A robot welding worktable and control method suitable for H-shaped steel

Abstract

The application discloses a robot welding workbench and control method suitable for H-shaped steel, and belongs to the technical field of equipment processing. The workbench comprises a pre-processing module provided with a hoisting unit and a base placing plate, can standardize the work site, and reduce the influence of the work process on the environment; side-by-side placing modules, each of which is provided with a sliding rail, an end placing table and an H-shaped steel clamp; a welding robot arranged between the placing modules, which can realize alternate work and improve efficiency; the pre-processing module is arranged behind the end placing table, which can facilitate the rapid delivery of the to-be-welded base to the end placing table for processing; the base placing plate is used for placing the to-be-welded base, the hoisting unit is used for placing the to-be-welded base and hoisting the already spot-welded base to the end placing table; the end placing table is provided with a fixture for fixing the base, the H-shaped steel clamp is used for fixing the H-shaped steel, and the end placing table and / or the H-shaped steel clamp are arranged on the sliding rail and can be changed and fixed in position; the welding robot has high welding efficiency.

Description

Technical Field

[0001] This invention relates to the field of equipment processing technology, and in particular to a robotic welding workbench and control method suitable for H-beams. Background Technology

[0002] H-beams are widely used as building materials. To improve stability, a base is installed at the bottom of the H-beam for fixing. Due to different actual needs, H-beams and bases are not produced together from the beginning, but need to be assembled and welded later before they can be used.

[0003] Welding generates waste, which pollutes the environment and is difficult to clean. Furthermore, H-beams are heavy, making vertical processing risky and inconvenient. Summary of the Invention

[0004] This invention proposes a robotic welding workbench and control method suitable for H-beams to solve the problems of high risk and pollution in existing welding operations.

[0005] To achieve the above objectives, the technical solution adopted by the present invention is as follows:

[0006] A robotic welding workbench for H-beams includes: a pre-processing module equipped with a lifting unit and a base placement plate; two adjacent placement modules, each equipped with a slide rail, an end placement platform, and an H-beam clamp; a welding robot positioned between the placement modules; the pre-processing module being located behind the end placement platform; the base placement plate for placing a base to be welded, the lifting unit for placing the base to be welded and hoisting a pre-spot-welded base to the end placement platform; the end placement platform being equipped with a clamp for fixing the pre-spot-welded base, the H-beam clamp for fixing the H-beam to be fully welded, the end placement platform and / or the H-beam clamp being mounted on the slide rail and allowing for position changes and fixation; and the welding robot for performing spot welding and full welding of the base.

[0007] Furthermore, the base placement plate is provided with an L-shaped baffle to restrict the position of the base to be welded; the base placement plate is provided with a retractable first positioning column group and a corresponding pressure sensor group to position and fix the base to be welded; the base placement plate is provided with a weighing device, and the base to be welded is provided with a through hole; the welding robot performs corresponding welding according to the values ​​output by the pressure sensor group and / or the weighing device.

[0008] Furthermore, the H-beam clamp is equipped with a corresponding steering controller for controlling the rotation of the H-beam to be fully welded; correspondingly, the welding robot is used to perform corresponding welding according to the rotation angle signal output by the steering controller; and to perform corresponding welding on another placement module according to the rotation signal output by the steering controller of the currently placed module.

[0009] Furthermore, the welding robot is also used to output welding signals; correspondingly, the steering controller is also used to control the H-beam to be fully welded to rotate according to the welding signals.

[0010] Furthermore, the H-beam clamp includes: an arc-shaped placement groove with a roller assembly; a C-shaped structure with a strip opening for placing the H-beam to be fully welded, and a side protrusion matching the roller assembly on the side; the roller assembly is used to contact the side protrusion and the edge of the C-shaped structure on both sides to restrict the position of the C-shaped structure and drive it to rotate.

[0011] Furthermore, the placement module is provided with at least two H-beam steel clamps; wherein, at least one of the H-beam steel clamps has teeth on its side protrusions, the corresponding roller group has gears, and the arc-shaped placement groove has a corresponding transmission motor; the end placement platform includes: a main body, including a vertical machining surface with a limit baffle, a second positioning column group and a corresponding second telescopic structure, a support part with a buffer structure and a pressure sensor, and an electromagnetic structure for adsorbing the base to be welded; a bottom connecting structure, including a connecting structure connecting the main body and a sliding component; and an auxiliary functional structure, including a power component for connecting the first... The telescopic structure and the driving component of the sliding assembly; the limiting baffle, including a fixed baffle at the bottom and movable baffles on the left and right sides; wherein, the movable baffle is provided with an inclined surface for clamping; the support part includes a metal frame, an outer layer, and an inner support, the inner support is disposed on the metal frame to form an internal space, and the outer layer covers the metal frame to form an outer shell; the vertical processing surface is embedded on one side of the support part and connected to the buffer structure, the pressure sensor is connected to the buffer structure, and the weighing device is disposed at the bottom of the vertical processing surface; the controller of the electromagnetic structure is communicatively connected to the pressure sensor.

[0012] A robotic welding method for H-beams, and a robotic welding workbench for the aforementioned H-beams, comprising: hoisting the base to be welded onto the base placement plate via the lifting unit for spot welding; performing alternating operations via side-by-side placement modules and welding robots positioned between the placement modules to improve welding efficiency and reduce operating costs; and accommodating welding operations of H-beams of different specifications by setting the slide rails.

[0013] Furthermore, the base placement plate is equipped with a weighing device, a positioning column group, and a corresponding pressure sensor group; correspondingly, the welding robot performs corresponding welding based on the values ​​output by the weighing device and / or the pressure sensor group.

[0014] Furthermore, the welding robot is equipped with a camera to acquire images of the welding area, and based on the images, to determine the weld points and welding effect; to modify the welding parameters based on the weld points; and to stop the welding operation, continue the welding operation, and determine whether the welding result meets the standards based on the welding effect.

[0015] Furthermore, the method also includes cleaning the welded area based on the welded effect.

[0016] By adopting the above technical solution, the present invention has the following beneficial effects:

[0017] 1. This invention, through a pre-processing module equipped with a lifting unit and a base placement plate, can standardize the work site and reduce the environmental impact of the operation process; the side-by-side placement modules are each equipped with a slide rail, an end placement platform, and an H-beam clamp; the welding robot positioned between the placement modules can achieve alternating operations, improving efficiency; the pre-processing module is located behind the end placement platform, facilitating the rapid delivery of the base to be welded to the end placement platform for processing; the base placement plate is used to place the base to be welded, the lifting unit is used to place the base to be welded and to hoist the already spot-welded base to the end placement platform; the end placement platform is equipped with a clamp for fixing the already spot-welded base, the H-beam clamp is used to fix the H-beam to be fully welded, the end placement platform and / or the H-beam clamp are set on the slide rail and can be repositioned and fixed; the welding robot is used to perform spot welding and full welding of the base. Attached Figure Description

[0018] Figure 1 This is a top view of a robotic welding workbench suitable for H-beams proposed in this invention.

[0019] Figure 2 This is a top view of the head region of the robotic welding workbench proposed in this invention.

[0020] Figure 3 This is a schematic diagram of the tail area of ​​the robotic welding workbench proposed in this invention.

[0021] Figure 4 This is a front view of the head region of the robotic welding workbench proposed in this invention. Detailed Implementation

[0022] 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.

[0023] like Figures 1-4 The robotic welding workbench shown is suitable for H-beams and includes:

[0024] The pre-processing module 1 is equipped with a lifting unit 10 and a base placement plate 11; the side-by-side placement modules 2 are each equipped with a slide rail 21, an end placement platform 22, and an H-beam clamp 23; a welding robot 3 is positioned between the placement modules; the pre-processing module is located behind the end placement platform; the base placement plate is used to place the base to be welded, the lifting unit is used to place the base to be welded and to hoist the already spot-welded base to the end placement platform; the end placement platform is equipped with a clamp 221 for fixing the already spot-welded base, the H-beam clamp is used to fix the H-beam to be fully welded, the end placement platform and / or the H-beam clamp are set on the slide rail and can be repositioned and fixed; the welding robot is used to perform spot welding and full welding of the base.

[0025] H-beams are primarily used as support columns in construction, serving as structural supports for buildings. They can also function as standalone columns, such as those along roadsides. To enhance stability, a base is typically installed at the bottom of the H-beam for fixation. Due to varying practical needs, H-beams and bases are not initially manufactured together but require post-production welding before use.

[0026] The base generally consists of a metal plate and an L-shaped metal sheet, which are assembled together by welding. Because the welding method using robots (robotic arms) is more efficient, the initial base welding work uses spot welding to assemble the base, while the full welding is arranged in the later stage. This allows the welding of the base body and the welding of the base to the H-beam to be done together, which can save welding materials and improve welding efficiency.

[0027] Welding generates waste, which pollutes the environment and is difficult to clean. Furthermore, the weight of H-beams makes vertical processing risky and inconvenient. Therefore, horizontal processing can improve efficiency and reduce risk. Specifically, a mounting module is provided to place the H-beams and achieve precise positioning, improving welding accuracy. The slide rail is a sliding track composed of parallel rails, similar to train tracks; the end placement platform is the actual processing platform located at the end of the slide rail; and the H-beam clamp is used to hold the H-beams to be processed. The slide rail allows the end placement platform and H-beam clamp to move along the track, accommodating the processing needs of H-beams with different specifications. It also reduces damage to the ground caused by processing equipment and ensures that ground deformation does not cause misalignment between the end placement platform and H-beam clamp, thus preventing compromised processing accuracy.

[0028] A welding robot (welding robotic arm) can perform welding operations according to a preset program. Its specific location is between two adjacent mounting modules. Theoretically, a full weld of an H-beam (i.e., a complete weld between the H-beam and the base) can be performed by the welding robot in one operation. However, this process requires the welding robot to perform complex posture adjustments to weld each position on the H-beam / base. In practice, this operation faces problems including complex posture adjustment parameter settings, high-specification welding robots capable of performing complex postures, high hardware costs, and correspondingly high maintenance costs. Furthermore, the more complex the operation, the higher the possibility of accuracy abnormalities. Therefore, by positioning the welding robot between the mounting modules, after a certain amount of welding is completed on mounting module A, the H-beam of mounting module A can be rotated. At this time, the welding surface can be adjusted to a position / angle more suitable for the welding robot's operation, reducing the complexity of the welding operation. While the H-beam is rotating, the welding robot can then perform welding operations on the H-beam of mounting module B. In the simplest case, by placing welding robots between the mounting modules, the welding robots can easily perform welding processing on the left and right mounting modules, reducing the number of welding robots required. Although the H-beam cannot rotate and requires complex operations by welding robots, the cost is still advantageous due to the reduced number of welding robots.

[0029] The base placement plate is equipped with an L-shaped baffle to restrict the position of the base to be welded; the base placement plate is equipped with a retractable first positioning column group and a corresponding pressure sensor group to position and fix the base to be welded; the base placement plate is equipped with a weighing device, and the base to be welded is equipped with a through hole; the welding robot performs corresponding welding according to the values ​​output by the pressure sensor group and / or the weighing device.

[0030] The lifting unit includes a lifting structure and a corresponding power source, which can be a commonly used hoisting or lifting structure. In addition, the lifting unit can include a camera, and then, in conjunction with a lifting structure with high operational precision, the lifting structure can be continuously adjusted during the lifting operation to accurately place the base to be welded in the designated position. At this time, the designated position is the area with an indicator pattern drawn on the base placement plate, which can be used as the calibration coordinate for subsequent welding operations. Of course, due to cost considerations, the sophisticated lifting structure, camera, and corresponding control algorithm all require a certain cost. Therefore, the most economical method can be adopted, which is to set up an L-shaped baffle. When the lifting structure places the base to be welded on the base placement plate, the base to be welded can be pushed to the designated position by moving the L-shaped baffle. At this time, two or more L-shaped baffles can be set up to push the base to be welded to the designated position at the same time. During the pushing process, a limiting structure can be set up, such as a limiting column or a limiting groove, to achieve a certain degree of precision in pushing / stopping the operation. The structure that pushes the base to be welded can use a mechanical transmission structure, such as a cylinder type, a spring type, or an electric drive type, which is not limited to any specific method.

[0031] The base placement plate is equipped with a retractable first positioning column group and a corresponding pressure sensor group. The first positioning column group includes several retractable positioning columns. When the base to be welded is placed on the base placement plate, the positioning columns are released. Some of the positioning columns will pass through the holes on the base to be welded, while others will be blocked. At this time, the pressure sensor group associated with the positioning columns will output different pressure values, indicating whether the positioning columns are in a compressed or released state. For example, the retraction can be achieved by a spring. A pressure sensor is set at the bottom of the spring. A lifting plate is set inside the base placement plate, and the bottom of the spring is connected to the lifting plate. When the base to be welded is placed on the base placement plate, the lifting plate can be started manually, or it can be started after the L-shaped baffle has moved for a period of time. This allows the first positioning column group to rise after the base to be welded is positioned. Different welding bases have different welding positions, and the corresponding welding robots also have different control algorithms. Of course, they can be set manually, or the welding robot can load the corresponding preset control algorithm according to the values ​​output by the pressure sensor group and / or the weighing device. This way, the level of intelligence will be higher and the manual cost of setting up the operator will be reduced.

[0032] The aforementioned processes, such as the control of the lifting structure / power source, have corresponding control programs available on the market. This means the controller / chip implements the specified function based on built-in programs / code. If a more sophisticated lifting structure, camera, and corresponding control algorithm are used, more advanced code and programs are required. This is also a relatively common technology, and there are companies providing corresponding technical solutions. The movable L-shaped baffle, however, can be achieved using the most basic manual or simple chip-based method. The principle is that the simple chip outputs a level signal to start / stop the power supply to the drive structure, thus moving the L-shaped baffle. Limiting posts and grooves restrict the movement range of the L-shaped baffle. Therefore, moving the L-shaped baffle does not require complex control methods to push the base to be welded to the designated position. Of course, if cost is a concern, mature commercial technologies can be used to achieve more accurate control.

[0033] The H-beam clamp is equipped with a corresponding steering controller for controlling the rotation of the H-beam to be fully welded; correspondingly, the welding robot is used to perform corresponding welding according to the rotation angle signal output by the steering controller; and to perform corresponding welding on another placement module according to the rotation signal output by the steering controller of the currently placed module.

[0034] The steering controller, comprising a switch, battery, and auxiliary circuitry, controls the motor and, in conjunction with the corresponding motion structure, drives the H-beam clamp to rotate. Specific examples can be found in various controllers / control devices commonly used in factories. The motion structure is the structure that drives the object it carries to rotate; specific examples can be found in common rotating equipment / tooling in factories, and the structure should be selected according to requirements. The welding robot's function requires determining the operation coordinates, then editing the operation code, and finally, the specific structure performs the corresponding operation based on the edited code. The rotation of the H-beam causes a change in the coordinates of the object to be welded. This matching relationship can be set based on actual measurements; this part belongs to the fundamental principle of welding robot control. To reduce the difficulty of editing the welding robot's function code, the rotation of the H-beam can be 90° (the corresponding signal is the rotation angle signal), because the structure of the base to be welded is generally symmetrical, and 90° is sufficient to adjust the welding area to a suitable position for robot operation. Simultaneously, the steering controller also outputs a rotation progress signal to indicate that it is currently rotating and the robot should not perform welding operations, allowing it to work on the other side of the H-beam. Rotation angle signals and rotation proceed signals are both signals in essence. The robot's recognition of these signals and the corresponding operations performed after recognition belong to the basic principles of signal processing and equipment control.

[0035] The welding robot is also used to output welding signals; correspondingly, the steering controller is also used to control the H-beam to be fully welded to rotate according to the welding signals.

[0036] The welding robot itself can output welding signals. These signals can be complex, including various operational data of the robot, or simple, using high and low level signals. For example, a high level indicates the robot is welding, while a low level indicates it is not. When the steering controller receives a high-level signal, it remains stationary; when it receives a low-level signal, it controls the H-beam to be welded to rotate accordingly.

[0037] The H-beam clamp 23 includes: an arc-shaped placement groove 231 with a roller assembly 232; a C-shaped structure 233 with a strip-shaped opening for placing the H-beam to be fully welded, and a side protrusion 234 matching the roller assembly on the side; the roller assembly is used to contact the side protrusion and the edge of the C-shaped structure on both sides to restrict the position of the C-shaped structure and drive it to rotate.

[0038] The arc-shaped placement groove is an arc-shaped structure with an inner cavity; the C-shaped structure is a wrench-like structure with a strip-shaped opening to accommodate the H-beam to be fully welded (the H-beam to be fully welded refers to the state after the H-beam is combined with the base and is about to be welded, or the state before the H-beam is combined with the base); the C-shaped structure is located in the inner cavity. Several rollers are arranged on the surface of the arc-shaped placement groove, while the C-shaped structure has side protrusions (usually arc-shaped / C-shaped) that match the roller assembly. The roller assembly contacts the side protrusions and the edge of the C-shaped structure on both sides (another option is that the roller assembly contacts the side protrusions on both sides, but this design puts more pressure on the protrusions; placing them on the edge of the C-shaped structure can better bear the weight of the C-shaped structure, depending on the actual needs). Through the contact between the side protrusions and the rollers, the position can be restricted, and the rotation of the rollers drives the C-shaped structure to rotate.

[0039] The placement module is provided with at least two H-beam clamps; wherein, at least one of the H-beam clamps has teeth on its side protrusions, the corresponding roller group has gears, and the arc-shaped placement groove is provided with a corresponding drive motor.

[0040] While a single mounting module could be used, such a design would lack sufficient safety. Therefore, at least two H-shaped steel clamps are used. As mentioned above, theoretically, the rollers could rotate directly in contact with the side protrusions through friction. However, this arrangement suffers from insufficient rotation due to frictional slippage. By using teeth on the side protrusions and gears on the roller assembly to drive the C-shaped structure to rotate, safety is improved and the rotation control precision is higher. A drive motor is used to achieve the rotation of the rollers.

[0041] The end placement platform includes: a main body, including a vertical machining surface with a limit baffle, a second positioning column group and a corresponding second telescopic structure, and a support part with a buffer structure and a pressure sensor; a bottom connecting structure, including a connecting structure connecting the main body and a sliding component; and an auxiliary functional structure, including a power component and a drive component for connecting the second telescopic structure and the sliding component.

[0042] The vertically machined surface is used to place the base, and then the H-beam moves and combines with the base, specifically through a limiting baffle to fix the base. The second positioning column group and corresponding second telescopic structure further ensure the accuracy of the base's position. For example, the process of the second positioning column group extending into the hole in the base can force the base to move to ensure accurate positioning. If the second positioning column group cannot extend or retract normally, it indicates that the base placement is abnormal. A buffer structure is provided behind the vertically machined surface to prevent and mitigate damage from collisions when the H-beam and base are combined. Pressure sensors can be used to measure the extension and retraction of the second positioning column group, as well as the impact force when the H-beam and base are combined. The support section forms the main frame, including brackets and individual component surfaces. The bottom connecting structure connects the main body and the slide rail. The sliding assembly is used to push or fix the main body, including pulleys or I-beam guide rails that match the slide rail for interaction with it. The power component in the auxiliary functional structure is used to drive the second telescopic structure and provide energy to the drive component. The drive component is used to push the main body, specifically by driving the pulley to rotate or by simply using a lever to push the active movement. The corresponding structure can be referenced from a train.

[0043] The limiting baffle includes a fixed baffle at the bottom and movable baffles on the left and right sides; wherein, the movable baffle is provided with an inclined surface for clamping; the support part includes a metal frame, an outer layer, and an inner support, the inner support is disposed on the metal frame to form an internal space, and the outer layer covers the metal frame to form an outer shell; the vertical processing surface is embedded in one side of the support part and connected to the buffer structure, the pressure sensor is connected to the buffer structure, and the weighing device is disposed at the bottom of the vertical processing surface.

[0044] Fixed baffles bear the weight of the base, while movable baffles on the left and right sides limit the final placement of the base to ensure the accuracy of the combination of the H-beam and the base. Specifically, by pressing the edge of the base with a ramp, the base can be moved, and because part of the ramp covers the edge of the base, it can be locked to prevent it from falling. A weighing device can be used to record the weight of the base, which can be used for subsequent recording or to determine the model of the base.

[0045] The main body includes an electromagnetic structure for adsorbing the substrate to be welded; the controller of the electromagnetic structure is communicatively connected to the pressure sensor.

[0046] If the limiting baffle's fixing effect is poor, an electromagnetic structure can be used, that is, using an electromagnet to attract the base to be welded. In this case, it is necessary to consider whether it will affect the robot's welding. However, the robot's material or design can be made of materials less affected by magnetic forces. When the pressure sensor value reaches the threshold, it indicates that the H-beam and the base have been successfully combined, and demagnetization can be performed. In this way, the robot's influence by magnetic forces will be minimal or eliminated.

[0047] A robotic welding method for H-beams, comprising a robotic welding worktable for the aforementioned H-beams, including:

[0048] The lifting unit is used to hoist the base to be welded onto the base placement plate for spot welding.

[0049] By using side-by-side placement modules and welding robots positioned between the placement modules, alternating operations are performed to improve welding efficiency and reduce operating costs;

[0050] The slide rails are designed to accommodate welding operations of H-beams of different specifications. The base plate is equipped with a weighing device, a positioning column assembly, and a corresponding pressure sensor assembly; accordingly, the welding robot performs the corresponding welding based on the values ​​output by the weighing device and / or the pressure sensor assembly.

[0051] The welding robot is equipped with a camera to acquire images of the welding area, and based on the images, to determine the weld points and welding effect; to modify the welding parameters based on the weld points; and to stop the welding operation, continue the welding operation, and determine whether the welding result meets the standards based on the welding effect.

[0052] By acquiring and recognizing images, the welding area can be determined; specifically, it is the junction of various metal structural components. Elements such as the shape and luster of the weld joint can be used to identify the welding effect, and the recognition principle is derived through image training.

[0053] If the welding effect does not meet the requirements, the welding operation shall be stopped, the welding parameters shall be modified, and then the welding operation shall be continued.

[0054] The method also includes cleaning the welded area based on the welded effect.

[0055] A nozzle and a liquid tank can be installed to spray the cleaning fluid from the liquid tank onto the welding area, allowing the liquid to flow into the liquid collection container below.

[0056] The above description is a detailed description of the preferred embodiments of the present invention. However, the embodiments are not intended to limit the scope of the patent application of the present invention. All equivalent changes or modifications made under the technical spirit of the present invention should fall within the patent scope covered by the present invention.

Claims

1. A robotic welding workbench suitable for H-beams, characterized in that, include: The pre-processed module is equipped with a lifting unit and a base placement plate; The side-by-side installation modules are all equipped with slide rails, end placement platforms, and H-beam clamps; A welding robot is positioned between the mounting modules; The pre-processing module is located behind the end placement platform; The base placement plate is used to place the base to be welded, and the lifting unit is used to place the base to be welded and to lift the spot-welded base to the end placement platform; The end placement platform is equipped with a clamp for fixing the spot-welded base, and the H-beam clamp is used to fix the H-beam to be fully welded. The end placement platform and / or the H-beam clamp are set on the slide rail and can be changed and fixed in position. The welding robot is used for spot welding and full welding of the base.

2. The robotic welding workbench for H-beams according to claim 1, characterized in that, The base placement plate is provided with an L-shaped baffle to restrict the position of the base to be welded; The base placement plate is equipped with a retractable first positioning column group and a corresponding pressure sensor group, which are used to position and fix the base to be welded. The base placement plate is equipped with a weighing device, and the base to be welded is equipped with a through hole; The welding robot performs corresponding welding based on the values ​​output by the pressure sensor group and / or the weighing device.

3. The robotic welding workbench for H-beams according to claim 2, characterized in that, The H-beam clamp is equipped with a corresponding steering controller for controlling the rotation of the H-beam to be fully welded; Correspondingly, the welding robot is used to perform corresponding welding based on the rotation angle signal output by the steering controller; This signal is used to perform corresponding welding on another mounting module based on the rotation signal output by the steering controller of the current mounting module.

4. The robotic welding workbench for H-beams according to claim 3, characterized in that, The welding robot is also used to output welding signals; Correspondingly, the steering controller is also used to control the H-beam to be fully welded to rotate according to the welding signal.

5. The robotic welding workbench for H-beams according to claim 4, characterized in that, The H-beam clamp includes: The arc-shaped placement slot is equipped with a roller assembly; The C-shaped structure has a strip opening for placing the H-beam to be fully welded, and a side protrusion that matches the roller assembly is provided on the side. The roller assembly is used to contact the side protrusions and the edges of the C-shaped structure on both sides to restrict the position of the C-shaped structure and drive it to rotate.

6. The robotic welding workbench for H-beams according to claim 5, characterized in that, The mounting module is equipped with at least two of the H-beam steel clamps; Among them, at least one of the H-shaped steel clamps has teeth on its side protrusion, the corresponding roller group has gears, and the arc-shaped placement groove has a corresponding drive motor. The end placement platform includes: The main body includes a vertical machining surface with a limit baffle, a second positioning column group and a corresponding second telescopic structure, a support part with a buffer structure and a pressure sensor, and an electromagnetic structure for adsorbing the base to be welded. The bottom connection structure includes a connection structure connecting the main body and a sliding component; An auxiliary functional structure includes a power component for connecting the second telescopic structure and the sliding component; The limiting baffle includes a fixed baffle at the bottom and movable baffles on the left and right sides; The movable baffle is provided with a sloping surface for clamping. The support includes a metal frame, an outer layer, and an inner support. The inner support is disposed on the metal frame to form an internal space, and the outer layer covers the metal frame to form an outer shell. The vertical processing surface is embedded in one side of the support and connected to the buffer structure. The pressure sensor is connected to the buffer structure, and the weighing device is located at the bottom of the vertical processing surface. The controller of the electromagnetic structure is communicatively connected to the pressure sensor.

7. A robotic welding method for H-beams, applicable to the robotic welding workbench for the H-beams as described in claim 1, characterized in that, include: The lifting unit is used to hoist the base to be welded onto the base placement plate for spot welding. By using side-by-side placement modules and welding robots positioned between the placement modules, alternating operations are performed to improve welding efficiency and reduce operating costs; The slide rails are designed to accommodate welding operations of H-beams of different specifications.

8. The robotic welding method for H-beams according to claim 7, characterized in that, The base placement plate is equipped with a weighing device, a positioning column group and a corresponding pressure sensor group; Correspondingly, the welding robot performs the corresponding welding based on the values ​​output by the weighing device and / or the pressure sensor group.

9. The robotic welding method for H-beams according to claim 8, characterized in that, The welding robot is equipped with a camera to acquire images of the welding area and to determine the weld points and welding effect based on the images. Modify welding parameters based on the weld points; Based on the welding effect, the welding operation is stopped, the welding operation is continued, and it is determined whether the welding result meets the standard.

10. The robotic welding method for H-beams according to claim 9, characterized in that, It also includes cleaning the welded area based on the welded effect.

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