Multifunctional adjustable laser welding workbench and working method thereof

Abstract

The invention relates to a multifunctional adjustable laser welding workbench and a working method thereof.The multifunctional adjustable laser welding workbench comprises cases symmetrically arranged at the two ends of a connecting base, lifting bins are formed in the cases, gear boxes are slidably installed in the lifting bins, rotating bases are rotatably installed at the output ends of the gear boxes, and a rotating frame is slidably installed between the two rotating bases; clamping plates are slidably mounted at the two ends of the inner side of the rotating frame, limiting insertion plates are symmetrically arranged on the inner sides of the clamping plates, and a plurality of adsorption plates are detachably mounted at the two ends of the bottom side of the rotating frame at equal intervals; an integrated intelligent operation platform integrates workpiece clamping, three-dimensional scanning, weld joint recognition, dynamic balance weight and multi-angle posture adjustment, whole-process automation and intelligentization of preparation before welding and high-precision self-adaptive clamping and positioning are achieved, tools and workpieces of different sizes can be rapidly and accurately clamped through cooperation of a clamping plate and a limiting insertion plate, and the welding quality is improved. And through combination of three-dimensional scanning and model matching, automatic identification and positioning of a welding seam position are realized.

Description

Technical Field

[0001] This invention relates to the field of laser welding equipment technology, and in particular to a multifunctional adjustable laser welding worktable and its working method. Background Technology

[0002] In the field of laser welding, especially for welding irregularly shaped, large or precision components, the requirements for workpiece positioning accuracy, posture adjustment capability and welding process stability are extremely high.

[0003] Traditional welding fixtures or turntables are limited in function, typically offering only simple rotation or clamping capabilities, making them ill-suited for the multi-angle welding requirements of complex workpieces. Specifically, they suffer from the following problems: First, after the workpiece is clamped, its center of gravity may deviate from the rotation axis, causing vibration or uneven loading during turntable rotation, affecting welding accuracy and equipment lifespan. Second, they lack rapid scanning of the workpiece's three-dimensional morphology and automatic weld seam recognition, relying on manual teaching or offline programming, which is inefficient and prone to errors. Third, their attitude adjustment dimensions are limited, making it difficult to achieve precise workpiece positioning at any angle in space. Fourth, the fixtures have poor versatility, making changeover adjustments time-consuming and labor-intensive. Summary of the Invention

[0004] The present invention addresses the problem of providing a multifunctional adjustable laser welding worktable and its working method, thereby solving the technical problems of existing welding fixtures having limited functions, inconvenient adjustment, inability to automatically balance, and lack of intelligent scanning and positioning.

[0005] To achieve the above objectives, the present invention adopts the following technical solution: A multifunctional adjustable laser welding worktable includes a chassis symmetrically arranged at both ends of a connecting seat. A lifting chamber is opened within the chassis, and a gearbox is slidably installed within the lifting chamber. A rotating base is rotatably installed at the output end of the gearbox. A rotating frame is slidably installed between two rotating bases. Clamping plates are slidably installed at both ends of the inner side of the rotating frame. Limiting plates are symmetrically arranged on the inner side of the clamping plates. Several adsorption plates are detachably installed at equal intervals at both ends of the bottom side of the rotating frame. Several counterweight cylinders are installed at equal intervals on the bottom side of the adsorption plates. A piston is installed inside each counterweight cylinder. The bottom side of each counterweight cylinder is connected to a support pipe via a control valve. The support pipe is connected to a liquid pump via a connecting hose. A transverse beam is slidably installed between the two gearboxes. A slider is slidably installed on the bottom side of the transverse beam, and a scanner is installed on the bottom side of the slider.

[0006] Preferably, the lifting chamber has lifting slots on both sides, a first motor is installed on the chassis, and a first threaded rod is installed at the output end of the first motor inside the lifting slot. The first threaded rod is threadedly connected to the gearbox.

[0007] Preferably, a second motor is mounted on the gearbox, and the output end of the second motor is connected to the input end of the gearbox.

[0008] Preferably, the rotating base has an adjustment groove, a third motor is installed inside the rotating base, and a second threaded rod is installed at the output end of the third motor in the adjustment groove. The second threaded rod is threadedly connected to the end of the rotating frame, and the rotating frame is slidably installed on the slide rail on the rotating base.

[0009] Preferably, the rotating frame has side grooves on both sides inside, and a threaded bidirectional rod is rotatably installed in the side groove. The two ends of the threaded bidirectional rod have opposite thread directions, and the two ends of the threaded bidirectional rod are respectively threaded to the end of the clamping plate.

[0010] Preferably, the ends of the two threaded bidirectional rods are equipped with synchronous pulleys inside the rotating frame, and the two synchronous pulleys are connected by a synchronous belt drive, with one of the synchronous pulleys connected to the output end of the fourth motor.

[0011] Preferably, the connecting seat has several limiting grooves adapted to the adsorption plate, and an electromagnet is installed inside the adsorption plate.

[0012] Preferably, a transverse groove is horizontally opened on the inner side of the gearbox, a fifth motor is installed in the gearbox, and a third threaded rod is installed at the output end of the fifth motor in the transverse groove. The third threaded rod is threadedly connected to the end of the transverse beam.

[0013] Preferably, a bottom groove is provided on the bottom side of the transverse beam, a sixth motor is installed inside the transverse beam, and a fourth threaded rod is installed at the output end of the sixth motor in the bottom groove, and the fourth threaded rod is threadedly connected to the slider.

[0014] A method for operating a multifunctional adjustable laser welding worktable, the specific operating steps of which are as follows: Step 1: Fix the workpiece to the fixture, place the fixture on the connecting seat, start the first motor to drive the first threaded rod to rotate, and drive the threaded connected machine box to rise and fall smoothly in the lifting chamber, thereby adjusting the overall height of the workpiece. First, lower the rotating frame to the connecting seat. At this time, the fixture is located in the rotating frame and the adsorption plate is in contact with the rotating frame. Start the fourth motor and drive the two synchronous pulleys to rotate synchronously through the synchronous belt. The synchronous pulleys drive the two threaded bidirectional rods to rotate synchronously. Since the thread directions at both ends of the threaded bidirectional rods are opposite and are threadedly connected to the two clamping plates respectively, the two clamping plates will face each other in the side groove. The limiting plate on the inner side of the clamping plate is inserted into the limiting groove at the end of the fixture until the clamping plate contacts the end of the fixture, thereby realizing the clamping and limiting of the fixture and the workpiece. At the same time, the electromagnet is energized and adsorbs the rotating frame, adsorbing and fixing the adsorption plate to the bottom side of the rotating frame. Step 2: After the rotating frame drives the tooling to rise, the fifth motor drives the third threaded rod to rotate, so that the transverse beam moves laterally along the transverse groove. The sixth motor drives the fourth threaded rod to rotate, so that the slider moves longitudinally along the bottom groove. The scanner scans the surface of the welded workpiece to obtain high-precision point cloud data. The actual workpiece model obtained by scanning is matched with the CAD theoretical model. The weld position is automatically identified, and the robot welding path is generated or corrected. The scanner actually scans to obtain the three-dimensional mass distribution model of the welded workpiece and calculates the magnitude and direction of the unbalanced torque. The liquid pump pumps the counterweight liquid into the designated counterweight cylinder through the support pipe and connecting hose, and pushes the piston to rise. By injecting different amounts of liquid into multiple counterweight cylinders at different positions as needed, the unbalanced torque of the welded workpiece is offset. The third motor starts and drives the second threaded rod to rotate, so that the rotating frame slides along the slide rail on the rotating seat within the adjustment groove range. The height of the welded workpiece is adjusted on the rotating seat (8), and the center of the welded workpiece is matched with the center of the rotating seat. Step 3: The second motor starts, and the power is input to the gearbox. The gearbox outputs power to the rotary table, driving the rotary table and the entire rotating frame and welding workpiece to rotate precisely around the horizontal axis. After locking, the required welding angle can be obtained, and the welding work is completed. The rotating frame descends until the fixture is once again on the connecting seat. At this time, the adsorption plate and the counterweight cylinder are located in the limit groove. After the electromagnet is de-energized, the two clamping plates move in opposite directions and separate from the fixture. After the rotating frame moves up, the welded fixture is taken out.

[0015] The beneficial effects of this invention are: Integrated intelligent operation platform: It integrates workpiece clamping, 3D scanning, weld recognition, dynamic counterweight, and multi-angle posture adjustment, realizing full automation and intelligence of pre-welding preparation; High-precision adaptive clamping and positioning: Through the coordination of clamping plates and limiting plates, tooling and workpieces of different sizes can be clamped quickly and accurately. Combined with 3D scanning and model matching, automatic identification and positioning of weld positions can be achieved. Dynamic hydraulic balancing technology: Based on the three-dimensional mass distribution of the workpiece obtained by scanning, liquid is intelligently injected into multiple counterweight cylinders to balance the eccentric torque caused by the asymmetry of the workpiece in real time and accurately, ensuring the smooth rotation of the turntable and improving welding quality and equipment life. Multiple degrees of freedom for flexible posture adjustment: The workpiece can be raised and lowered as a whole with the rotating frame, and can be driven by the gearbox to achieve stepless rotation around the horizontal axis, easily obtaining the best welding angle; Modular and expandable design: The adsorption plate, counterweight cylinder and other components adopt a detachable modular design, which makes it easy to configure and replace them according to the characteristics of the workpiece. The transverse scanning system can operate independently and has strong functional expandability. Attached Figure Description

[0016] Figure 1 This is a schematic diagram of the overall first structure of the present invention; Figure 2 This is a schematic diagram of the overall second structure of the present invention; Figure 3 This is a schematic diagram of the internal structure of the chassis of this utility model; Figure 4 This is a cross-sectional view of the rotating frame of the present invention; Figure 5 This is a cross-sectional view of the counterweight cylinder of the present invention; Figure 6 This is a schematic diagram of the overall third structure of the present invention.

[0017] Legend: 1. Chassis; 2. Lifting chamber; 3. Lifting groove; 4. First threaded rod; 5. First motor; 6. Gearbox; 7. Second motor; 8. Rotary seat; 9. Adjustment groove; 10. Third motor; 11. Second threaded rod; 12. Rotating frame; 13. Side groove; 14. Threaded bidirectional rod; 15. Clamping plate; 16. Limiting plate; 17. Synchronous pulley; 18. Synchronous belt; 19. Fourth motor; 20. Connecting seat; 21. Limiting groove; 22. Adsorption plate; 23. Electromagnet; 24. Counterweight cylinder; 25. Control valve; 26. Support tube; 27. Piston; 28. Transverse groove; 29. ​​Fifth motor; 30. Third threaded rod; 31. Transverse beam; 32. Bottom groove; 33. Sixth motor; 34. Fourth threaded rod; 35. Slider; 36. Scanner. Detailed Implementation

[0018] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0019] Specific implementation examples are given below.

[0020] See Figures 1-6 A multifunctional adjustable laser welding worktable includes a housing 1 symmetrically arranged at both ends of a connecting seat 20. A lifting chamber 2 is provided inside the housing 1, and a gearbox 6 is slidably installed inside the lifting chamber 2. Lifting grooves 3 are provided on both sides inside the lifting chamber 2. A first motor 5 is installed on the housing 1. A first threaded rod 4 is installed in the lifting groove 3 at the output end of the first motor 5. The first threaded rod 4 is threadedly connected to the gearbox 6. The first motor 5 drives the gearbox 6 to move smoothly up and down along the lifting groove 3 inside the lifting chamber 2 through the first threaded rod 4, realizing stepless and precise adjustment of the overall height of the bearing mechanism to meet the needs of workpieces of different heights or docking with different equipment.

[0021] A rotating base 8 is rotatably mounted on the output end of a gearbox 6. A second motor 7 is mounted on the gearbox 6, and the output end of the second motor 7 is connected to the input end of the gearbox 6. A rotating frame 12 is slidably mounted between the two rotating bases 8. The second motor 7 drives the rotating base 8 at its output end to rotate around a horizontal axis, providing precise circumferential angle adjustment capability for the welded workpiece. This is the core for obtaining the optimal welding angle. An adjustment groove 9 is provided on the rotating base 8, and a third motor 10 is installed inside the rotating base 8. A second threaded rod 11 is installed at the output end of the third motor 10 within the adjustment groove 9. The second threaded rod 11 is threadedly connected to the end of the rotating frame 12. The rotating frame 12 is slidably mounted on the slide rail on the rotating base 8. When the third motor 10 is started, it drives the second threaded rod 11 to rotate, causing the rotating frame 12 to slide along the slide rail on the rotating base 8 within the range of the adjustment groove 9. The height of the welded workpiece is adjusted on the rotating base 8, and the center of the welded workpiece is matched with the center of the rotating base 8.

[0022] Both ends of the inner side of the rotating frame 12 are slidably mounted with clamping plates 15. Limiting plates 16 are symmetrically arranged on the inner side of the clamping plates 15. Side grooves 13 are opened on both sides of the interior of the rotating frame 12. Threaded bidirectional rods 14 are rotatably mounted within the side grooves 13. The threads at both ends of the threaded bidirectional rods 14 have opposite directions, and both ends of the threaded bidirectional rods 14 are threadedly connected to the ends of the clamping plates 15. Synchronous pulleys 17 are mounted at the ends of the two threaded bidirectional rods 14 within the rotating frame 12. The two synchronous pulleys 17 are connected by a synchronous belt 18. One of the synchronous pulleys... 17 is connected to the output end of the fourth motor 19. The fourth motor 19 drives the two threaded bidirectional rods 14 to rotate synchronously through the synchronous belt 18. Since the threads are opposite, the two clamping plates 15 are driven to move synchronously in opposite directions or back directions in the side groove 13, realizing automatic centering and clamping of the tooling. The clamping force is uniform. The end face of the clamping plate 15 provides the main clamping force. The inner limit plate 16 can be inserted into the pre-made hole of the tooling to form a mechanical interlock, which effectively prevents the workpiece from moving axially or circumferentially when rotating or vibrating, and the positioning is reliable.

[0023] Several adsorption plates 22 are detachably and equally spaced at both ends of the bottom side of the rotating frame 12. Several counterweight cylinders 24 are equally spaced on the bottom side of the adsorption plates 22. A piston 27 is installed inside the counterweight cylinder 24. The bottom side of the counterweight cylinder 24 is connected to the support pipe 26 through the control valve 25. The support pipe 26 is connected to the liquid pump through the connecting hose. Several limiting grooves 21 adapted to the adsorption plates 22 are opened on the connecting seat 20. An electromagnet 23 is installed inside the adsorption plate 22. The adsorption plate 22 and the multiple counterweight cylinders 24 on it constitute a detachable and configurable counterweight module. The user can initially configure it according to the estimated imbalance of the workpiece. The counterweight position and quantity offer high flexibility. Based on the precise mass distribution data of the workpiece acquired by the scanner 36, the liquid pump injects a specific amount of liquid into one or more designated counterweight cylinders 24 through the support pipe 26 and control valve 25, driving the piston 27 to generate a precise counterweight torque, achieving high-precision, digital dynamic balance. This is a key innovation to ensure the smooth rotation of heavy-duty eccentric workpieces. The electromagnet 23 enables the rapid engagement and disengagement of the adsorption plate 22 and the rotating frame 12, facilitating replacement. The limiting groove 21 on the connecting seat 20 ensures that the counterweight module is accurately positioned and stored when not in operation or during transportation.

[0024] A transverse beam 31 is slidably mounted between two gearboxes 6. A transverse groove 28 is horizontally opened on the inner side of the gearbox 6. A fifth motor 29 is installed inside the gearbox 6. A third threaded rod 30 is installed in the transverse groove 28 at the output end of the fifth motor 29. The third threaded rod 30 is threadedly connected to the end of the transverse beam 31. A slider 35 is slidably mounted on the bottom side of the transverse beam 31. A scanner 36 is installed on the bottom side of the slider 35. A bottom groove 32 is opened on the bottom side of the transverse beam 31. A sixth motor 33 is installed inside the transverse beam 31. A fourth threaded rod 34 is installed in the bottom groove 32 at the output end of the sixth motor 33. The fourth threaded rod 34 is threadedly connected to the slider 35. The fifth motor 29 is connected to the third threaded rod 36. Rod 30 drives transverse beam 31 to move laterally along transverse groove 28; sixth motor 33 drives slider 35 and scanner 36 to move longitudinally along bottom groove 32 via fourth threaded rod 34. The combination of the two enables scanner 36 to achieve full-area, no-dead-angle two-dimensional precision scanning coverage of the workpiece surface below. High-precision three-dimensional scanning data is the basis for subsequent automatic weld seam identification, path planning and workpiece three-dimensional quality distribution calculation, and is a prerequisite for realizing intelligent welding. The scanning structure is installed on independent transverse beam 31, and its movement does not interfere with the lifting, rotation and posture adjustment of the workpiece. It can perform flexible scanning before, during and after the workpiece posture adjustment, and the process arrangement is more reasonable.

[0025] Working principle: The workpiece is fixed on the fixture, and the fixture is placed on the connecting seat 20. The first motor 5 is started, driving the first threaded rod 4 to rotate, which drives the threaded connected housing 1 to rise and fall smoothly in the lifting chamber 2, thereby adjusting the overall height of the workpiece. First, the rotating frame 12 is lowered to the connecting seat 20. At this time, the fixture is located inside the rotating frame 12, and the adsorption plate 22 is in contact with the rotating frame 12. The fourth motor 19 is started, and the synchronous belt 18 drives the two synchronous pulleys 17 to rotate synchronously. The synchronous pulleys 17 drive the two threaded bidirectional rods 14 to rotate synchronously. Since the thread directions at both ends of the threaded bidirectional rods 14 are opposite and are threadedly connected to the two clamping plates 15 respectively, the two clamping plates 15 will face each other in the side groove 13. The limiting insert 16 on the inner side of the clamping plate 15 is inserted into the limiting groove 21 at the end of the fixture until the clamping plate 15 contacts the end of the fixture, thereby achieving clamping and limiting of the fixture and the workpiece. At the same time, the electromagnet 23 is energized and adsorbs the rotating frame 12, adsorbing and fixing the adsorption plate 22 to the bottom side of the rotating frame 12. After the rotating frame 12 drives the tooling to rise, the fifth motor 29 drives the third threaded rod 30 to rotate, causing the transverse beam 31 to move laterally along the transverse groove 28. The sixth motor 33 drives the fourth threaded rod 34 to rotate, causing the slider 35 to move longitudinally along the bottom groove 32. The scanner 36 scans the surface of the welded workpiece to obtain high-precision point cloud data. The actual workpiece model obtained by scanning is matched with the CAD theoretical model to automatically identify the weld position and generate or correct the robot welding path. The scanner 36 actually scans to obtain the three-dimensional mass distribution model of the welded workpiece and calculates the magnitude and direction of the unbalanced torque. The liquid pump pumps the counterweight liquid into the designated counterweight cylinder 24 through the support pipe 26 and the connecting hose, pushing the piston 27 to rise. By injecting different amounts of liquid into multiple counterweight cylinders 24 at different positions as needed, the unbalanced torque of the welded workpiece is offset. The third motor 10 starts and drives the second threaded rod 11 to rotate, causing the rotating frame 12 to slide along the slide rail on the rotating seat 8 within the range of the adjustment groove 9. The height of the welded workpiece is adjusted on the rotating seat 8, and the center of the welded workpiece is adjusted to match the center of the rotating seat 8. The second motor 7 starts, and the power is input to the gearbox 6. The gearbox 6 outputs power to the rotating base 8, driving the rotating base 8 and the entire rotating frame 12 it carries, as well as the welding workpiece, to rotate precisely around the horizontal axis. After locking, the required welding angle can be obtained, and the welding work is completed. The rotating frame 12 descends until the tooling is once again located on the connecting seat 20. At this time, the adsorption plate 22 and the counterweight cylinder 24 are located in the limiting groove 21. After the electromagnet 23 is de-energized, the two clamping plates 15 move in opposite directions and separate from the tooling. After the rotating frame 12 moves up, the welded tooling is taken out.

[0026] The above description is only a preferred embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any equivalent substitutions or modifications made by those skilled in the art within the scope of the technology disclosed in the present invention, based on the technical solution and inventive concept of the present invention, should be covered within the scope of protection of the present invention.

Claims

1. A multifunctional adjustable laser welding worktable, characterized in that, The system includes a chassis (1) symmetrically arranged at both ends of a connecting seat (20). A lifting chamber (2) is provided inside the chassis (1). A gearbox (6) is slidably installed inside the lifting chamber (2). A rotating seat (8) is rotatably installed at the output end of the gearbox (6). A rotating frame (12) is slidably installed between the two rotating seats (8). Clamping plates (15) are slidably installed at both ends of the inner side of the rotating frame (12). Limiting plates (16) are symmetrically arranged on the inner side of the clamping plates (15). A series of detachable mounting plates are equidistantly installed at both ends of the bottom side of the rotating frame (12). A number of adsorption plates (22) are provided, and a number of counterweight cylinders (24) are installed at equal intervals on the bottom side of the adsorption plates (22). A piston (27) is installed inside the counterweight cylinder (24). The bottom side of the counterweight cylinder (24) is connected to the support pipe (26) through a control valve (25). The support pipe (26) is connected to the liquid pump through a connecting hose. A transverse beam (31) is slidably installed between the two gearboxes (6). A slider (35) is slidably installed on the bottom side of the transverse beam (31). A scanner (36) is installed on the bottom side of the slider (35).

2. The multifunctional adjustable laser welding worktable according to claim 1, characterized in that, The lifting chamber (2) has lifting slots (3) on both sides inside. A first motor (5) is installed on the chassis (1). The output end of the first motor (5) is located in the lifting slot (3) and a first threaded rod (4) is installed. The first threaded rod (4) is threadedly connected to the gearbox (6).

3. The multifunctional adjustable laser welding worktable according to claim 2, characterized in that, A second motor (7) is installed on the gearbox (6), and the output end of the second motor (7) is connected to the input end of the gearbox (6).

4. The multifunctional adjustable laser welding worktable according to claim 3, characterized in that, The rotating base (8) is provided with an adjustment groove (9), and a third motor (10) is installed inside the rotating base (8). The output end of the third motor (10) is located inside the adjustment groove (9) and a second threaded rod (11) is installed. The second threaded rod (11) is threadedly connected to the end of the rotating frame (12), and the rotating frame (12) is slidably installed on the slide rail on the rotating base (8).

5. A multifunctional adjustable laser welding worktable according to claim 4, characterized in that, The rotating frame (12) has side grooves (13) on both sides inside. A threaded bidirectional rod (14) is rotatably installed in the side groove (13). The two ends of the threaded bidirectional rod (14) have opposite thread directions, and the two ends of the threaded bidirectional rod (14) are respectively threaded to the end of the clamping plate (15).

6. A multifunctional adjustable laser welding worktable according to claim 5, characterized in that, The ends of the two threaded bidirectional rods (14) are equipped with synchronous pulleys (17) inside the rotating frame (12). The two synchronous pulleys (17) are connected by a synchronous belt (18), and one of the synchronous pulleys (17) is connected to the output end of the fourth motor (19).

7. A multifunctional adjustable laser welding worktable according to claim 6, characterized in that, The connecting seat (20) has several limiting grooves (21) adapted to the adsorption plate (22), and an electromagnet (23) is installed inside the adsorption plate (22).

8. A multifunctional adjustable laser welding worktable according to claim 7, characterized in that, The gearbox (6) has a horizontal groove (28) on its inner side. A fifth motor (29) is installed inside the gearbox (6). The output end of the fifth motor (29) is located in the horizontal groove (28) and a third threaded rod (30) is installed thereon. The third threaded rod (30) is threadedly connected to the end of the transverse beam (31).

9. A multifunctional adjustable laser welding worktable according to claim 8, characterized in that, The bottom side of the transverse beam (31) is provided with a bottom groove (32), and a sixth motor (33) is installed in the transverse beam (31). The output end of the sixth motor (33) is located in the bottom groove (32) and a fourth threaded rod (34) is installed therein, and the fourth threaded rod (34) is threadedly connected to the slider (35).

10. The working method of a multifunctional adjustable laser welding worktable according to claim 9, characterized in that, The specific operational steps of this working method are as follows: Step 1: Fix the workpiece to the fixture, place the fixture on the connecting seat (20), start the first motor (5), drive the first threaded rod (4) to rotate, and drive the threaded connection housing (1) to rise and fall smoothly in the lifting chamber (2), thereby adjusting the overall height of the workpiece. First, lower the rotating frame (12) to the connecting seat (20). At this time, the fixture is located in the rotating frame (12), and the adsorption plate (22) is in contact with the rotating frame (12). Start the fourth motor (19), and drive the two synchronous pulleys (17) to rotate synchronously through the synchronous belt (18). The synchronous pulleys (17) drive the two synchronous pulleys (17) to rotate synchronously. The threaded bidirectional rod (14) rotates synchronously. Since the threads at both ends of the threaded bidirectional rod (14) are opposite and are threadedly connected to the two clamping plates (15) respectively, the two clamping plates (15) will face each other in the side groove (13). The limiting plate (16) on the inner side of the clamping plate (15) is inserted into the limiting groove (21) at the end of the tooling until the clamping plate (15) contacts the end of the tooling, thereby achieving clamping and limiting of the tooling and the welded workpiece. At the same time, the electromagnet (23) is energized and adsorbs the rotating frame (12), adsorbing and fixing the adsorption plate (22) to the bottom side of the rotating frame (12). Step 2: After the rotating frame (12) drives the tooling to rise, the fifth motor (29) drives the third threaded rod (30) to rotate, causing the transverse beam (31) to move laterally along the transverse groove (28). The sixth motor (33) drives the fourth threaded rod (34) to rotate, causing the slider (35) to move longitudinally along the bottom groove (32). The scanner (36) scans the surface of the welded workpiece to obtain high-precision point cloud data. The actual workpiece model obtained by scanning is matched with the CAD theoretical model to automatically identify the weld position and generate or correct the robot welding path. The scanner (36) actually scans to obtain the three-dimensional mass distribution of the welded workpiece. The model calculates the magnitude and direction of the unbalanced torque. The liquid pump pumps the counterweight liquid into the designated counterweight cylinder (24) through the support pipe (26) and connecting hose, pushing the piston (27) to rise. By injecting different amounts of liquid into multiple counterweight cylinders (24) at different positions as needed, the unbalanced torque of the welded workpiece is offset. The third motor (10) starts and drives the second threaded rod (11) to rotate, causing the rotating frame (12) to slide along the slide rail on the rotating seat (8) within the range of the adjustment groove (9). The height of the welded workpiece is adjusted on the rotating seat (8), and the center of the welded workpiece is adjusted to match the center of the rotating seat (8). Step 3: The second motor (7) starts, and the power is input to the gearbox (6). The gearbox (6) outputs power to the rotating seat (8), driving the rotating seat (8) and the entire rotating frame (12) and the welding workpiece to rotate precisely around the horizontal axis. After locking, the required welding angle can be obtained, and the welding work is completed. The rotating frame (12) descends to the tooling and is located on the connecting seat (20) again. At this time, the adsorption plate (22) and the counterweight cylinder (24) are located in the limiting groove (21). After the electromagnet (23) is de-energized, the two clamping plates (15) move in opposite directions and separate from the tooling. After the rotating frame (12) moves up, the welded tooling is taken out.

Images