting members 64, multiple positioning positions can be set on one positioning table 6, thereby enabling one positioning table 6 to perform posture positioning on multiple different types of materials 10. This method can effectively reduce the number of positioning tables 6, thereby saving costs.

[0064] Furthermore, the positioning stage 6 also includes: multiple ball bearings 65;

[0065] Multiple balls 65 are rotatably distributed on the upper surface of the support plate 62 and are located between the first limiting member 63 and the second limiting member 64.

[0066] It should be noted that by setting multiple rotatable balls 65 on the upper surface of the support plate 62, when the handling robot 2 places the material 10 on the support plate 62, the balls 65 can make it easier for the material 10 to slide down the support plate 62, thereby quickly achieving the posture positioning of the material 10.

[0067] Specifically, the lower end of the first limiting member 63 is connected to the lower end of the second limiting member 64.

[0068] It should be noted that the lower end of the first limiting member 63 may or may not be connected to the lower end of the second limiting member 64. However, the distance between the lower end of the first limiting member 63 and the lower end of the second limiting member 64 must be less than the minimum width dimension of the corresponding material 10 in order to restrict the material 10 from detaching.

[0069] Specifically, the handling robot 2 includes: track 21, walking body 22, and robotic arm 23;

[0070] Track 21 is set on the same side of multiple welding worktables 5;

[0071] The walking body 22 is movably mounted on the track 21;

[0072] The robotic arm 23 is mounted on the walking body 22. The robotic arm 23 is used to transport the material 10 to the corresponding material 10 table for posture positioning, and then transport the material 10 to the welding workbench 5 according to the preset strategy, and cooperate with the welding robot 1 to weld the material 10.

[0073] It should be noted that the track 21 is set on the same side of multiple welding worktables 5, and the walking body 22 is movably set on the track 21. The robot arm 23 is set on the walking body 22. Thus, when the robot arm 23 needs to transport multiple materials 10 to the corresponding material 10 table for posture positioning, and transport multiple materials 10 to the welding worktable 5 according to the preset strategy, and cooperate with the welding robot 1 to weld multiple materials 10, the walking body 22 can move along the track 21 to ensure that the robot arm 23 can grab the corresponding materials 10 from the material frame 7 at different positions, effectively improving the grabbing range of the robot arm 23.

[0074] Preferably, the robotic arm 23 is equipped with an electromagnet for adsorbing materials.

[0075] It should be noted that material gripping can be achieved by setting an electromagnet for adsorbing materials on the robotic arm 23, or by setting a gripper, or by setting a negative pressure suction cup. Those skilled in the art can choose according to their needs.

[0076] Specifically, the positioning platform 6 is located on one side of the material frame 7 that is the same as the material 10 that carries the material 10.

[0077] It should be noted that by setting the positioning platform 6 on the same side of the material frame 7 that carries the material 10, after the handling robot 2 picks up the material 10 from the material frame 7, it can quickly place the material 10 on the corresponding positioning platform 6 for posture positioning, which can effectively reduce the handling distance of the handling robot 2 and improve the overall welding efficiency.

[0078] To make it easier to understand, the following example is provided:

[0079] For example, if material A 10 is loaded in frame 1 and material B 10 is loaded in frame 2, positioning platform 6 is used to position material A 10 and positioning platform 6 is used to position material B 10. Positioning platform 6 is set on one side of frame 1 and positioning platform 6 is set on one side of frame 2.

[0080] Specifically, at least one of the multiple material frames 7 includes a weldment for loading multiple materials 10 that are welded together;

[0081] The handling robot 2 is also used to transport the welded parts on the welding workbench 5 to the material frame 7 corresponding to the welded parts.

[0082] It should be noted that by setting multiple material frames 7 to include at least one for loading welded parts of multiple materials 10, the welded parts on the welding workbench 5 can be transported to the material frame 7 corresponding to the welded parts by the handling robot 2, so as to realize the unloading of the welded parts.

[0083] Preferably, the image acquisition device 4 is an AI camera.

[0084] It should be noted that the image acquisition device 4 can be an AI camera, a conventional camera, or a recording device, and those skilled in the art can choose according to their needs.

[0085] It is worth noting that this application can also pre-store the material 10 information in the material box 7 at different locations, so that the handling robot 2 can grab the required material 10 according to the pre-stored material 10 information in the material box 7 at different locations.

[0086] Furthermore, the automated welding station also includes: a detection device (not shown in the figure) for detecting the weld quality between multiple materials 10 on the welding workbench 5.

[0087] It should be noted that by setting up a detection device for detecting the weld quality between multiple materials 10 on the welding workbench 5, the quality of the weld between multiple materials 10 can be further guaranteed.

[0088] Specifically, the testing device is an ultrasonic testing instrument.

[0089] It should be noted that the testing device can be an ultrasonic testing instrument or other testing equipment capable of detecting weld quality (such as a visual inspection instrument, which judges weld quality by capturing weld images). Those skilled in the art can choose according to their needs.

[0090] Preferably, the automated welding station also includes: truss 8 and isolation cloth (not shown in the figure);

[0091] The truss 8 is positioned above the welding robot 1 and the welding workbench 5;

[0092] The isolation cloth is hung on truss 8.

[0093] It should be noted that by setting up a truss 8 above the welding robot 1 and the welding workbench 5, and hanging the isolation cloth on the truss 8, it is possible to effectively prevent the sparks and arc light generated by the welding robot 1 during welding from causing injury to the workers.

[0094] Preferably, the welding workstation also includes: a safety fence 9;

[0095] Welding robot 1, handling robot 2, controller 3, multiple welding worktables 5, multiple positioning tables 6, and multiple material frames 7 are all set inside safety fence 9;

[0096] Safety fence 9 is equipped with an openable safety gate.

[0097] It should be noted that by setting up a safety fence 9 and placing the welding robot 1, the handling robot 2, the controller 3, multiple welding worktables 5, multiple positioning tables 6, and multiple material frames 7 inside the safety fence 9, and by providing an openable safety door to the safety fence 9, the safe production of the welding workstation can be effectively guaranteed.

[0098] Preferably, the welding workstation also includes a transport vehicle (not shown in the figure) for transporting the material frame 7.

[0099] It should be noted that by setting up a transport vehicle for transporting the material frame 7, the material 10 can be continuously transported, enabling the welding robot 1 to work continuously.

[0100] It should also be noted that the transport vehicle is an automated guided vehicle (AGV).

[0101] When the material 10 is transported to the welding workbench 5 by the handling robot 2 of this application, the material can be separated from another material by the required welding distance to ensure that the welding robot 12 can achieve full penetration after welding.

[0102] Preferably, the welding worktable 5 is a 5-axis positioner.

[0103] It should be noted that by setting the welding worktable 5 as a 5-axis positioner, the welding worktable 5 can cooperate with the welding robot 1 when the welding robot 1 is welding the material, so that the welding robot 1 can quickly weld the material.

[0104] Preferably, the welding workbench 5 includes a vertical support, a first drive, a second drive, a horizontal support, and a clamp;

[0105] The horizontal support is rotatably mounted on one side of the vertical support.

[0106] The first driving component is located on the vertical support component;

[0107] The first driving component is used to drive the lateral support to rotate;

[0108] The clamp is rotatably mounted on the transverse support.

[0109] The second driving component is located in the transverse support section and is used to drive the clamp to rotate.

[0110] It should be noted that the horizontal support is rotatably mounted on one side of the vertical support. The first driving member is mounted on the vertical support and drives the horizontal support to rotate (self-rotate). The clamp is rotatably mounted on the horizontal support, and the second driving member is mounted on the horizontal support and drives the clamp to rotate. With the welding workbench 5 disclosed above, when the welding robot 1 welds materials, the first and second driving members cooperate with the welding robot 1 to weld the materials, further improving the welding efficiency and welding quality.

[0111] Preferably, the first driving component and the second driving component are motors.

[0112] It should be noted that the first driving component can be a motor or other power mechanism capable of driving the transverse support to rotate; those skilled in the art can choose according to their needs.

[0113] The second driving component can be a motor or other power mechanism capable of driving the clamp to rotate; those skilled in the art can choose according to their needs.

[0114] The various embodiments in this specification are described in a progressive manner. Similar or identical parts between embodiments can be referred to mutually. Each embodiment focuses on describing the differences from other embodiments. In particular, for system or system embodiments, since they are basically similar to method embodiments, the description is relatively simple, and relevant parts can be referred to the descriptions in the method embodiments. The systems and system embodiments described above are merely illustrative. The units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the modules can be selected to achieve the purpose of this embodiment according to actual needs. Those skilled in the art can understand and implement this without creative effort.

[0115] Those skilled in the art will further recognize that the units and algorithm steps of the various examples described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, computer software, or a combination of both. To clearly illustrate the interchangeability of hardware and software, the components and steps of the various examples have been generally described in terms of functionality in the foregoing description. Whether these functions are implemented in hardware or software depends on the specific application and design constraints of the technical solution. Those skilled in the art can use different methods to implement the described functions for each specific application, but such implementations should not be considered beyond the scope of this invention.

[0116] The above description of the disclosed embodiments enables those skilled in the art to make or use the invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the invention. Therefore, the invention is not to be limited to the embodiments shown herein, but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. An automatic welding station, characterized in that, The welding robot, the carrying robot, the controller, the image collector, a plurality of welding workbenches, a plurality of positioning tables and a plurality of material frames are included. The welding robot is arranged between a plurality of the welding workbenches, and the welding robot welds a workpiece on the welding workbench according to a preset trajectory, wherein the workpiece is composed of at least two materials. The carrying robot is arranged on the same side of the welding robot and a plurality of the welding workbenches. A plurality of the positioning tables and a plurality of the material frames are arranged on one side of the carrying robot, wherein at least two of the material frames load different materials. The carrying robot carries different materials to the corresponding positioning tables for posture positioning, and carries a plurality of materials to the welding workbenches according to a preset strategy, and cooperates with the welding robot to weld a plurality of materials. The controller is in communication connection with the welding robot, the carrying robot, the image collector and the welding workbench, and the controller is used for controlling the welding robot, the carrying robot and the welding workbench to start and stop respectively. The image collector is arranged on the carrying robot, and the image collector is used for identifying the materials in the material frame and acquiring the position information of the materials in the material frame, and sending the identification result and the position information of the materials to the controller, so that the controller controls the carrying robot to grab the materials in the material frame. The positioning table includes a support frame, a support plate, a first limiting piece and a second limiting piece.

2. The automatic welding station according to claim 1, characterized in that, The support plate is arranged on the support frame at a first preset angle. The first limiting piece and the second limiting piece are arranged on the upper end surface of the support plate, and the first limiting piece and the second limiting piece cooperate to form a positioning position for the materials in a preset posture. The number of the first limiting piece and the second limiting piece is a plurality.

3. The automatic welding station according to claim 2, characterized in that, A plurality of the first limiting pieces and a plurality of the second limiting pieces correspond to each other to form a plurality of the positioning positions. The positioning table further includes a plurality of ball bearings.

4. The automatic welding station of claim 2, wherein, A plurality of ball bearings are rotatably arranged on the upper end surface of the support plate and located between the first limiting piece and the second limiting piece. The lower end of the first limiting piece is connected with the lower end of the second limiting piece.

5. The automatic welding station of claim 2, wherein, The carrying robot includes a track, a walking body and a mechanical hand.

6. The automatic welding station of claim 1, wherein, The track is arranged on the same side of a plurality of the welding workbenches. The walking body is movably arranged on the track. The mechanical hand is arranged on the walking body, and the mechanical hand is used for carrying a plurality of materials to the corresponding positioning tables for posture positioning, and then carrying a plurality of materials to the welding workbenches according to a preset strategy, and cooperating with the welding robot to weld a plurality of materials. The positioning table is arranged on one side of the material frame corresponding to the material carried by the positioning table.

7. The automatic welding station of claim 1, wherein, A plurality of the material frames include at least one material frame for loading a welded workpiece.

8. The automatic welding station of claim 1, wherein, The carrying robot is also used for carrying the welded workpiece on the welding workbench to the material frame corresponding to the welded workpiece. Further included 9. The automatic welding station of claim 1, wherein, ​ A detection device for detecting the quality of welds between a plurality of workpieces on a welding table.

10. The automatic welding station according to claim 9, characterized in that, The detection device is an ultrasonic detector.

Images