An arc welding robot for automobile parts processing

Abstract

The application relates to the field of arc welding robots, in particular to an arc welding robot for automobile part machining. The arc welding robot comprises a base, a positioning structure, a welding frame and an arc welding robot body. The two ends of the base are provided with cleaning boxes; cleaning cavities are arranged on the two groups of cleaning boxes, and guide rails and rotating frames are further arranged between the two groups of cleaning boxes; the positioning structure is arranged on the rotating frame; the positioning structure is provided with two positioning stations; a multi-point positioning area and an end positioning area are arranged on each positioning station; the welding frame is sleeved outside the rotating frame, and a welding sensor group is arranged on the welding frame. Through the precise linkage of the rotating frame and the welding frame, the linkage cooperation of the self-adaptive curved surface support of the adsorbed positioning piece and the lateral clamping and adjustment of the clamped positioning piece is realized, a flexible and stable clamping scheme is provided for irregular automobile parts, the whole process is highly automated and collaborative, and the precision, efficiency and consistency of automobile part arc welding are remarkably improved.

Description

Technical Field

[0001] This invention relates to the field of arc welding robots, and more particularly to an arc welding robot for processing automotive parts. Background Technology

[0002] In the automotive manufacturing industry, arc welding is a key process for joining metal parts such as the car body and chassis. Currently, the industry commonly uses industrial robots equipped with welding torches to achieve automated welding. A typical system usually includes a fixed or movable platform on which a multi-jointed robotic arm is mounted to control the spatial position of the welding torch, enabling flexible planning of the welding path. To fix the workpiece, positioning structures composed of grippers and other components are often set on both sides of the welding station, which move towards each other through mechanical transmission to clamp and align the parts to be welded.

[0003] For example, Chinese patent application publication number CN120533234A discloses an arc welding robot for processing automotive parts, including a platform. A transfer vehicle for carrying parts is provided on the front side of the platform. The top of the transfer vehicle supports the welding parts. An arc welding machine base is fixedly connected to the top of the platform. A first robotic arm is installed on the surface of the arc welding machine base. A second robotic arm is installed at the end of the first robotic arm away from the arc welding machine base. A welding module is installed at the end of the second robotic arm away from the first robotic arm.

[0004] The aforementioned existing technical solutions still have several obvious limitations. First, their positioning and clamping methods mostly rely on rigid jaws applying pressure from the side. For automotive parts with complex or irregular shapes, it is difficult to achieve comprehensive and flexible fit and support, which can easily lead to local stress concentration. Under the heat input of welding, this increases the risk of workpiece deformation and affects the final assembly accuracy. Second, the cleaning process before welding is often independent of the welding production line. The workpiece needs to undergo pretreatment such as degreasing and rust removal at another station before being transferred to the welding station. This process is fragmented, which not only affects the overall efficiency but may also cause secondary pollution or loss of positioning reference due to transfer, thereby compromising the stability of welding quality. Finally, although they have welding fume treatment capabilities, the positioning, welding, and cleaning modules of the existing solutions are relatively independent and lack deep collaboration and integration. The overall flexibility, intelligence level, and ability of the system to achieve integrated continuous operation of "cleaning-positioning-welding" need to be improved. Summary of the Invention

[0005] To address the problems existing in the background technology, an arc welding robot for automotive parts processing is proposed. Through the precise linkage between the rotating frame and the welding frame, and the coordinated operation of the adaptive curved surface support for the adsorption and positioning components and the lateral clamping and adjustment of the clamping and positioning components, a flexible and stable clamping solution is provided for irregular automotive parts. The entire process is highly automated and collaborative, significantly improving the accuracy, efficiency, and consistency of arc welding for automotive parts.

[0006] This invention proposes an arc welding robot for processing automotive parts, comprising a base, a positioning structure, a welding frame, and an arc welding robot body. Cleaning boxes are located at both ends of the base; each of the two cleaning boxes has a cleaning chamber with opposing openings that acts on the automotive parts, and a guide rail and a rotating frame are arranged between the two sets of cleaning boxes; the positioning structure is mounted on the rotating frame, rotating synchronously with the rotating frame and moving along the rotating frame, with two positioning stations, one above the other; each positioning station has a multi-point positioning area in the center and an end positioning area on the periphery; the welding frame is fitted outside the rotating frame and moves between the two sets of cleaning boxes via the guide rail, the movement trajectory of the welding frame being consistent with the movement trajectory of the positioning structure, and a welding sensor group is installed on the welding frame; the arc welding robot body includes a multi-joint robotic arm that moves along a circular trajectory along the welding frame and an arc welding machine located at the end of the multi-joint robotic arm.

[0007] Preferably, the base includes a sliding seat in the middle and support seats at both ends of the sliding seat; the cleaning box is fixedly mounted on the support seats; the welding frame is slidably mounted on the sliding seat and reciprocates between the two sets of support seats.

[0008] Preferably, the cleaning box includes a box body; the box body is divided into two cleaning chambers, one above the other, by a partition; each cleaning chamber is equipped with a cleaning roller that moves up and down and rotates at the origin; an absorption layer is provided around the cleaning roller; each set of cleaning chambers is equipped with a spray nozzle frame that sprays towards the water absorption layer and a heating layer that acts on the automotive parts; and a liquid-blocking plate is provided at the bottom of each set of cleaning chambers.

[0009] Preferably, the cleaning chamber has a mounting plate on its side wall; the guide rail is mounted on the mounting plate; the welding frame includes a ring frame; a slider that moves horizontally along the guide rail is provided on the outer ring wall of the ring frame, and a ring track is provided on the ring side wall facing both sides of the cleaning chamber; the arc welding robot body has two sets, one in front and one behind, each including an electrically controlled slide table that moves along the corresponding side ring track; the multi-joint robotic arm is rotatably mounted on the electrically controlled slide table; and the welding sensor group is arranged in a ring along the inner ring wall of the ring frame.

[0010] Preferably, the welding sensor group includes a vision sensor unit, an arc sensor unit, an anti-collision sensor unit, and a smoke sensor unit.

[0011] Preferably, the inner wall of the annular frame is provided with annular adsorption areas located on both sides of the welding sensor group; the annular adsorption area is composed of multiple smoke adsorption ports.

[0012] Preferably, the rotating frame is frame-shaped, with two ends passing through the annular frame and rotatably connected to the corresponding side partitions; two sets of positioning structures are provided, which are independently slidably mounted on the rotating frame, and the sliding direction is parallel to the guide rail; the positioning structure includes a positioning seat slidably connected to the rotating frame; two positioning stations are respectively set at the top and bottom of the positioning seat; multiple sets of adsorption positioning components are provided on the multi-point positioning area; the end positioning area is located on the front and rear sides of the multi-point positioning area, and is separately provided with two sets of clamping positioning components that can move along the sliding direction of the positioning structure.

[0013] Preferably, the adsorption positioning component includes mounting grooves arranged in a matrix; a piston plate that is controlled to rise and fall by a pressure regulating device is provided in the mounting groove, and a cover plate is provided on the groove opening; one end of the telescopic rod extends into the mounting groove and is connected to the piston plate, and the other end slides out of the cover plate, and a positioning head is provided at the end; a return spring is provided between the piston plate and the cover plate; an adsorption hole connected to a negative pressure device is provided on the positioning head, and a pressure sensor is also provided.

[0014] Preferably, the positioning seat is provided with guide grooves on both sides of the multi-point positioning area; the clamping positioning component includes two sets of positioning frames that slide along the guide grooves; each of the two sets of positioning frames is provided with a lifting platform that moves up and down; a rotating sleeve is provided on the opposite ends of the two sets of lifting platforms; a double-headed telescopic rod is provided on the rotating sleeve; a bent rod is provided on the upper and lower telescopic ends of the double-headed telescopic rod; the clamping rollers are configured as two sets that are rotatable and parallel, respectively located between the upper and lower pairs of bent rods; the rotating sleeve, the bent rods and the clamping rollers form a U-shaped clamping positioning structure.

[0015] Preferably, clamping airbags controlled by an inflation / deflation pump are provided on the opposite ends of the two sets of rotating sleeves.

[0016] Compared with the prior art, the present invention has the following beneficial technical effects: The rotating frame can precisely rotate and horizontally move the positioned workpiece, while the welding frame fitted around it can independently translate along the guide rail, and the arc welding robot body mounted on it can move in a circle along the ring track. This composite motion mode of "workpiece can rotate and move, welding torch can move and circle" allows the arc welding machine to approach any weld seam in space with the optimal path and angle. Whether it is simple rotary indexing welding or the coordinated tracking of long weld seams with "workpiece rotation and welding torch following", the system can easily achieve it, ensuring welding accessibility without dead angles. It is particularly suitable for the complex and diverse structural features of automotive parts, raising welding flexibility and efficiency to a new level. This solution employs a combined strategy of "surface support" and "line clamping." The multi-point positioning zone in the center uses a matrix-arranged adsorption positioning element. The adaptively height-adjustable positioning head conforms to the curved surface of the workpiece, providing a large-area, evenly distributed vacuum adsorption support force, effectively dispersing the workpiece's gravity and clamping stress. Simultaneously, the clamping positioning element in the end positioning zone uses movable, height-adjustable clamping rollers to flexibly clamp the workpiece from its edge, ultimately providing lateral stabilizing pressure through inflated clamping airbags. This "U"-shaped three-dimensional constraint system, composed of bottom adsorption, edge roller clamping, and lateral airbag clamping, achieves high-precision positioning while significantly absorbing welding thermal stress, substantially reducing the twisting and deformation of thin-walled and irregularly shaped parts during welding, and ensuring the product's assembly accuracy. The cleaning chambers are located at both ends of the workstation, allowing workpieces to be directly fed into them after positioning. Through chemical solvent spraying, physical wiping with cleaning rollers, and subsequent heating and drying, all harmful contaminants such as grease, rust, and dust on the workpiece surface are efficiently removed. This "clean and weld immediately" approach solves common quality problems such as weld porosity, slag inclusions, and hydrogen-induced cracking caused by inadequate workpiece pretreatment. Simultaneously, cleaning and welding can be carried out in parallel without interference, achieving the dual benefits of ensuring cleanliness and improving production cycle time, laying a solid foundation for stable weld quality under high-intensity, mass production conditions. Attached Figure Description

[0017] Figure 1 Side view of an arc welding robot used for processing automotive parts; Figure 2 A top view of an arc welding robot used for processing automotive parts; Figure 3 This is a structural diagram of the cleaning box; Figure 4 Structural diagrams of the rotating frame, positioning structure, and welding frame; Figure 5 This is a structural diagram of the welding frame; Figure 6 This is a structural diagram of the rotating frame and positioning structure; Figure 7 This is a schematic diagram of a single positioning structure; Figure 8 This is a sectional view of a single positioning structure; Figure 9 This is a structural diagram of the clamping and positioning component; Reference numerals: 1. Base; 101. Sliding seat; 102. Slide groove; 103. Support seat; 2. Cleaning box; 201. Box body; 202. Partition; 203. Cleaning roller; 204. Nozzle holder; 205. Pipe; 206. Liquid barrier; 3. Rotating frame; 4. Positioning structure; 401. Positioning seat; 402. Adsorption positioning component; 403. Clamping positioning component; 404. Guide groove; 405. Mounting groove; 406. Piston plate; 407. Telescopic rod; 408. Cover plate 409. Return spring; 410. Positioning head; 411. Clamping roller; 412. Positioning frame; 413. Lifting platform; 414. Rotating sleeve; 415. Clamping airbag; 416. Bending rod; 5. Guide rail; 6. Welding frame; 601. Annular frame; 602. Welding sensor group; 603. Annular track; 604. Annular adsorption area; 7. Arc welding robot body; 701. Electrically controlled slide table; 702. Multi-joint robotic arm; 703. Arc welding machine; 8. Mounting plate. Detailed Implementation

[0018] Example 1: This invention proposes an arc welding robot for processing automotive parts, such as... Figures 1-2 As shown, the system includes a base 1, a positioning structure 4, a welding frame 6, and an arc welding robot body 7. Cleaning boxes 2 are located at both ends of the base 1. Each of the two cleaning boxes 2 has a cleaning chamber with openings opposite each other that acts on the automotive parts. A guide rail 5 and a rotating frame 3 are also provided between the two sets of cleaning boxes 2. The positioning structure 4 is mounted on the rotating frame 3, rotating synchronously with it and moving along it. The positioning structure 4 has two positioning stations, one above the other. Each positioning station has a multi-point positioning area in the center and an end positioning area on the periphery. The welding frame 6 is fitted around the rotating frame 3 and moves between the two sets of cleaning boxes 2 via the guide rail 5. The movement trajectory of the welding frame 6 is consistent with the movement trajectory of the positioning structure 4. A welding sensor group 602 is installed on the welding frame 6. The arc welding robot body 7 includes a multi-joint robotic arm 702 that moves along a circular trajectory along the welding frame 6 and an arc welding machine 703 located at the end of the multi-joint robotic arm 702.

[0019] The base 1 includes a sliding seat 101 located in the middle and support seats 103 located at both ends of the sliding seat 101; the cleaning box 2 is fixedly mounted on the support seats 103. The welding frame 6 is slidably mounted on the sliding seat 101 and reciprocates between the two sets of support seats 103.

[0020] It should be further explained that the support base 103 has a trapezoidal structure that is narrower at the top and wider at the bottom, and the cleaning box 2 is installed on the top of the support base 103.

[0021] It should be further explained that the sliding seat 101 is provided with a groove that matches the shape of the welding frame 6; the groove is provided with a sliding groove 102 that connects the two end support seats 103; the bottom of the welding frame 6 is slidably connected to the sliding groove 102 and the groove wall.

[0022] like Figure 3 As shown, the cleaning chamber 2 includes a chamber body 201; the chamber body 201 is divided into two cleaning chambers, one above the other, by a partition 202; each cleaning chamber is equipped with a cleaning roller 203, whose vertical movement and rotation at the origin are controlled by a motor and an electric rail structure; an absorption layer is provided around the cleaning roller 203; each cleaning chamber is equipped with a spray nozzle frame 204 that sprays water towards the water absorption layer and a heating layer that acts on the automotive parts; the spray nozzle frame 204 is connected to an external cleaning fluid storage tank through a pipe 205; the heating layer is electrically heated to accelerate the drying of the cleaned automotive parts. A liquid-blocking plate 206 is provided at the bottom of each cleaning chamber, and the automotive parts enter the cleaning chamber from above the liquid-blocking plate 206 for cleaning to prevent the sprayed liquid from flowing out.

[0023] The pollutants that can exist in automotive parts include: Organic matter: grease, lubricating oil, rust inhibitor, paint, marker marks, tape residue, etc.; Inorganic substances / oxides: rust, scale, welding slag, dust, dirt; Moisture: Water or moisture in any form.

[0024] Chemical solvents are sprayed onto the automotive parts through the nozzle holder 204. Combined with the physical friction of the cleaning roller 203, surface dirt can be removed. Then, heating and drying are used to accelerate solvent evaporation, making the automotive parts to be welded clean and dry.

[0025] like Figures 4-5 As shown, the cleaning box 2 has a mounting plate 8 on its side wall; the guide rail 5 is mounted on the mounting plate 8; the welding frame 6 includes a ring frame 601; the outer ring wall of the ring frame 601 is provided with a slider that moves horizontally along the guide rail 5 driven by a motor, and the ring side walls facing both sides of the cleaning box 2 are provided with ring tracks 603; the arc welding robot body 7 is provided in two sets, one in front and one behind, each including an electrically controlled slide table 701 that moves along the corresponding side ring track 603; the multi-joint robotic arm 702 is rotatably mounted on the electrically controlled slide table 701; the welding sensor group 602 is arranged in a ring along the inner ring wall of the ring frame 601.

[0026] During welding, the ring frame 601 moves horizontally between the two sets of cleaning boxes 2, and the multi-joint robotic arm 702 moves along the ring frame 601 in a ring trajectory. The arc welding robot body 7 is set in two sets, one in front and one behind. Each set of arc welding robot body 7 can move independently and flexibly to the welding position of the automotive parts to perform multi-angle, large-range, and cooperative arc welding.

[0027] It should be further explained that the welding sensor group 602 includes a vision sensor unit, an arc sensor unit, an anti-collision sensor unit, and a smoke sensor unit. The vision sensor unit identifies the weld position and tracks the path; the arc sensor unit adjusts welding parameters in real time; the anti-collision sensor unit ensures safe operation; and the smoke sensor unit detects the location of welding fumes. Since the welding sensor group 602 is arranged in a circle around the annular frame 601, it can form a 360-degree sensing range, providing comprehensive and wide-ranging sensing. The arc welding robot body 7 can then perform welding based on the sensing data. This results in a welding repeatability accuracy of less than ±0.1mm, ensuring stable weld quality and adapting to the demands of high-strength, mass production.

[0028] It should be further explained that the inner wall of the annular frame 601 is provided with annular adsorption areas 604 located on both sides of the welding sensor group 602; the annular adsorption area 604 is composed of multiple smoke adsorption ports; the smoke adsorption ports generate negative pressure through the adsorption pump, which is activated by the welding sensor group 602, and a slag-blocking net is provided on the smoke adsorption ports.

[0029] When the welding sensor assembly 602 detects welding fumes, it activates the corresponding fume adsorption port to remove the fumes. The removed fumes can then be sent to the purification process. Because the annular adsorption zone 604 can adsorb fumes from 360 degrees, it effectively ensures a stable and safe environment during the welding process. This reduces harm to the air and human body, while also ensuring the working conditions of the vision sensor unit and other components that require cleaning of their field of view.

[0030] like Figure 6 As shown, the rotating frame 3 is frame-shaped, with both ends passing through the annular frame 601 and driven by a motor, and rotatably connected to the partition 202 on the corresponding side; the positioning structure 4 is provided in two sets, which are independently slidably mounted on the rotating frame 3, and the sliding direction is parallel to the guide rail 5.

[0031] The positioning structure 4 rotates synchronously with the rotating frame 3 and moves along the rotating frame 3. It then cooperates with the arc welding robot body 7, which moves back and forth and rotates along a circular trajectory. The two sets of positioning structures 4 can be used in combination or independently, making the welding angle and position more flexible, forward-looking, and compatible.

[0032] like Figure 7 As shown, the positioning structure 4 includes a positioning seat 401 that is slidably connected to the rotating frame 3 by an electrically controlled slide rail structure; two positioning stations are respectively set at the top and bottom of the positioning seat 401; multiple sets of adsorption positioning elements 402 are provided on the multi-point positioning area; the end positioning area is located on the front and rear sides of the multi-point positioning area, and is provided with two sets of clamping positioning elements 403 that can move along the sliding direction of the positioning structure 4.

[0033] During positioning, depending on the size and shape of the automotive parts, two automotive parts to be welded can be installed on one positioning station, with the ends to be welded located in the multi-point positioning area. Alternatively, the two automotive parts to be welded can be installed on two separate positioning seats 401, with the ends to be welded facing each other. The adsorption positioning component 402 and the clamping positioning component 403 cooperate to clamp and position the automotive parts. After positioning, the positioning seats 401 can be moved to splice and weld the automotive parts at the upper and lower positioning stations of the two sets of positioning structures 4, or the automotive parts at the upper and lower positioning stations of each set of positioning structures 4 can be welded directly.

[0034] like Figure 8 As shown, the adsorption positioning component 402 includes mounting grooves 405 arranged in a matrix; a piston plate 406, whose lifting and lowering are controlled by a pressure regulating device, is provided in the mounting groove 405, and a cover plate 408 is provided on the groove opening of the mounting groove 405; one end of the telescopic rod 407 extends into the mounting groove 405 and is connected to the piston plate 406, and the other end slides out of the cover plate 408, and a positioning head 410 is provided at the end; a return spring 409 is provided between the piston plate 406 and the cover plate 408; the positioning head 410 is provided with an adsorption hole connected to a negative pressure device, and a pressure sensor is also provided.

[0035] Due to the irregular structure of automotive parts, a matrix arrangement of positioning heads 410 is used to create individual positioning points. Under the influence of a return spring 409 and pressure adjustment, a piston plate 406 drives the corresponding positioning heads 410 to adhere to the curvature of the automotive part surface and attract them. Through multi-point, large-area contact support, the welding angle requirements of the automotive parts are met, while reducing welding deformation.

[0036] like Figure 9 As shown, the positioning base 401 is provided with guide grooves 404 located on both sides of the multi-point positioning area; the clamping positioning component 403 includes two sets of positioning frames 412 that slide along the guide grooves 404 driven by a motor; each of the two sets of positioning frames 412 is provided with a lifting platform 413 that moves up and down driven by a motor; a rotating sleeve 414 that rotates driven by a motor is provided on the opposite ends of the two sets of lifting platforms 413; an electrically controlled double-headed telescopic rod is provided on the rotating sleeve 414; a bending rod 416 is provided on the upper and lower telescopic ends of the double-headed telescopic rod; the clamping rollers 411 are configured as two sets that are rotatable and parallel, respectively located between the upper and lower pairs of bending rods 416; the rotating sleeve 414, the bending rods 416 and the clamping rollers 411 form a U-shaped clamping and positioning structure.

[0037] By controlling the relative movement and overall lifting of the two sets of clamping rollers 411, the clamping force and position can be controlled. The rotation of the clamping rollers 411 enables the translation of automotive parts. This translation can be applied to cleaning, assisting in entering and exiting the cleaning chamber, and cooperating with the cleaning rollers 203. It can also be applied to welding, for adjusting the position of automotive parts.

[0038] It should be further explained that clamping airbags 415 controlled by an inflation and deflation pump are provided on the opposite ends of the two sets of rotating sleeves 414; after the automotive parts are positioned, the clamping airbags 415 inflate to further fix and protect them from both sides.

[0039] Example 2: Based on the arc welding robot for automotive parts processing in the above examples, this example proposes a welding method for automotive parts, with the following steps: S1. Start the system; all motors, sensors, negative pressure equipment, and cleaning fluid circulation system perform self-checks and initialize. Based on the dimensions of the automotive parts to be welded and the welding process requirements, the control system presets the rotation angle of the rotating frame 3, the travel distance of the positioning structure 4, the horizontal position of the welding frame 6, and the motion path and welding parameters of the arc welding robot body 7. The operator or auxiliary robot loads the two automotive parts to be welded onto the predetermined positioning positions of the two positioning structures 4. The loading method is selected according to the shape of the workpiece. Method A (Same-station welding): Place two parts one above the other on the top and bottom positioning stations of the same positioning seat 401, so that their edges to be welded are aligned or close to each other in the multi-point positioning area. Method B (opposite station welding): Place the two parts on two independent positioning seats 401 (which can be upper and lower positions), and make the ends to be welded face each other in the middle of the equipment by moving the positioning structure 4. S2. The linkage between the adsorption positioning element 402 and the clamping positioning element 403 activates the negative pressure equipment and pressure control equipment in the multi-point positioning area. The matrix-arranged positioning heads 410 rise under the influence of the return spring 409 and pressure control, generating suction through their top adsorption holes. Each positioning head 410 adaptively adjusts its height according to the curvature of the lower surface of the component (via the lifting and lowering of the telescopic rod 407 and the piston plate 406), achieving large-area, multi-point flexible adsorption and support. Pressure sensors provide feedback on the contact pressure, ensuring stable adsorption without damaging the workpiece. Simultaneously, the clamping and positioning component 403 in the end positioning area is activated. The positioning frame 412 slides along the guide groove 404 and is adjusted to a suitable position on the side of the workpiece. The lifting platform 413 drives the rotating sleeve 414 to rise and fall, aligning the two sets of clamping rollers 411 with the workpiece clamping area. The double-headed telescopic rod moves, driving the upper and lower bending rods 416 to move the clamping rollers 411 towards each other, gently clamping the edge of the workpiece from above and below. The clamping rollers 411 can be passively rotated to fine-tune the workpiece position; Finally, the clamping airbag 415 inflates and applies a balanced clamping force from both sides of the workpiece. Together with the bottom adsorption force of the adsorption positioning component 402 and the upper and lower clamping force of the clamping roller 411, it forms a stable "U"-shaped three-dimensional clamping system, which effectively suppresses welding deformation. S3, the function of cleaning box 2: If the workpiece needs to be cleaned before welding, the control system drives the positioning structure 4 that carries the workpiece to move horizontally along the rotating frame 3, and at the same time controls the clamping roller 411 of the clamping positioning component 403 to rotate slowly, so as to smoothly send the workpiece into the cleaning chamber of the cleaning box 2 on one side. Inside the cleaning chamber, the nozzle holder 204 sprays a specific chemical solvent (targeting contaminants such as grease and rust) onto the workpiece surface. Simultaneously, the cleaning roller 203, driven by a motor, rotates and moves along or around the workpiece surface, physically wiping the absorbent layer on its surface to enhance the cleaning effect. A liquid barrier 206 prevents liquid spillage. After cleaning, the heating layer is activated to heat the workpiece, accelerating the evaporation of solvent and residual moisture, and allowing the workpiece to enter a dry state. During the cleaning process, the small rotation of the rotating frame 3 can be used to ensure that all surfaces of the workpiece are thoroughly cleaned. While the workpiece on one positioning structure 4 is being cleaned, the other positioning structure 4 can load a new workpiece or perform welding, improving equipment utilization. S4. Welding frame positioning and weld seam location: After the workpiece is cleaned, dried and returned to the welding station, the welding frame 6 moves horizontally along the guide rail 5 so that its annular frame 601 fits over the positioned workpiece group; the welding sensor group 602 (especially the vision sensor unit) is activated to perform a 360-degree scan of the space inside the annular frame 601, identify the precise position, shape and direction of the workpiece to be welded, and feed the data back to the control system to generate or optimize the welding path; S5. The linkage between rotating frame 3 and welding frame 6: The control system plans the compound motion of rotating frame 3 (driving the workpiece) and welding frame 6 (driving the welding gun) according to the weld position and welding process. Basic mode: The welding frame 6 is fixed or slowly moves on the guide rail 5, and the multi-joint robotic arm 702 moves along the circular track 603. At the same time, the rotating frame 3 performs precise rotation indexing according to instructions, rotating different sections of the weld seam sequentially to the most suitable angle for the arc welding machine 703 to perform welding; Collaborative mode: For long straight seams or complex spatial curve welds, the welding frame 6 moves synchronously along the guide rail 5 and the weld direction, and the multi-joint robotic arm 702 performs fine tracking and fine adjustment. At the same time, the rotating frame 3 may rotate in coordination to keep the weld in a flat welding or optimal welding position, realizing the collaborative operation of "workpiece turns, welding gun moves". Dual-robot collaboration: The two arc welding robot bodies 7 can be programmed independently and simultaneously weld both sides of a weld seam or two different weld seams, greatly improving efficiency; they can also work together, one as the master and one as the slave, to complete special processes. During the welding process, the arc sensor unit monitors the arc status in real time and dynamically adjusts parameters such as current and voltage; the anti-collision sensor unit ensures safety; after the smoke generated during welding is detected by the smoke sensor unit in the welding sensor group 602, the nearest smoke adsorption port (located in the annular adsorption area 604) is immediately activated to remove the smoke in time, keeping the welding area clear and the environment clean. S6. After welding is completed, the arc welding machine 703 is retracted, and the welding frame 6 is removed. The clamping airbag 415 on the positioning structure 4 is deflated, the clamping positioning component 403 is released, and the negative pressure in the multi-point positioning area is released. The rotating frame 3 can be rotated to an angle that facilitates unloading, and the operator or robot arm removes the welded assembly. The equipment returns to its initial position, ready for the next work cycle.

[0040] The embodiments of the present invention have been described in detail above with reference to the accompanying drawings. However, the present invention is not limited thereto. Various changes can be made within the scope of knowledge possessed by those skilled in the art without departing from the spirit of the present invention.

Claims

1. An arc welding robot for processing automotive parts, characterized in that, include: The base (1) has cleaning boxes (2) at both ends; each of the two sets of cleaning boxes (2) has a cleaning chamber that acts on the automotive parts and has opposite openings; a guide rail (5) and a rotating frame (3) are also provided between the two sets of cleaning boxes (2). Positioning structure (4) is set on rotating frame (3). On the one hand, it rotates synchronously with rotating frame (3), and on the other hand, it moves along rotating frame (3). Positioning structure (4) is set with two positioning stations, one above the other. Each positioning station is set with a multi-point positioning area in the middle and an end positioning area in the outer periphery. The welding frame (6) is fitted outside the rotating frame (3) and moves between the two sets of cleaning boxes (2) via the guide rail (5). The movement trajectory of the welding frame (6) is consistent with the movement trajectory of the positioning structure (4). The welding frame (6) is equipped with a welding sensor group (602). And the arc welding robot body (7), which includes a multi-joint robotic arm (702) that moves along a circular trajectory along the welding frame (6) and an arc welding machine (703) located at the end of the multi-joint robotic arm (702). The positioning structure (4) is provided in two sets, which are independently sliding on the rotating frame (3), and the sliding direction is parallel to the guide rail (5); the positioning structure (4) includes a positioning seat (401) that is slidably connected to the rotating frame (3); the two positioning stations are respectively set at the top and bottom of the positioning seat (401); Multiple sets of adsorption positioning elements (402) are provided on the multi-point positioning area; The end positioning area is located on the front and rear sides of the multi-point positioning area, and is provided with two sets of clamping positioning members (403) that can move along the sliding direction of the positioning structure (4). The adsorption positioning component (402) includes mounting grooves (405) arranged in a matrix; a piston plate (406) is provided in the mounting groove (405) and its lifting is controlled by a pressure regulating device; a cover plate (408) is provided on the opening of the mounting groove (405); one end of the telescopic rod (407) extends into the mounting groove (405) and is connected to the piston plate (406), and the other end slides out of the cover plate (408), and a positioning head (410) is provided at the end; a return spring (409) is provided between the piston plate (406) and the cover plate (408); the positioning head (410) is provided with an adsorption hole connected to a negative pressure device and a pressure sensor.

2. The arc welding robot for automotive parts processing according to claim 1, characterized in that, The base (1) includes a sliding seat (101) located in the middle and support seats (103) located at both ends of the sliding seat (101); The cleaning box (2) is fixedly mounted on the support base (103); The welding frame (6) is slidably set on the sliding seat (101) and reciprocates between the two sets of support seats (103).

3. The arc welding robot for automotive parts processing according to claim 1, characterized in that, The cleaning box (2) includes a box body (201); the box body (201) is divided into two cleaning chambers, one above the other, by a partition (202); each cleaning chamber is provided with a cleaning roller (203) that moves up and down and rotates at the origin; an absorption layer is provided on the periphery of the cleaning roller (203); Each cleaning chamber is equipped with a nozzle frame (204) that sprays water towards the absorbent layer and a heating layer that acts on automotive parts; Each cleaning chamber is equipped with a liquid-blocking plate (206) at the bottom.

4. The arc welding robot for automotive parts processing according to claim 3, characterized in that, A mounting plate (8) is provided on the side wall of the cleaning box (2); a guide rail (5) is mounted on the mounting plate (8); The welding frame (6) includes an annular frame (601); a slider that moves horizontally along the guide rail (5) is provided on the outer wall of the annular frame (601), and an annular track (603) is provided on the side walls of the cleaning boxes (2) on both sides. The arc welding robot body (7) is set in two sets, one in front and one behind, each including an electrically controlled slide (701) that moves along the corresponding side ring track (603); the multi-joint robotic arm (702) is rotatably mounted on the electrically controlled slide (701); The welding sensor group (602) is arranged in a ring along the inner wall of the ring frame (601).

5. The arc welding robot for automotive parts processing according to claim 4, characterized in that, The welding sensor assembly (602) includes a vision sensor unit, an arc sensor unit, an anti-collision sensor unit, and a smoke sensor unit.

6. The arc welding robot for automotive parts processing according to claim 5, characterized in that, The inner wall of the ring frame (601) is provided with an annular adsorption area (604) located on both sides of the welding sensor group (602); the annular adsorption area (604) is composed of multiple smoke adsorption ports.

7. The arc welding robot for automotive parts processing according to claim 4, characterized in that, The rotating frame (3) is frame-shaped, with both ends passing through the ring frame (601) and rotatably connected to the partition (202) on the corresponding side.

8. The arc welding robot for automotive parts processing according to claim 1, characterized in that, The positioning seat (401) is provided with guide grooves (404) located on both sides of the multi-point positioning area; the clamping positioning component (403) includes two sets of positioning frames (412) that slide along the guide grooves (404); each of the two sets of positioning frames (412) is provided with a lifting platform (413) that moves up and down; a rotating sleeve (414) is provided on the opposite ends of the two sets of lifting platforms (413); a double-headed telescopic rod is provided on the rotating sleeve (414); a bent rod (416) is provided on the upper and lower telescopic ends of the double-headed telescopic rod; the clamping rollers (411) are configured as two sets that can rotate and are parallel, respectively located between the upper and lower pairs of bent rods (416); The rotating sleeve (414), the bending rod (416), and the clamping roller (411) form a U-shaped clamping and positioning structure.

9. The arc welding robot for automotive parts processing according to claim 8, characterized in that, Two sets of rotating sleeves (414) are provided with clamping airbags (415) controlled by an air pump on opposite ends.

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