Automatic feeding robot and automatic feeding method for welding production line

Abstract

The application discloses a kind of automatic feeding mechanical hand and automatic feeding method of welding production line, main control connection component is liftable and rotatably connected to intelligent production line mechanical arm;Reversing component is fixedly connected to main control connection component, and can drive stage telescopic component whole rotation reversing;Stage telescopic component is rotatably connected to reversing component, chuck component is fixedly connected to stage telescopic component, and is driven by main control connection component, reversing component, stage telescopic component to complete vertical direction's lifting and placing the action of welding piece, and rotates to horizontal direction to complete stage and places the action of product of welding completion;It can adapt to the demand of modern production line continuous intelligent control, complete camera protective shell support welding process in material taking, feeding, receiving, feeding intelligent operation, and can be applied to the welding production line use requirement of various light shell products, and good universality.

Description

Technical Field

[0001] This invention belongs to the technical field of automatic welding production lines, specifically relating to an automatic material handling robot and an automatic material handling method for a welding production line. Background Technology

[0002] Components requiring welding in automated welding production lines are typically slotted boxes with hollow internal cavities, such as protective housing brackets providing positioning support for cameras in intelligent devices. These slotted boxes are generally products made from sheet metal that has been punched, sheared, bent, and then welded together, like the thin U-shaped slotted boxes used in camera protective housing brackets. Traditional welding processes involve manual loading and unloading, with the product then manually removed and placed on a transfer platform after welding. This manual operation poses safety hazards, is time-consuming and labor-intensive, and cannot meet the continuous intelligent control requirements of modern production lines. Furthermore, before welding, the joints between the side plates of the slotted box have gaps, making it susceptible to deformation and damage from vibration, compression, and collisions. Therefore, conventional automatic loading and conveying methods such as vibratory feeders and conveyor belts are unsuitable for the automatic loading of slotted boxes. There is a need for a versatile automated material handling robot that can meet the requirements of continuous intelligent control in modern production lines, automating operations such as material handling, loading, receiving, and feeding in the welding process of slotted boxes. Summary of the Invention

[0003] In order to solve the above-mentioned problems in the existing technology, the present invention aims to provide an automatic material handling robot and an automatic material handling method for a welding production line, which can meet the needs of continuous intelligent control of modern production lines, complete the intelligent operation of material handling, feeding, receiving and conveying in the welding process of slotted box parts, and has good versatility.

[0004] The technical solution adopted in this invention is as follows:

[0005] The first technical solution provides an automatic material handling robot for a welding production line, including a main control connection component, a reversing component, a progressive telescopic component, and a suction cup component.

[0006] The main control connection component can be lifted and rotated to connect to the robotic arm of the intelligent production line;

[0007] The reversing component is fixedly connected to the main control connection component and can drive the tiered telescopic component to rotate and reverse as a whole;

[0008] The progressive telescopic assembly is rotatably connected to the reversing assembly, and the progressive telescopic assembly includes at least two stages of telescopic mechanism;

[0009] The suction cup assembly is fixedly connected to the progressive telescopic assembly and can be driven by the main control connection assembly, the reversing assembly, and the progressive telescopic assembly to complete the vertical lifting and placing of welding parts, as well as the rotation to the horizontal direction to complete the progressive picking and placing of welding parts.

[0010] In some embodiments, the main control connection component includes a lifting spindle and a main support base, and the main control connection component is rotatably and vertically connected to the intelligent production line robotic arm via the lifting spindle.

[0011] The main support base includes a support top plate and a support cantilever. The main support base is fixedly connected to the bottom end of the lifting main shaft through the support top plate. The reversing assembly is fixedly connected to the support cantilever.

[0012] In some embodiments, the reversing assembly includes a rotary cylinder and a limiting mechanism;

[0013] The rotary cylinder is fixedly mounted on the main control connection assembly;

[0014] The limiting mechanism includes a vertical limiting unit and a horizontal limiting unit; the vertical limiting unit and the horizontal limiting unit are used to limit the rotation angle of the rotary cylinder.

[0015] In some embodiments, the progressive telescopic assembly includes a rotating seat, a primary telescopic mechanism, and a secondary telescopic mechanism. The rear side of the rotating seat is fixedly connected to the reversing assembly, the primary telescopic mechanism is disposed on the front side of the rotating seat, and the secondary telescopic mechanism is connected to the telescopic end of the primary telescopic mechanism.

[0016] The suction cup assembly includes a primary suction cup assembly and a secondary suction cup assembly; the primary suction cup assembly is fixedly connected to the telescopic end of the primary telescopic mechanism; the secondary suction cup assembly is fixedly connected to the telescopic end of the secondary telescopic mechanism.

[0017] In some embodiments, the upper section of the rotary seat is a semi-circular plate section adapted to the rotating flange of the rotary cylinder of the reversing assembly, and the back side of the upper section of the rotary seat is fixedly connected to the rotating flange of the rotary cylinder.

[0018] The primary telescopic mechanism includes a primary slide cylinder, the back of which is fixedly connected to the front side of the rotating seat; a primary mounting seat is fixedly connected to the primary slide of the primary slide cylinder, and the primary suction cup assembly is fixedly disposed below the front end of the primary mounting seat.

[0019] The secondary telescopic mechanism includes a secondary slide cylinder, the back of which is fixedly connected to the front side of the primary slide cylinder; a secondary mounting seat is fixedly connected to the secondary slide of the secondary slide cylinder, the lower end of which passes through the primary mounting seat and extends to the bottom of the primary mounting seat; the secondary suction cup assembly is fixedly disposed below the secondary mounting seat.

[0020] In some embodiments, the structure of the primary suction cup assembly is the same as that of the secondary suction cup assembly;

[0021] The primary suction cup assembly includes a flexible suction nozzle and a rigid limiting member. The limiting member is provided with a suction nozzle receiving cavity and a suction nozzle mounting plate. The suction nozzle is received and disposed in the suction nozzle receiving cavity and is fixedly connected to the suction nozzle connecting rod through the suction nozzle mounting plate.

[0022] Both ends of the limiting member are connected to the primary mounting base via elastic clamping mechanisms.

[0023] In some embodiments, the primary mounting base is an inverted L-shaped structure composed of a primary fixing plate and a primary frame base; the primary mounting base is fixedly connected to the front side of the rotating base via the primary fixing plate; the primary suction cup assembly is fixedly connected to the lower front end of the primary frame base.

[0024] The secondary mounting base is an L-shaped structure composed of a secondary fixing plate and a secondary base; the secondary mounting base is fixedly connected to the primary slide of the primary slide cylinder through the secondary fixing plate; the secondary suction cup assembly is fixedly connected to the lower part of the secondary base.

[0025] In some embodiments, the support cantilever is fixedly connected to a main support seat forming an inverted L-shape below one end of the support top plate, and the reversing assembly is fixedly connected to the front side of the support cantilever;

[0026] A counterweight is provided below the other end of the supporting top plate, and the other end of the supporting top plate is fixedly connected to the lower end of the lifting main shaft by a support.

[0027] An electromagnetic valve is provided above the center of the top support plate. The electromagnetic valve is used to control the material picking and placing actions of the suction cup assembly.

[0028] A throttle valve is provided on the side of the support cantilever, and the throttle valve is used to control the material picking and placing speed of the suction cup assembly.

[0029] An auxiliary support plate is also provided between the front side of the supporting cantilever and the bottom surface of the supporting top plate.

[0030] The second technical solution provides an automatic material handling and feeding method for a welding production line, using the aforementioned automatic material handling and feeding robot for the welding production line, including the following steps:

[0031] S01, set the reference coordinate system, with the Y-axis direction (longitudinal) being the direction of the conveyor belt from the production line to the finished product, the X-axis direction (horizontal) being the direction of the material to be welded from the conveyor belt to the welding station, and the vertical direction being the Z-axis direction.

[0032] The robotic arm is positioned along the Y-axis on the production line near the outer end of the raw material tray close to the conveyor belt; the parts to be welded are arranged in the raw material tray with their bottom surfaces facing upwards;

[0033] S02, the robotic arm drives the robotic hand to rotate and move above the raw material tray via the main control connection component;

[0034] S03, the robotic arm descends to the bottom of the suction cup assembly and contacts the part to be welded, and picks up the part to be welded through the suction cup assembly;

[0035] S04, the robot arm rises, and rotates clockwise, shifting the robot arm to a position on the same Y-axis as the welding machine station; at the same time, the robot arm also rotates 90° clockwise;

[0036] S05, the robot arm rotates 90° clockwise again to adjust the orientation of the workpiece to be welded to match the welding station clamp of the welding machine;

[0037] S06, the reversing component drives the tiered telescopic component to rotate 90° clockwise, so that the telescopic direction of the tiered telescopic component rotates to the horizontal Y-axis direction;

[0038] S07, the robotic arm descends again, and the progressive telescopic component drives the suction cup component to slowly extend forward to feed the welding machine;

[0039] S08, the progressive telescopic component retracts rapidly, and the robotic arm rises to wait for the welding machine to weld;

[0040] S09, the progressive telescopic component slowly extends forward to receive the product that has been welded by the welding machine;

[0041] S10, the progressive telescopic assembly retracts rapidly;

[0042] S11, the robotic arm rises;

[0043] S12, the commutation component drives the progressive telescopic component to rotate 90° counterclockwise;

[0044] S13, the robotic arm rotates counterclockwise to retract, and at the same time the robotic hand also rotates counterclockwise 180°.

[0045] S14, the robotic arm drives the robotic hand to rotate and move above the transfer tray;

[0046] S15, the robotic arm descends, the suction cup assembly releases its suction force and loosens, and the material is placed into the transfer tray;

[0047] S16, repeat steps S02 to S15.

[0048] The third technical solution provides another automatic material feeding method for a welding production line, which, based on the second technical solution mentioned above, also includes the following:

[0049] In step S03, the primary suction cup assembly of the suction cup assembly picks up the workpiece to be welded.

[0050] In step S06, the secondary telescopic component of the progressive telescopic assembly is aligned with the welding station clamping head of the welding machine.

[0051] In step S07, after the robotic arm drives the robotic hand to descend again, it moves forward to a position close to the welding machine clamping head. The secondary telescopic component drives the secondary suction cup component to slowly extend forward to pick up the product that has been welded on the welding machine. The secondary telescopic component then retracts.

[0052] The robotic arm drives the robotic hand to move backward and then to the welding station clamping head of the welding machine aligned with the first-level telescopic component, and then moves forward; the first-level telescopic component drives the first-level suction cup component to slowly extend forward to load the material onto the welding machine.

[0053] In step S08, the progressive telescopic component rapidly retracts, and the process proceeds directly to step S12.

[0054] The beneficial effects of this invention are as follows:

[0055] An automatic material handling robot and method for a welding production line are disclosed. A main control connection component is vertically and rotatably connected to the intelligent production line robot arm. A reversing component is fixedly connected to the main control connection component and can drive the progressive telescopic component to rotate and reverse direction. The progressive telescopic component is rotatably connected to the reversing component, and a suction cup component is fixedly connected to the progressive telescopic component. Driven by the main control connection component, the reversing component, and the progressive telescopic component, the robot arm performs vertical lifting and placing of welded parts, as well as rotating to a horizontal position to perform progressive placing of welded parts. This system can adapt to the needs of continuous intelligent control in modern production lines, completing intelligent operations of material handling, loading, receiving, and feeding in the welding process of camera protective shell brackets. It is also suitable for welding production lines of various lightweight shell products, exhibiting good versatility. The robot arm-driven robot arm is convenient and quick to operate, has a high safety factor, is stable and reliable, and has high production efficiency. Attached Figure Description

[0056] Figure 1 This is a three-dimensional structural diagram of the intelligent camera protective shell bracket product to which the automatic material handling robot of the welding production line of Embodiment 1 of the present invention is applicable.

[0057] Figure 2 This is a three-dimensional structural schematic diagram of the automatic material handling robot in the welding production line according to Embodiment 1 of the present invention;

[0058] Figure 3 This is a second-view three-dimensional structural diagram of the automatic material handling robot of the welding production line according to Embodiment 1 of the present invention;

[0059] Figure 4 This is a schematic diagram of the three-dimensional structure of the automatic material handling robot in the welding production line according to Embodiment 1 of the present invention after dispersion from a third-view perspective.

[0060] Figure 5 This is a four-dimensional structural diagram of the automatic material handling robot of the welding production line according to Embodiment 1 of the present invention, after being exploded from a fourth perspective.

[0061] Figure 6 This is a three-dimensional structural diagram of the automatic material handling robot of the welding production line according to Embodiment 1 of the present invention, after being exploded from the fifth perspective.

[0062] Figure 7 This is a schematic diagram of the planar structure of the automatic material handling robot in the welding production line according to Embodiment 1 of the present invention;

[0063] Figure 8 yes Figure 7 Enlarged schematic diagram of the rear view structure;

[0064] Figure 9 yes Figure 7 An enlarged schematic diagram of the structure viewed from below;

[0065] Figures 10-11 This is a three-dimensional structural diagram of the suction cup assembly of the automatic material handling robot in the welding production line according to Embodiment 1 of the present invention after disassembly.

[0066] Figure 12 A schematic diagram of the layout of the automatic material handling robot in the welding production line according to Embodiment 1 of the present invention. Detailed Implementation

[0067] 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. All other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0068] The terms "first," "second," and "third" used in this application are for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number or order of the indicated technical features. All directional indications (such as up, down, left, right, front, back, etc.) in the embodiments of this application are only used to explain the relative positional relationship or movement of components in a specific posture (as shown in the accompanying drawings). It should be noted that when a component is said to be "fixed to" another component, it can be directly on the other component or there may be an intermediate component. When a component is considered to be "connected" to another component, it can be directly connected to the other component, or there may be one or more intermediate components present simultaneously. The terms "vertical," "horizontal," "left," "right," and similar expressions used herein are for illustrative purposes only and do not represent the only possible implementation.

[0069] like Figures 1-12 As shown, this invention aims to provide an automatic material handling robot and method for a welding production line. It analyzes the structural characteristics of slotted box components and traditional welding processes and existing welding methods. The analysis reveals that slotted box components are generally products made by punching, shearing, bending, and then welding metal sheets. Traditional welding processes involve manual material loading and unloading after welding, placing the product onto a transfer platform. This manual operation presents several risks, is time-consuming and labor-intensive, and cannot meet the demands of continuous intelligent control in modern intelligent production lines.

[0070] Manual operation is slow and inefficient, and cannot match the cycle time of high-speed welding equipment, resulting in limited overall production capacity of the production line;

[0071] Manual placement of workpieces by operators can easily lead to positional deviations, affecting welding quality and increasing the defect rate.

[0072] Workers who work near the welding station for extended periods are susceptible to injuries from arc light, high temperatures, and flying welding slag.

[0073] The force and position of manual operation are random, making it difficult to guarantee that the welding position of each workpiece is completely consistent.

[0074] Camera protective housing brackets and similar slotted components are thin and lightweight, and before welding, there are gaps at the joints of the side plates, making them susceptible to deformation and damage from vibration, compression, and collisions. Therefore, conventional automatic feeding and conveying methods such as vibratory feeders and conveyor belts are not suitable for the automatic feeding of slotted components. There is a need for a versatile automatic feeding robot that can meet the continuous intelligent control requirements of modern intelligent production lines, performing intelligent operations such as picking up, loading, receiving, and feeding in the welding process of slotted components.

[0075] The overall technical solution first conceives of an automatic material handling robot structure for a welding production line. The main structure of the robot consists of a main control connection component 2, a reversing component 3, a progressive telescopic component 4, and a suction cup component 5, arranged sequentially. The main control connection component 2 is vertically and rotatably connected to the robot arm of the intelligent production line. The production line control center controls the coordinated movement of each component via the robot arm and the main control connection component. The reversing component 3 is fixedly connected to the main control connection component 2, and the progressive telescopic component 4 is rotatably connected to the reversing component 3. The reversing component 3 drives the progressive telescopic component 4 to rotate and change direction. The progressive telescopic component 4 consists of at least two telescopic mechanisms, with the second-level telescopic mechanism connected to the telescopic end of the first-level telescopic mechanism, achieving progressive telescopic movement with high control precision. The suction cup component is fixedly connected to the telescopic end of the second-level telescopic mechanism, adapting to various telescopic distance requirements. It can perform telescopic picking up and placing of welded slotted box parts and feeding of slotted box parts to the welding machine for welding; the suction cup assembly 5 is fixedly connected to the progressive telescopic assembly 4. The production line robotic arm control center drives the suction cup assembly 5 through the main control connection assembly 2, the reversing assembly 3, and the progressive telescopic assembly 4 to complete the vertical lifting and placing of slotted box parts to be welded, and to rotate to the horizontal direction to complete the progressive picking and placing of welded products.

[0076] The second technical solution conceives an automatic material handling robot structure for the welding production line designed in the first technical solution above. It implements the operation process of adsorbing and grabbing the slot box parts to be welded from the raw material tray, rotating and moving them to feed the welding machine, receiving the welded slot box parts and rotating and moving them to place them on the transfer tray. A further optimized third technical solution is also conceived as an alternative to the second technical solution.

[0077] The robotic arm suction cup assembly of this application can adopt a single suction cup scheme. Each time, a slot box part to be welded is picked up from the raw material tray and moved to the welding station by the robotic arm to feed the welding machine. After the welding is completed, the welded slot box part is picked up again, moved and placed on the transfer tray. After the material picking, welding and feeding process of the previous welding part is completed, the material picking, welding and feeding process of the next welding part is executed. A single cycle of material picking, welding and feeding process is adopted.

[0078] The third technical solution, based on the second technical solution, addresses the issue that the welding process typically requires approximately twenty seconds of continuous welding. The single-cycle material feeding and welding process is static during the waiting period, preventing other actions and resulting in a long waiting time and room for efficiency improvement. Therefore, the third technical solution proposes a dual-suction cup assembly 5, consisting of a primary suction cup assembly 51 and a secondary suction cup assembly 52. ​​These assemblies can be connected to the extension ends of the primary and secondary telescopic mechanisms, respectively. The production line's robotic arm control center coordinates the control of the primary and secondary telescopic mechanisms to both assemble the primary and secondary suction cup assemblies 51 and 52. The primary suction cup assembly 51 or 52 picks up a slotted box component to be welded from the raw material tray. The robotic arm then rotates and moves the component to the welding station, where it is first processed by the corresponding... The secondary suction cup assembly 52 or the primary suction cup assembly 51 receives the slotted box component that has been fed to the welding machine and completed welding during the previous cycle, thus completing the receiving and picking up of the welding machine. Then, the robotic arm drives the robotic hand to move and load the slotted box component to be welded, held by the primary suction cup assembly 51 or the secondary suction cup assembly 52, onto the welding jaws of the welding machine, completing the loading of the welding machine. Finally, the robotic arm drives the robotic hand to rotate and move, moving and placing the welded slotted box component onto the transfer tray. In other words, one cycle completes the receiving, picking up, moving, and placing of the previously welded slotted box component onto the transfer tray, and the adsorption, picking up, and moving of the next component to be welded. During this process, the welding machine simultaneously completes the welding process of the next slotted box component. During the cyclical execution, there is no need to wait for the welding machine to complete the welding process, and the production efficiency can be increased by nearly double compared to the first technical solution. This application does not involve the specific structural features of the suction cup assembly; in actual implementation, it can be adapted and set according to the suction cup assembly of a conventional robotic arm.

[0079] Example 1:

[0080] Example 1: An automatic feeding robot structure for a camera protective housing bracket welding production line for smart devices is implemented according to the first technical solution of the planned technical scheme. The product welded by the welding machine is a camera protective housing bracket for smart devices, such as... Figure 1 As shown, the camera protective case bracket 100 is a U-shaped box structure with an open top and one end, consisting of two side plates 101, one end plate 102, one bent small plate 103, and one bottom plate 104. The two side plates, one end plate, one bent small plate, and one bottom plate are integral structures formed by punching, shearing, and bending metal sheets. After bending, the adjacent splicing gaps between the two side plates, one end plate, and one bent small plate need to be welded, such as... Figure 1 The area indicated by the medium-thick line.

[0081] The specific structural technical solution of the automatic material handling robot in the welding production line for the camera protective shell bracket of the smart device in Embodiment 1 is as follows:

[0082] like Figures 1-12 As shown, the main structure of the main control connection component 2 consists of a lifting spindle 1 and a main support base 21. The main control connection component 2 is connected to the intelligent production line robotic arm via the lifting spindle 1 in a lifting and rotatable manner. In this example, the robotic arm can adopt a conventional robotic arm structure, such as the ESTUN ER6-1450-H arc welding robot, etc. The specific selection and setting can be adapted according to the requirements of the production line and the main control center. In this example, the spindle 1 is directly a screw, and the main control connection component 2 is connected to the drive end of the intelligent production line robotic arm in a lifting and rotatable manner via the screw.

[0083] The detailed structural features of the main support base 21 are as follows: The main support base 21 is composed of a support top plate 211 and a support cantilever 212. The main support base 21 is fixedly connected to the bottom end of the lifting main shaft 1 through the support top plate 211. The support cantilever 212 is fixedly connected to the bottom of one end of the support top plate 211 to form an inverted L-shaped main support base 21. A counterweight 213 is set below the other end of the support top plate 211 to ensure balanced and stable mechanical support of the structure. It is also fixedly connected to the lower end of the lifting main shaft 1 above the other end of the support top plate 211 through a support 214 for convenient connection and operation. An auxiliary support plate 215 with a corbel structure is also set between the front side of the support cantilever 212 and the bottom surface of the support top plate 211 to ensure stable and reliable mechanical support strength of the mechanism.

[0084] The main structure of the reversing assembly 3 consists of a rotary cylinder 30 and a limiting mechanism. The rotary cylinder is fixedly connected to the front side of the support cantilever 212, and a vertical limiting unit 31 and a horizontal limiting unit 32 are respectively provided on both sides of the support cantilever 212. The rotation angle of the rotary cylinder can be limited by the vertical and horizontal limiting units. The structure is simple and compact, easy to operate, and has low component cost. In this example, the rotary cylinder can be an MSQB rotary cylinder (slewing cylinder).

[0085] The detailed structural features of the progressive telescopic assembly 4 are as follows: the main structure is composed of a rotating seat 43, a first-stage telescopic mechanism 41 and a second-stage telescopic mechanism 42.

[0086] The upper section of the rotary seat 43 is a semi-circular plate section that is adapted to the rotating flange of the rotary cylinder of the reversing assembly 3. The progressive telescopic assembly 4 is fixedly connected to the rotating flange of the rotary cylinder through the rear side, i.e. the back side, of the upper section of the rotary seat 43 to achieve the connection with the reversing assembly 3.

[0087] Specifically, the main structure of the primary telescopic mechanism 41 is a primary slide cylinder 411, the back of which is fixedly connected to the front side of the rotating seat 43; and a primary mounting base 412 is fixedly connected to the primary slide of the primary slide cylinder 411, with the primary suction cup assembly 51 fixedly mounted to the front end of the primary mounting base 412. Further, the primary mounting base 412 adopts an inverted L-shaped structure composed of a primary fixing plate 4121, a primary frame base 4122, and corner connectors 4123; the primary mounting base 412 is fixedly connected to the front side of the rotating seat 43 via the primary fixing plate 4121, and the primary suction cup assembly 51 is fixedly connected to the lower front end of the primary frame base 4122.

[0088] The main structure of the secondary telescopic mechanism 42 is a secondary slide cylinder 421, the back of which is fixedly connected to the front side of the primary slide cylinder 411. A secondary mounting base 422 is also fixedly installed on the secondary slide of the secondary slide cylinder 421. The lower end of the secondary mounting base 422 passes through the primary mounting base 412 and extends to the bottom of the primary mounting base 412, connecting to the secondary suction cup assembly 52; thus, the secondary suction cup assembly 52 is fixedly installed below the secondary mounting base 422. Furthermore, the secondary mounting base 422 is also an L-shaped structure composed of a secondary fixing plate 4221 and a secondary base 4222; the secondary mounting base 422 is fixedly connected to the primary slide of the primary slide cylinder 411 via the secondary fixing plate 4221; the secondary suction cup assembly 52 is fixedly installed below the secondary base 4222. When the primary slide block slides vertically up and down along the primary slide cylinder, it drives the secondary slide cylinder to slide vertically up and down synchronously. At the same time, the secondary slide block of the secondary slide cylinder can also slide vertically up and down further, driving the secondary suction cup assembly to achieve progressive extension and retraction.

[0089] Specifically, the structure of the primary suction cup assembly 51 is exactly the same as that of the secondary suction cup assembly 52. ​​The specific structural features of each suction cup assembly are as follows:

[0090] The main structure of the primary suction cup assembly 51 consists of a flexible suction nozzle 511 and a rigid limiting member 512. The limiting member 512 has a suction nozzle receiving cavity and a suction nozzle mounting plate to accommodate the suction nozzle. The suction nozzle 511 is housed within the suction nozzle receiving cavity and is fixedly connected to a suction nozzle connecting rod 515 via the suction nozzle mounting plate. The suction nozzle connecting rod is connected via an air passage to pneumatic control components such as a vacuum generator, solenoid valve, and air source to provide negative pressure suction force to the suction nozzle. Both ends of the limiting member 512 are connected to the primary frame 4122 of the primary mounting base 412 via an elastic clamping mechanism. Specifically, two guide holes 4128 are provided through the front end of the primary frame 4122 near both sides, and a U-shaped groove is provided in the middle of the front end of the primary frame 4122, providing installation space for the suction nozzle connecting rod 515. The elastic clamping mechanism consists of an upper pressure plate 4125, a guide post 4126, and a compression spring 4127. The upper pressure plate 4125 is fixed... The upper pressure plate 4125 is fixedly connected to the upper frame 4122 above the front end of the primary mounting base 4122. A groove is also provided in the middle of the upper pressure plate 4125 to avoid obstructing the installation and connection space of the nozzle connecting rod 515. Through holes are also provided at both ends of the upper pressure plate 4125 and the limiting member 512, corresponding to the guide holes 4128. The limiting member 512 is connected to the upper pressure plate 4125 via guide posts 4126. A compression spring limiting sleeve is fitted between the top surface of the limiting member 512 and the bottom surface of the primary frame 4122. Because the base plate of the camera protective case bracket has a square through hole, during implementation, the nozzle receiving cavity of the limiting member is positioned closer to one end to avoid obstructing the square through hole on the base plate of the camera protective case bracket. This prevents the square through hole from affecting the nozzle's adsorption effect and ensures that the nozzle can stably and reliably adsorb the camera protective case bracket.

[0091] The suction nozzle is made of conventional flexible silicone material. The height of the suction nozzle is slightly greater than the height of the suction nozzle cavity, so that the lower end of the suction nozzle extends slightly below the limiting component. When the suction nozzle sucks the bottom surface of the camera protective case bracket through negative pressure, the negative pressure suction force will also exert a certain squeezing effect on the suction nozzle, causing the suction nozzle to elastically contract. When the suction nozzle contracts to be flush with the bottom surface of the limiting component, the bottom surface of the limiting component will also press against the camera protective case bracket. The camera protective case bracket will also exert a squeezing and pushing force on the limiting component. The elastic clamping mechanism can buffer the rigid impact force between the camera protective case bracket and the limiting component, assist in clamping the camera protective case bracket, and assist the suction nozzle in releasing the camera protective case bracket.

[0092] The structure of the secondary suction cup assembly is the same as that of the primary suction cup assembly. The difference is that the secondary suction cup assembly uses a secondary base 4222 instead of the primary frame 4122. The two ends of the limiting member 512 of the secondary suction cup assembly are connected to the secondary base 4222 of the secondary mounting base 422 through elastic clamping mechanisms.

[0093] In this example, the primary slide cylinder can be selected from the Airtac HLQ series dual-axis precision slide cylinder (e.g., HLQ16×50SA), which has a wider structure, high-precision guidance and stable load capacity, and serves as the main drive for the welding robot in this embodiment; the secondary slide cylinder can be selected from the Airtac HLH series (compact) dual-axis slide cylinder (e.g., HLH10×40), which has a compact structure and only needs to drive the secondary suction cup assembly separately.

[0094] A solenoid valve 6 is installed above the center of the support top plate 211, which controls the material handling actions of all suction cup components. A throttle valve 7 is also installed on the side of the support cantilever 212, which controls the material handling speed of all suction cup components. This application does not involve the specific structural features of the suction cup components; in actual implementation, they can be adapted and set according to the suction cup components of conventional robotic arms.

[0095] like Figure 12 As shown, a raw material tray 400 for loading unwelded smart camera protective shell bracket parts to be welded and a transfer tray 600 for loading welded smart camera protective shell bracket products are sequentially arranged on the conveyor belt along the horizontal Y-axis direction; the position of the robotic arm 300 is also arranged along the horizontal Y-axis direction on the production line near the outer end of the raw material tray on the conveyor belt; the axial direction of the welding machine 500 is arranged along the horizontal Y-axis direction.

[0096] The smart camera protective case brackets are arranged with their bottom surfaces facing upwards in the raw material tray 400. Each smart camera protective case bracket is positioned with its length along the Y-axis and its width along the X-axis, with its opening facing downwards and upside down in the raw material tray. This allows the suction cup assembly to pick up the outer bottom surface of the smart camera protective case bracket through the suction nozzle, thereby picking up the part to be welded from the smart camera protective case bracket.

[0097] Example 2:

[0098] Example 2 provides a relatively simple automatic feeding method for a camera protective shell bracket welding production line for smart devices, based on the second technical solution of the planned concept. It utilizes the automatic feeding robot for the camera protective shell bracket welding production line for smart devices provided in Example 1. The specific operation steps are as follows:

[0099] S01, set the reference coordinate system, with the horizontal direction of the conveyor belt that transports the workpiece to be welded to the finished product as the Y-axis direction, which is the longitudinal direction; the horizontal direction of the workpiece to be welded from the conveyor belt to the welding station as the X-axis direction, which is the transverse direction; and the vertical direction as the Z-axis direction.

[0100] Along the horizontal Y-axis direction on the conveyor belt, a raw material tray for loading unwelded smart camera protective shell bracket parts to be welded and a transfer tray for loading welded smart camera protective shell bracket products are sequentially arranged; the position of the robotic arm is also along the horizontal Y-axis direction on the production line near the outer end of the raw material tray on the conveyor belt; the axial direction of the welding machine is set along the horizontal Y-axis direction.

[0101] The smart camera protective case brackets are arranged in the raw material tray with the bottom facing upwards. Each smart camera protective case bracket is positioned with its length along the Y-axis and its width along the X-axis, with its opening facing downwards and upside down in the raw material tray. This allows the suction cup assembly to pick up the outer bottom surface of the smart camera protective case bracket through the suction nozzle, thereby picking up the part to be welded.

[0102] S02, the robotic arm drives the robotic hand to rotate and move above the raw material tray via the main control connection component;

[0103] At this point, the reversing assembly, the progressive telescopic assembly, and the suction cup assembly are arranged sequentially from right to left along the X-axis.

[0104] S03, the robotic arm descends to the bottom of the suction cup assembly and contacts the part to be welded on the smart camera protective case bracket. The suction cup assembly then adsorbs and grasps the part to be welded on the smart camera protective case bracket.

[0105] S04, the robot arm rises and rotates clockwise, rotating and displacing the robot arm to a position on the same Y-axis as the welding machine station;

[0106] Simultaneously, the robotic arm also rotates 90° clockwise. Because there is a certain degree of positioning error when adsorbing the outer bottom surface of the smart camera protective case bracket through the suction cup assembly, the positioning accuracy is not completely precise. Therefore, an auxiliary positioning mechanism is also set on the production line workbench between the welding machine and the robotic arm. The auxiliary positioning mechanism is equipped with an auxiliary positioning block 200. The shape and size of the auxiliary positioning block are adapted to the inner cavity of the smart camera protective case bracket. The length direction of the auxiliary positioning block is along the X-axis direction, making the auxiliary positioning operation convenient, stable and reliable. The robotic arm rotates clockwise to open its arm extension, rotating and displacing the robotic arm to a position in the same Y-axis direction as the welding machine station. The position of the smart camera protective case bracket in the raw material tray is that the length direction of the smart camera protective case bracket is along the Y-axis direction. Therefore, while the robotic arm rotates clockwise to open its arm extension, the robotic arm also rotates 90° clockwise, rotating the length direction of the smart camera protective case bracket from the Y-axis direction to the X-axis direction, thus aligning it with the direction of the auxiliary positioning block. At this time, the extension direction of the progressive telescopic assembly is still in the vertical direction.

[0107] The robotic arm descends and places the smart camera protective case bracket onto the auxiliary positioning block 200. The suction cup assembly releases its suction force to loosen the bracket. The robotic arm then rises, undergoes secondary positioning with the assistance of the auxiliary positioning block, and descends again to grip the bracket before rising once more. In actual operation, an auxiliary clamping mechanism is also installed on the production line workbench between the auxiliary positioning block 200 and the raw material tray. This is because the smart camera protective case bracket is an integral structure formed by punching and shearing two side plates, one end plate, one bent small plate, and one bottom plate from a metal sheet, followed by bending. The auxiliary clamping mechanism further compresses the end plate to ensure it is bent in place, further improving welding reliability and product yield.

[0108] The auxiliary clamping mechanism can be equipped with a cylinder on the worktable. The telescopic end of the cylinder is connected to a push block. The push block is driven by the cylinder to move linearly to press the extrusion end plate to ensure that the bending is in place. After the cylinder drives the push block to release, the robot arm can descend and grab the camera protective shell bracket again to feed the welding machine.

[0109] S05, the robotic arm rotates 90° clockwise again to adjust the direction of the smart camera protective shell bracket to match the welding station clamping head of the welding machine.

[0110] S06, the reversing component drives the progressive telescopic component to rotate 90° clockwise, so that the telescopic direction of the progressive telescopic component rotates to the horizontal Y-axis direction. That is, the reversing component drives the progressive telescopic component to rotate and change the direction so that the telescopic direction of the progressive telescopic component is consistent with the axial direction of the welding machine, which facilitates feeding the welding machine.

[0111] S07, the robotic arm descends again until the suction cup assembly is at the same height as the welding jaws of the welding machine, and moves forward to a position close to the clamping head of the welding machine; the progressive telescopic assembly drives the suction cup assembly to slowly extend forward, feeding the smart camera protective shell bracket forward horizontally onto the welding jaws of the welding machine, completing the loading of the welding machine.

[0112] S08, the progressive telescopic component retracts rapidly backward, the robotic arm rises and leaves the welding machine's welding working range, and waits for the welding machine to complete the welding of the gap that needs to be welded on the smart camera protective shell bracket.

[0113] S09, the progressive telescopic component slowly extends forward to receive the smart camera protective shell bracket welded by the welding machine, completing the material handling for the welding machine; because in the manufacturing industry, material handling is a professional process term, which is a specific term for the cutting of raw materials in the first process of raw material processing. It refers to the process of processing raw blanks / raw materials such as bars, plates, pipes, and profiles into blanks that meet the size and shape requirements of subsequent processes through cutting, sawing, shearing, punching, etc. Therefore, in this application, removing the smart camera protective shell bracket welded by the welding machine in this step cannot be summarized as material handling, but can be summarized as completing the material handling, receiving, receiving, or collecting of materials for the welding machine.

[0114] In essence, steps S08 and S09, which involve attaching the smart camera protective shell bracket to the welding machine and receiving the completed smart camera protective shell bracket product, can also be summarized as a material handling process.

[0115] S10, after the progressive telescopic component drives the suction cup component to pick up the welded smart camera protective shell bracket product, it quickly retracts backward;

[0116] S11, the robotic arm rises and leaves the welding working area of ​​the welding machine;

[0117] S12, the reversing component drives the progressive telescopic component to rotate 90° counterclockwise, so that the progressive telescopic component rotates to the vertical direction where the suction cup component is downward;

[0118] S13, the robotic arm rotates counterclockwise to retract, and at the same time the robotic hand also rotates counterclockwise 180°.

[0119] S14, the robotic arm drives the robotic hand to rotate and move to the top of the transfer tray that carries the welded smart camera protective shell bracket through the main control connection component;

[0120] S15, the robotic arm descends, the suction cup assembly releases its suction force to loosen the welded smart camera protective shell bracket product, and the material is placed into the transfer tray.

[0121] S16, repeat steps S02 to S15, run in a loop, and complete the continuous grabbing of the smart camera protective shell bracket to feed the welding machine, as well as the transfer of the welded smart camera protective shell bracket to the transfer tray.

[0122] In steps S02 to S15, all material handling actions of the suction cup assembly are specifically as follows: The main control connecting component, reversing component, and progressive telescopic component drive the suction cup assembly to perform vertical descent for material handling at the raw material tray position; vertical lifting and auxiliary positioning at the auxiliary positioning block position; horizontal feeding (material placement) at the welding machine station; material receiving (material picking) after welding; and vertical descent for material feeding (material delivery) at the transfer tray position. This enables the suction cup assembly to perform vertical lifting and lowering for intelligent camera protective housing brackets, driven by the main control connecting component, reversing component, and progressive telescopic component, as well as horizontal rotation for lifting and lowering the intelligent camera protective housing bracket. This system can meet the needs of continuous intelligent control in modern production lines, completing intelligent operations for material handling, feeding, receiving, and delivery in the welding process of camera protective housing brackets. It is also suitable for welding production lines of various lightweight housing products, demonstrating good versatility.

[0123] The welding machine typically takes about 20 seconds to complete the welding process of the smart camera protective shell bracket. In Example 2, the robotic arm typically takes about 40 seconds to complete the material picking, welding, and feeding process of the smart camera protective shell bracket. This includes a 20-second blank time where the robot can only wait and cannot perform other actions. The waiting time is relatively long, and there is room for improvement in efficiency.

[0124] Example 3:

[0125] Example 3, implemented according to the third technical solution of the planned concept, provides another high-efficiency automatic feeding method for the welding production line of camera protective shell brackets for intelligent devices. It adopts the automatic feeding robot for the welding production line of camera protective shell brackets for intelligent devices provided in Example 1. Based on the specific operation process and steps in Example 2, the specific operation steps of Example 3 are as follows:

[0126] S01, set the reference coordinate system, with the horizontal direction of the conveyor belt that transports the workpiece to be welded to the finished product as the Y-axis direction, which is the longitudinal direction; the horizontal direction of the workpiece to be welded from the conveyor belt to the welding station as the X-axis direction, which is the transverse direction; and the vertical direction as the Z-axis direction.

[0127] Along the horizontal Y-axis direction on the conveyor belt, a raw material tray for loading unwelded smart camera protective shell bracket parts to be welded and a transfer tray for loading welded smart camera protective shell bracket products are sequentially arranged; the position of the robotic arm is also along the horizontal Y-axis direction on the production line near the outer end of the raw material tray on the conveyor belt; the axial direction of the welding machine is set along the horizontal Y-axis direction.

[0128] The smart camera protective case brackets are arranged in the raw material tray with the bottom facing upwards. Each smart camera protective case bracket is positioned with its length along the Y-axis and its width along the X-axis, with its opening facing downwards and upside down in the raw material tray. This allows the suction cup assembly to pick up the outer bottom surface of the smart camera protective case bracket through the suction nozzle, thereby picking up the part to be welded.

[0129] S02, the robotic arm drives the robotic hand to rotate and move above the raw material tray via the main control connection component;

[0130] At this point, the reversing assembly, the progressive telescopic assembly, and the suction cup assembly are arranged sequentially from right to left along the X-axis.

[0131] S03, the robotic arm descends to the bottom of the suction cup assembly and contacts the part to be welded on the smart camera protective case bracket. The first-stage suction cup assembly in the suction cup assembly picks up the part to be welded on the smart camera protective case bracket.

[0132] S04, the robot arm rises and rotates clockwise, rotating and displacing the robot arm to a position on the same Y-axis as the welding machine station;

[0133] Simultaneously, the robotic arm also rotates 90° clockwise. Because there is a certain degree of positioning error when adsorbing the outer bottom surface of the smart camera protective case bracket through the suction cup assembly, the positioning accuracy is not completely precise. Therefore, an auxiliary positioning mechanism is also set on the production line workbench between the welding machine and the robotic arm. The auxiliary positioning mechanism is equipped with an auxiliary positioning block. The shape and size of the auxiliary positioning block are adapted to the inner cavity of the smart camera protective case bracket. The length direction of the auxiliary positioning block is along the X-axis direction, making the auxiliary positioning operation convenient, stable and reliable. The robotic arm rotates clockwise to open its arm extension, rotating and displacing the robotic arm to a position in the same Y-axis direction as the welding machine station. The position of the smart camera protective case bracket in the raw material tray is that the length direction of the smart camera protective case bracket is along the Y-axis direction. Therefore, while the robotic arm rotates clockwise to open its arm extension, the robotic arm also rotates 90° clockwise, rotating the length direction of the smart camera protective case bracket from the Y-axis direction to the X-axis direction, thus aligning it with the direction of the auxiliary positioning block. At this time, the extension direction of the progressive telescopic assembly is still in the vertical direction.

[0134] The robotic arm descends to place the smart camera protective case bracket onto the auxiliary positioning block. The suction cup assembly releases its suction force to loosen the bracket. The robotic arm then rises, undergoes secondary positioning with the assistance of the auxiliary positioning block, and descends again to grip the bracket before rising once more. In actual operation, an auxiliary clamping mechanism is also installed on the production line workbench between the auxiliary positioning block and the raw material tray. This is because the smart camera protective case bracket is an integral structure formed by punching and shearing two side plates, one end plate, one bent small plate, and one bottom plate from a metal sheet, followed by bending. The auxiliary clamping mechanism further compresses the end plate to ensure it is bent properly, further improving welding reliability and product yield.

[0135] The auxiliary clamping mechanism can be equipped with a cylinder on the worktable. The telescopic end of the cylinder is connected to a push block. The push block is driven by the cylinder to move linearly to press the extrusion end plate to ensure that the bending is in place. After the cylinder drives the push block to release, the robot arm can descend and grab the camera protective shell bracket again to feed the welding machine.

[0136] S05, the robotic arm rotates 90° clockwise again to adjust the direction of the smart camera protective shell bracket to match the welding station clamping head of the welding machine.

[0137] S06, the reversing component drives the progressive telescopic component to rotate 90° clockwise, so that the telescopic direction of the progressive telescopic component rotates to the horizontal Y-axis direction. That is, the reversing component drives the progressive telescopic component to rotate and change the direction so that the telescopic direction of the progressive telescopic component is consistent with the axial direction of the welding machine. The second-level telescopic component of the progressive telescopic component is aligned with the welding station clamping head of the welding machine, which facilitates the feeding of materials to the welding machine.

[0138] S07, the robotic arm drives the robotic hand to descend again until the suction cup assembly is at the same height as the welding jaws of the welding machine, and moves forward to a position close to the welding machine's clamping head. The secondary telescopic assembly drives the secondary suction cup assembly to slowly extend forward to pick up the smart camera protective shell bracket product that has been welded on the welding machine. The secondary telescopic assembly retracts, completing the process of picking up the welded smart camera protective shell bracket product from the welding machine, which is also called picking up the material from the welding machine in the horizontal direction, or receiving the part, receiving the material, or collecting the material.

[0139] The robotic arm drives the robotic hand to quickly retreat and move to the welding station clamping head of the welding machine aligned with the first-level telescopic component, and then moves forward; the first-level telescopic component drives the first-level suction cup component to slowly extend forward to feed material to the welding machine, that is, to complete the feeding or unloading of material to the welding machine in the horizontal direction.

[0140] S08, the progressive telescopic assembly retracts rapidly backward, and the robotic arm rises and leaves the welding machine's welding work area.

[0141] S09, the reversing component drives the progressive telescopic component to rotate 90° counterclockwise, so that the progressive telescopic component rotates to the vertical direction where the suction cup component is downward;

[0142] S10, the robotic arm rotates counterclockwise to retract, and at the same time the robotic hand also rotates counterclockwise 180°.

[0143] S11, the robotic arm drives the robotic hand to rotate and move to the top of the transfer tray that carries the welded smart camera protective shell bracket through the main control connection component;

[0144] S12, the robotic arm descends, the suction cup assembly releases its suction force to loosen the welded smart camera protective shell bracket product, and the material is placed into the transfer tray.

[0145] S13, repeat steps S02 to S12, run in a loop, and complete the continuous grabbing of the smart camera protective shell bracket to feed the welding machine, as well as the transfer of the welded smart camera protective shell bracket to the transfer tray.

[0146] In step S07, the material feeding process to the welding machine along the horizontal direction is completed. In steps S02 to S12, all the material feeding and unloading actions of the suction cup assembly are specifically as follows: the main control connection assembly, the reversing assembly, and the progressive telescopic assembly drive the suction cup assembly to complete the vertical descent material feeding at the raw material tray position, the vertical lifting and auxiliary positioning at the auxiliary positioning block position, the material feeding (i.e., unloading) to the welding machine at the welding machine station along the horizontal direction, and the material receiving (i.e., receiving and picking up) after welding is completed, and the vertical descent material unloading (i.e., feeding) at the transfer tray position. Thus, the suction cup assembly is driven by the main control connection assembly, the reversing assembly, and the progressive telescopic assembly to complete the vertical lifting and unloading action of the smart camera protective shell bracket, and to rotate to the horizontal direction to complete the progressive unloading action of the smart camera protective shell bracket.

[0147] In Example 3, the robotic arm completes the entire process of picking up, welding, and feeding materials for the smart camera protective shell bracket in just about 20 seconds, basically no more than 21 seconds. The operation does not require any waiting time. If there is any waiting time, it is only because the welding process takes longer than the time required for the robotic arm to complete the picking up, welding, and feeding process for the smart camera protective shell bracket in this example. The efficiency of Example 3 is basically twice that of Example 2.

[0148] To further expand our thinking, in other embodiments, the progressive telescopic component can also adopt a multi-stage telescopic mechanism, and the suction cup component can adopt multiple sets of suction cup components accordingly. This can simultaneously complete the material picking, loading, receiving and feeding process of multiple smart camera protective shell brackets, further improving production efficiency. As the supporting process technology matures, we can consider expanding the implementation.

[0149] This invention relates to an automatic material handling robot and method for a welding production line. The main control connection component is vertically and rotatably connected to the intelligent production line robot arm. A reversing component is fixedly connected to the main control connection component and can drive the progressive telescopic component to rotate and reverse direction. The progressive telescopic component is rotatably connected to the reversing component, and a suction cup component is fixedly connected to the progressive telescopic component. Driven by the main control connection component, the reversing component, and the progressive telescopic component, the robot arm performs vertical lifting and placing of components to be welded, and rotates to a horizontal position to perform progressive picking and placing of welded components. It can adapt to the needs of continuous intelligent control in modern production lines, completing intelligent operations for material handling, loading, receiving, and feeding in the welding process of an automated production line. It is also suitable for welding production lines of various lightweight shell products, exhibiting good versatility. The robot arm-driven robot is convenient and quick to operate, has a high safety factor, is stable and reliable, and has high production efficiency.

[0150] This invention is not limited to the above-described optional embodiments. Anyone can derive other various forms of products under the guidance of this invention. However, regardless of any changes made in their shape or structure, any technical solution that falls within the scope of the claims of this invention shall be protected by this invention.

Claims

1. An automatic pick-and-place robot for a welding line, characterized in that: It includes a main control connection component, a reversing component, a progressive telescopic component, and a suction cup component; The main control connection component can be lifted and rotated to connect to the robotic arm of the intelligent production line; The reversing component is fixedly connected to the main control connection component and can drive the progressive telescopic component to rotate and change direction as a whole; the reversing component drives the progressive telescopic component to rotate 90° clockwise, so that the telescopic direction of the progressive telescopic component rotates to the horizontal Y-axis direction; The progressive telescopic assembly is rotatably connected to the reversing assembly, and the progressive telescopic assembly includes at least two stages of telescopic mechanism; The suction cup assembly is fixedly connected to the progressive telescopic assembly and can be driven by the main control connection assembly, the reversing assembly, and the progressive telescopic assembly to complete the vertical lifting and placing of the welding parts, as well as the rotation to the horizontal direction to complete the progressive picking and placing of the welding parts. The progressive telescopic assembly includes a rotating base, a first-stage telescopic mechanism, and a second-stage telescopic mechanism. The rear side of the rotating base is fixedly connected to the reversing assembly. The first-stage telescopic mechanism is located on the front side of the rotating base. The second-stage telescopic mechanism is connected to the telescopic end of the first-stage telescopic mechanism. The suction cup assembly includes a primary suction cup assembly and a secondary suction cup assembly; the primary suction cup assembly is fixedly connected to the telescopic end of the primary telescopic mechanism; the secondary suction cup assembly is fixedly connected to the telescopic end of the secondary telescopic mechanism.

2. The automatic pick-up feed robot of the welding line according to claim 1, characterized in that: The main control connection component includes a lifting spindle and a main support base. The main control connection component is connected to the intelligent production line robotic arm via the lifting spindle in a lifting and rotating manner. The main support base includes a support top plate and a support cantilever. The main support base is fixedly connected to the bottom end of the lifting main shaft through the support top plate. The reversing assembly is fixedly connected to the support cantilever.

3. The automatic pick-up feed robot of the welding line according to claim 1, characterized in that: The reversing assembly includes a rotary cylinder and a limiting mechanism; The rotary cylinder is fixedly mounted on the main control connection assembly; The limiting mechanism includes a vertical limiting unit and a horizontal limiting unit; the vertical limiting unit and the horizontal limiting unit are used to limit the rotation angle of the rotary cylinder.

4. The automatic material handling robot for the welding production line according to claim 1, characterized in that: The upper section of the rotary seat is a semi-circular plate section adapted to the rotating flange of the rotary cylinder of the reversing assembly, and the back of the upper section of the rotary seat is fixedly connected to the rotating flange of the rotary cylinder. The primary telescopic mechanism includes a primary slide cylinder, the back of which is fixedly connected to the front side of the rotating seat; a primary mounting seat is fixedly connected to the primary slide of the primary slide cylinder, and the primary suction cup assembly is fixedly disposed below the front end of the primary mounting seat. The secondary telescopic mechanism includes a secondary slide cylinder, the back of which is fixedly connected to the front side of the primary slide cylinder; a secondary mounting seat is fixedly connected to the secondary slide of the secondary slide cylinder, the lower end of which passes through the primary mounting seat and extends to the bottom of the primary mounting seat; the secondary suction cup assembly is fixedly disposed below the secondary mounting seat.

5. The automatic material handling robot for the welding production line according to claim 4, characterized in that: The structure of the primary suction cup assembly is the same as that of the secondary suction cup assembly. The primary suction cup assembly includes a flexible suction nozzle and a rigid limiting member. The limiting member is provided with a suction nozzle receiving cavity and a suction nozzle mounting plate. The suction nozzle is received and disposed in the suction nozzle receiving cavity and is fixedly connected to the suction nozzle connecting rod through the suction nozzle mounting plate. Both ends of the limiting member are connected to the primary mounting base via elastic clamping mechanisms.

6. The automatic material handling robot for the welding production line according to claim 4, characterized in that: The primary mounting base is an inverted L-shaped structure composed of a primary fixing plate and a primary frame base; the primary mounting base is fixedly connected to the front side of the rotating base through the primary fixing plate; the primary suction cup assembly is fixedly connected to the lower front end of the primary frame base; The secondary mounting base is an L-shaped structure composed of a secondary fixing plate and a secondary base; The secondary mounting base is fixedly connected to the primary slide of the primary slide cylinder via the secondary fixing plate; the secondary suction cup assembly is fixedly connected to the lower part of the secondary base.

7. The automatic material handling robot for the welding production line according to claim 2, characterized in that: The support cantilever is fixedly connected to one end of the support top plate to form an inverted L-shaped main support base, and the reversing assembly is fixedly connected to the front side of the support cantilever. A counterweight is provided below the other end of the supporting top plate, and the other end of the supporting top plate is fixedly connected to the lower end of the lifting main shaft by a support. An electromagnetic valve is provided above the center of the top support plate. The electromagnetic valve is used to control the material picking and placing actions of the suction cup assembly. A throttle valve is provided on the side of the support cantilever, and the throttle valve is used to control the material picking and placing speed of the suction cup assembly. An auxiliary support plate is also provided between the front side of the supporting cantilever and the bottom surface of the supporting top plate.

8. An automatic material feeding method for a welding production line, characterized in that: The automatic material handling robot used in the welding production line according to any one of claims 1 to 7 includes the following steps: S01, set the reference coordinate system, with the Y-axis direction (longitudinal) being the direction of the conveyor belt from the production line to the finished product, the X-axis direction (horizontal) being the direction of the material to be welded from the conveyor belt to the welding station, and the vertical direction being the Z-axis direction. The robotic arm is positioned along the Y-axis on the production line near the outer end of the raw material tray close to the conveyor belt; the parts to be welded are arranged in the raw material tray with their bottom surfaces facing upwards; S02, the robotic arm drives the robotic hand to rotate and move above the raw material tray via the main control connection component; S03, the robotic arm descends to the bottom of the suction cup assembly and contacts the part to be welded, and picks up the part to be welded through the suction cup assembly; S04, the robot arm rises, and rotates clockwise, shifting the robot arm to a position on the same Y-axis as the welding machine station; at the same time, the robot arm also rotates 90° clockwise; S05, the robot arm rotates 90° clockwise again to adjust the orientation of the workpiece to be welded to match the welding station clamp of the welding machine; S06, the reversing component drives the tiered telescopic component to rotate 90° clockwise, so that the telescopic direction of the tiered telescopic component rotates to the horizontal Y-axis direction; S07, the robotic arm descends again, and the progressive telescopic component drives the suction cup component to slowly extend forward to feed the welding machine; S08, the progressive telescopic component retracts rapidly, and the robotic arm rises to wait for the welding machine to weld; S09, the progressive telescopic component slowly extends forward to receive the product that has been welded by the welding machine; S10, the progressive telescopic assembly retracts rapidly; S11, the robotic arm rises; S12, the commutation component drives the progressive telescopic component to rotate 90° counterclockwise; S13, the robotic arm rotates counterclockwise to retract, and at the same time the robotic hand also rotates counterclockwise 180°. S14, the robotic arm drives the robotic hand to rotate and move above the transfer tray; S15, the robotic arm descends, the suction cup assembly releases its suction force and loosens, and the material is placed into the transfer tray; S16, repeat steps S02 to S15.

9. The automatic feeding method for a welding production line according to claim 8, characterized in that: Also includes the following: In step S03, the primary suction cup assembly of the suction cup assembly picks up the workpiece to be welded. In step S06, the secondary telescopic component of the progressive telescopic assembly is aligned with the welding station clamping head of the welding machine. In step S07, after the robotic arm drives the robotic hand to descend again, it moves forward to a position close to the welding machine clamping head. The secondary telescopic component drives the secondary suction cup component to slowly extend forward to pick up the product that has been welded on the welding machine. The secondary telescopic component then retracts. The robotic arm drives the robotic hand to move backward and then to the welding station clamping head of the welding machine aligned with the first-level telescopic component, and then moves forward; the first-level telescopic component drives the first-level suction cup component to slowly extend forward to load the material onto the welding machine. In step S08, the progressive telescopic component rapidly retracts, and the process proceeds directly to step S12.

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