An intelligent welding system for automobile front subframe

Abstract

The present application relates to the field of automobile parts automatic semi-automatic electric arc welding, and particularly relates to an intelligent welding system for automobile front subframe, which comprises OP1 welding station, OP2 welding station, gravity sliding table, OP3 welding station, arc welding robot, OP4 welding station and transfer robot system, the OP1 welding station, the OP2 welding station, the OP3 welding station and the OP4 welding station all comprise single-axis positioner, clamp support frame and clamping unit assembly, the clamping unit is installed on the clamp support frame, the single-axis positioner drives the clamp support frame to overturn, the gravity sliding table is arranged between the OP1 welding station and the OP2 welding station, the arc welding robot is arranged between the OP1 welding station and the OP4 welding station and between the OP2 welding station and the OP3 welding station respectively, and the transfer robot system is used for transferring workpieces between processes; the transfer table is used for buffering workpieces, and solves the problems that the consistency in batch production is difficult to guarantee by the traditional manual welding method, and the welding quality is greatly affected by the skill level of operators.

Description

Technical Field

[0001] This invention relates to the field of automatic and semi-automatic arc welding of automotive parts, and specifically to an intelligent welding system for automotive front subframes. Background Technology

[0002] Currently, the consumer market has increasingly higher requirements for the quality of automotive products, which means that the requirements for the precision of automotive parts are also increasing. As an important component of automobiles, the front subframe also has higher requirements for its precision and consistency. Traditional manual welding methods are difficult to guarantee consistency in mass production, and the welding quality is greatly affected by the skill level of the operators.

[0003] In addition, people now have higher and higher requirements for their working environment, and many people are unwilling to engage in welding work, resulting in difficulties in recruiting workers and high labor costs in the welding process.

[0004] In summary, this invention proposes an intelligent welding system for automotive front subframes to solve the problems mentioned in the background art. Summary of the Invention

[0005] The purpose of this invention is to provide an intelligent welding system for automotive front subframes to solve the problems mentioned in the background art, realize automated welding, transfer and buffering of the front subframe from parts to finished product, and improve production efficiency and welding quality consistency.

[0006] An intelligent welding system for a front subframe of an automobile includes an OP1 welding station, an OP2 welding station, a gravity sliding table, an OP3 welding station, an arc welding robot, an OP4 welding station, and a transfer robot system.

[0007] The OP1 welding station, OP2 welding station, OP3 welding station and OP4 welding station each include a single-axis positioner, a fixture support frame and a clamping unit assembly. The clamping unit is installed on the fixture support frame. The single-axis positioner drives the fixture support frame to rotate. The gravity sliding stage is set between the OP1 welding station and the OP2 welding station and is used to transfer the workpiece from the OP1 process to the OP2 process.

[0008] The arc welding robots are respectively set between the OP1 welding station and the OP4 welding station, and between the OP2 welding station and the OP3 welding station.

[0009] The aforementioned transfer robot system includes a dual gripper, a transfer robot, and a robot walking axis, used to transfer workpieces between various processes.

[0010] Further specifying, the clamping unit assembly of the OP1 welding station includes two symmetrical sets of first clamping assemblies and second clamping assemblies. The first clamping assembly is composed of several quick clamps. The second clamping assembly is located between the first clamping assemblies. The second clamping assembly includes a first cylinder, a second cylinder, a third cylinder, and a first slide rail. The first slide rail is mounted on the clamp support frame. A slider is slidably arranged on the first slide rail. A fixed plate is fixedly arranged on the slider. The output shaft of the first cylinder is connected to the fixed plate through a connecting block. When moving, it drives the fixed plate to move on the first slide rail. A bracket is provided on the fixed plate. The second cylinder and the third cylinder are both arranged on the bracket. A pressure plate is provided on the output shaft of the second cylinder. A positioning pin is provided on the pressure plate. Positioning and clamping are achieved by the positioning pin and the pressure plate. A rotatable chuck is provided on the output shaft of the third cylinder.

[0011] Further specifying, the clamping unit assembly of the OP2 welding station includes a symmetrically arranged third clamping assembly, fourth clamping assembly, fifth clamping assembly, and sixth clamping assembly. The third clamping assembly includes a workpiece support clamping assembly, a sliding assembly, and a positioning clamping assembly. The workpiece support clamping assembly consists of several quick-release chucks and is mounted on a movable plate located above the fixture support frame. The sliding assembly includes a mounting bracket mounted on the fixture support frame. A fourth cylinder is mounted on the mounting bracket, and the output shaft of the fourth cylinder is connected to a sliding head mounted on the movable plate. The fourth cylinder drives the movable plate to move laterally within the fixture support frame. The positioning clamping assembly is a quick-release chuck fixedly mounted on the fixture support frame for clamping the movable plate after it has been moved into position. The fourth and fifth clamping assemblies are both quick-release chucks mounted on the fixture support frame.

[0012] Further specifying, the sixth clamping assembly includes two second slide rails and a mounting bracket, both of which are mounted on the clamping support frame. A fifth cylinder is mounted on the mounting bracket, and sliders are slidably mounted on the second slide rails. A mounting plate is positioned between the two sliders. The mounting plate is equipped with a sixth cylinder, a cylinder connecting block, and a detection bracket. A detection switch is mounted on the detection bracket. The cylinder connecting block is connected to the output shaft of the fifth cylinder, and the output shaft of the sixth cylinder is connected to a positioning bracket. A positioning pin is mounted on the positioning bracket, and the positioning pin and positioning bracket are used for positioning and clamping.

[0013] Further specifying, the clamping unit assembly of the OP3 welding station includes a bottom support clamping unit and a side clamping unit. The bottom support clamping unit consists of quick-release chucks for large-area clamping. The side clamping unit includes a front side clamping device and a rear side clamping device. The front side clamping device includes two third slide rails, each with a slider slidably mounted on it. A clamping fixing plate is mounted on each slider. A seventh cylinder is located below the clamping support frame. The output shaft of the seventh cylinder is connected to the lower part of the clamping fixing plate via a connector. A rotating shaft seat is located beside the clamping fixing plate, and a limiting block is rotatably connected to the rotating shaft seat. A waist-shaped section is located in the center of the limiting block. The groove, the waist-shaped groove being a through groove, has a rotating shaft fitted inside it. The rotating shaft is connected to the clamping and fixing plate. A rocker arm is also provided on the limiting block. The rocker arm drives the limiting block to rotate. The rotating shaft moves within the waist-shaped groove, causing the clamping and fixing plate to move on the third slide rail. The clamping and fixing block is provided with several clamping blocks. The rear lateral clamping device includes a rear clamping cylinder. A rear moving clamping block is provided on the output shaft of the rear clamping cylinder. A slider is provided above and below the rear moving clamping block. The slider is slidably mounted on a fourth slide rail. The fourth slide rail is mounted on the clamping support frame. The rear moving clamping block is provided with several clamping blocks.

[0014] Further, it also includes a transfer station, which is located between the OP3 welding station and the OP4 welding station. The transfer station includes a frame and a fixing fixture, which is composed of several quick-release chucks.

[0015] Further specifying, the clamping unit of the OP4 welding machine station includes a fixed clamping unit and a lifting clamping unit. There are two lifting clamping units, symmetrically arranged on the fixture support frame. The fixed clamping unit consists of several quick-release chucks and is installed on the fixture support frame. The lifting clamping unit includes an eighth cylinder, a lifting plate is provided on the output shaft of the eighth cylinder, sliders are provided on both sides of the lifting plate, and a limiting gantry is also included. A fifth slide rail is provided on the side of the limiting gantry away from the eighth cylinder, and the sliders are slidably mounted on the fifth slide rail. A support tongue is also provided on the lifting plate, and a chuck mounting seat is provided on the upper part of the limiting gantry. A quick-release chuck is installed on the chuck mounting seat.

[0016] Further defined, the transfer robot is located between the OP1 welding station, the OP3 welding station and the OP2 welding station, the OP4 welding station, the robot's walking axis is mounted on the transfer robot base for movement on the transfer robot base, the dual handling grippers are frame structures, and the upper and lower parts of the dual handling grippers are equipped with quick-clamping heads controlled by several cylinders.

[0017] Further specifying, there are four arc welding robots: two arc welding robots are arranged between welding stations OP1 and OP4, and two arc welding robots are arranged between welding stations OP2 and OP3.

[0018] The advantages of this invention compared to the prior art are as follows:

[0019] 1. This invention automates the entire process of workpiece loading, welding, inter-process transfer, and final unloading by setting up four welding stations (OP1 to OP4) in conjunction with a transfer robot system, a gravity sliding table, and a transfer station. The transfer robot system automatically picks up and places workpieces between stations using its dual grippers. The gravity sliding table utilizes the workpiece's own weight to achieve unpowered transfer from OP1 to OP2, eliminating the need for manual handling or additional conveying equipment. This effectively solves the problems of labor shortages and high labor costs in the welding process.

[0020] 2. Four arc welding robots are respectively arranged between OP1 and OP2 stations and between OP3 and OP4 stations. With the help of a single-axis positioner, the workpiece is rotated to the optimal welding angle, so that the robot can complete the welding in a fixed posture, avoiding the complex posture adjustment of the robot and shortening the production cycle of a single piece. Attached Figure Description

[0021] Figure 1 This is a three-dimensional structural diagram of the present invention;

[0022] Figure 2 This is a schematic diagram of the OP1 welding station of the present invention;

[0023] Figure 3 This is a schematic diagram of the first clamping assembly at the OP1 welding station of the present invention;

[0024] Figure 4 This is a schematic diagram of the second clamping assembly at the OP1 welding station of the present invention;

[0025] Figure 5 This is a schematic diagram of the OP2 welding station of the present invention;

[0026] Figure 6 This is a schematic diagram of the third clamping component of the OP2 welding station of the present invention;

[0027] Figure 7This is a schematic diagram of the sixth clamping component of the OP2 welding station of the present invention;

[0028] Figure 8 This is a schematic diagram of the OP3 welding station of the present invention;

[0029] Figure 9 This is a schematic diagram of the front lateral clamping device of the OP3 welding station of the present invention;

[0030] Figure 10 This is a schematic diagram of the rear lateral clamping device of the OP3 welding station of the present invention;

[0031] Figure 11 This is a three-dimensional schematic diagram of the transfer platform of the present invention;

[0032] Figure 12 This is a three-dimensional schematic diagram of the OP4 welding station of the present invention;

[0033] Figure 13 This is a three-dimensional schematic diagram of the OP4 welding station lifting and clamping unit of the present invention;

[0034] Figure 14 This is a three-dimensional schematic diagram of the transfer robot of the present invention;

[0035] Figure 15 A schematic diagram of the parts processed at the OP1 welding station;

[0036] Figure 16 A schematic diagram of the parts processed at the OP2 welding station;

[0037] Figure 17 A schematic diagram of the parts processed at the OP3 welding station;

[0038] Figure 18 A schematic diagram of the parts processed at the OP4 welding station.

[0039] The markings in the diagram correspond to: 1-OP1 welding station, 2-OP2 welding station, 3-gravity sliding stage, 4-OP3 welding station, 5-arc welding robot, 6-OP4 welding station, 7-transfer robot system, 8-single-axis positioner, 9-fixture support frame.

[0040] 10-Second clamping assembly, 101-First cylinder, 102-Second cylinder, 103-Third cylinder, 104-First slide rail, 105-Fixing plate, 106-Pressure plate, 107-Rotable chuck

[0041] 11-Third clamping assembly, 111-Workpiece support clamping assembly, 112-Sliding assembly, 1121-Mounting bracket, 1122-Sliding head, 113-Positioning clamping assembly, 114-Moving plate, 12-Fourth clamping assembly, 13-Fifth clamping assembly, 14-Sixth clamping assembly, 141-Second slide rail, 142-Mounting bracket, 143-Fifth cylinder, 144-Mounting plate, 145-Sixth cylinder, 146-Cylinder connecting block, 147-Detection bracket, 148-Detection switch, 149-Positioning bracket,

[0042] 15-Bottom support clamping unit, 16-Front lateral clamping device, 161-Third slide rail, 162-Clamping fixing plate, 163-Seventh cylinder, 164-Rotating shaft seat, 165-Limiting block, 166-Rotating shaft, 167-Rock arm, 17-Rear lateral clamping device, 171-Rear clamping cylinder, 172-Rear moving clamping block, 173-Fourth slide rail,

[0043] 18-Transfer platform, 181-Frame, 182-Fixed clamp, 19-Fixed clamping unit, 20-Lifting clamping unit, 201-Eighth cylinder, 202-Lifting plate, 203-Limiting gantry, 204-Fifth slide rail, 205-Support tongue, 206-Chuck mounting base, 207-Positioning clamping unit, 21-Transfer robot, 22-Dual handling gripper, 23-Handling robot, 24-Robot walking axis, 25-Transfer robot base. Detailed Implementation

[0044] To enable those skilled in the art to better understand the technical solution of the present invention, the technical solution of the present invention will be further described below in conjunction with the accompanying drawings and embodiments.

[0045] Example:

[0046] like Figures 1-14 As shown, an intelligent welding system for a front subframe of an automobile includes an OP1 welding station 1, an OP2 welding station 2, a gravity sliding table 3, an OP3 welding station 4, an arc welding robot 5, an OP4 welding station 6, and a transfer robot system 7.

[0047] OP1 welding station 1, OP2 welding station 2, OP3 welding station 4 and OP4 welding station 6 each include a single-axis positioner 8, a fixture support frame 9 and a clamping unit assembly. The clamping unit assembly is installed on the fixture support frame 9. The single-axis positioner 8 drives the fixture support frame 9 to rotate. The gravity sliding stage 3 is set between OP1 welding station 1 and OP2 welding station 2 and is used to transfer the workpiece from the OP1 process to the OP2 process.

[0048] There are four arc welding robots 5. Two are set between welding station 1 (OP1) and welding station 6 (OP4), and two are set between welding station 2 (OP2) and welding station 4 (OP3).

[0049] The OP1 welding station 1 clamping unit includes two symmetrical sets of first clamping assemblies and second clamping assemblies 10. The first clamping assembly is composed of several quick clamps. The second clamping assembly 10 is located between the first clamping assemblies and includes a first cylinder 101, a second cylinder 102, a third cylinder 103, and a first slide rail 104. The first slide rail 104 is mounted on the clamping support frame 9, and a slider is slidably arranged on the first slide rail 104. A fixing plate 105 is fixedly arranged on the slider. The output shaft of the first cylinder 101 is connected to the fixing plate 105 through a connecting block, and drives the fixing plate 105 during movement. Plate 105 moves on the first slide rail 104. A bracket is provided on the fixed plate 105. The second cylinder 102 and the third cylinder 103 are both mounted on the bracket. A clamping plate 106 is provided on the output shaft of the second cylinder 102. A positioning pin is provided on the clamping plate 106. Positioning and clamping are achieved by the positioning pin and the clamping plate 106. A rotatable chuck 107 is provided on the output shaft of the third cylinder 103. The rotatable chuck 107 is used for clamping. When a workpiece needs to be placed, both sides move in opposite directions. After installation, both sides move towards the middle for clamping.

[0050] The clamping unit assembly of welding station 2 (OP2) includes a symmetrically arranged third clamping assembly 11, fourth clamping assembly 12, fifth clamping assembly 13, and sixth clamping assembly 14. The third clamping assembly 11 includes a workpiece support clamping assembly 111, a sliding assembly 112, and a positioning clamping assembly 113. The workpiece support clamping assembly 111 is composed of several quick-release chucks and is mounted on a moving plate 114, which is positioned above the fixture support frame 9. The sliding assembly 112 includes a mounting bracket 1121. The bracket 1121 is mounted on the fixture support frame 9. A fourth cylinder is mounted on the bracket 1121. The output shaft of the fourth cylinder is connected to a sliding head 1122. The sliding head 1122 is mounted on the moving plate 114. The fourth cylinder drives the moving plate 114 to move laterally on the fixture support frame 9. The positioning clamping assembly 113 is a quick clamp, which is fixedly mounted on the fixture support frame 9 and is used to clamp the moving plate 114 after it has moved into position. The fourth clamping assembly 12 and the fifth clamping assembly 13 are both quick clamps, which are mounted on the fixture support frame 9.

[0051] The sixth clamping assembly 14 includes two second slide rails 141 and a mounting bracket 142. Both the two second slide rails 141 and the mounting bracket 142 are mounted on the clamping support frame 9. A fifth cylinder 143 is mounted on the mounting bracket 142. A slider is slidably mounted on the second slide rails 141. A mounting plate 144 is provided between the two sliders. A sixth cylinder 145, a cylinder connecting block 146, and a detection bracket 147 are provided on the mounting plate 144. A detection switch 148 is provided on the detection bracket 147. The cylinder connecting block 146 is connected to the output shaft of the fifth cylinder 143. The output shaft of the sixth cylinder 145 is connected to a positioning bracket 149. A positioning pin is provided on the positioning bracket 149. The positioning pin and the positioning bracket 149 are used for positioning and clamping.

[0052] The clamping unit assembly of welding station 4 (OP3) includes a bottom support clamping unit 15 and a side clamping unit. The bottom support clamping unit 15 consists of quick-release chucks for large-area clamping. The side clamping unit includes a front side clamping device 16 and a rear side clamping device 17. The front side clamping device 16 includes two third slide rails 161, each with a slider slidably mounted on it. A clamping plate 162 is mounted on each slider. A seventh cylinder 163 is located below the clamping support frame 9. The output shaft of the seventh cylinder 163 is connected to the lower part of the clamping plate 162 via a connector. A rotating shaft seat 164 is located beside the clamping plate 162. A limiting block 165 is rotatably connected to the rotating shaft seat 164. A limiting block 165 is located in the middle of the limiting block 165. The waist-shaped groove is a through groove, and a rotating shaft 166 is fitted inside the waist-shaped groove. The rotating shaft 166 is connected to the clamping and fixing plate 162. A rocker arm 167 is also provided on the limiting block 165. The rocker arm 167 drives the limiting block 165 to rotate. The rotating shaft 166 moves in the waist-shaped groove, causing the clamping and fixing plate 162 to move on the third slide rail 161. Several clamping blocks are provided on the clamping and fixing block 162. The rear lateral clamping device 17 includes a rear clamping cylinder 171. A rear moving clamping block 172 is provided on the output shaft of the rear clamping cylinder 171. A slider is provided above and below the rear moving clamping block 172. The slider is slidably mounted on the fourth slide rail 173. The fourth slide rail 173 is mounted on the clamping support frame 9. Several clamping blocks are provided on the rear moving clamping block 172.

[0053] It also includes a transfer table 18, which is located between OP3 welding station 4 and OP4 welding station 6. The transfer table 18 includes a frame 181 and a fixing fixture 182, which is composed of several quick-release clamps.

[0054] The clamping unit of the OP4 welding machine station 6 includes a fixed clamping unit 19 and a lifting clamping unit 20. There are two lifting clamping units 20, which are symmetrically arranged on the fixture support frame 9. The fixed clamping unit 19 is composed of several quick-release chucks and is installed on the fixture support frame 9. The lifting clamping unit includes an eighth cylinder 201. A lifting plate 202 is provided on the output shaft of the eighth cylinder 201. Slider blocks are provided on both sides of the lifting plate 202. It also includes a limit gantry 203. A fifth slide rail 204 is provided on the side of the limit gantry 203 away from the eighth cylinder 201. The slider is slidably arranged on the fifth slide rail 204. A support tongue 205 is also provided on the lifting plate 202. A chuck mounting seat 206 is provided on the upper part of the limit gantry 203. A quick-release chuck is installed on the chuck mounting seat 206. It also includes a positioning clamping unit 207, which is installed on the fixture support frame 9.

[0055] The transfer robot 21 is located between welding stations OP1 and OP3 and welding stations OP2 and OP4. The transfer robot 21 includes a dual gripper 22, a transfer robot 23, and a robot walking axis 24. The robot walking axis 24 is mounted on the transfer robot base 25 and is used to move on the transfer robot base 25. The dual gripper 22 has a frame structure, and quick grippers controlled by several cylinders are provided at the top and bottom of the dual gripper 22.

[0056] like Figure 15 As shown, workpieces OP01-1 and OP01-2 (which together make up workpiece OP01) are first placed on the first clamping assembly and clamped. Then, workpiece OP01-2 is placed on the second clamping assembly 10 and clamped. After the workpieces are in place, they are welded by the arc welding robot 5. After welding is completed, the welded workpiece OP01 is removed from the OP1 welding station 1 and placed on the gravity sliding stage 3.

[0057] like Figure 16As shown, workpieces OP01, OP02-1, OP02-2, OP02-3, OP02-4, and OP02-5 (which together form the integral workpiece OP02) are shown. OP02-2 and OP02-1 are symmetrical components, as are OP02-3 and OP02-5. Workpiece OP01 is removed from the gravity sliding stage 3 and placed on the fourth clamping assembly 12, where it is clamped. Workpieces OP02-1 and OP02-2 are placed on the third clamping assembly 11 and clamped. OP02-3 and workpiece OP02-5 are placed on the sixth clamping assembly 14 and clamped. Workpiece OP02-4 is placed on the fifth clamping assembly 13 and clamped. After all the workpieces are in place, the third clamping assembly 11 is slid into place by the sliding assembly 112 and clamped into place by the clamping assembly 113. After all the actions are completed, the arc welding robot 5 performs welding to form a new workpiece OP02. After welding is completed, the double gripper 22 on the robot handling system grabs the workpiece OP02 and transfers it to the next welding station OP03.

[0058] like Figure 17 As shown, workpieces OP02 and OP03-1 (which together form workpiece OP03) are first moved to a designated position by the dual grippers 22 of the handling robot system. One side of the quick gripper picks up the already welded workpiece OP02 at the OP2 station, while the other side of the quick gripper picks up the already welded workpiece OP03 at the OP3 welding station 4 for unloading. Then, the newly picked-up workpiece OP02 is placed on the bottom support clamping unit 15 and clamped. Next, workpiece OP03-1 is placed on the designated position on workpiece OP02 and clamped and fixed by the front side clamping device 16 and the rear side clamping device 17. Then, the arc welding robot 5 performs welding. After welding, the dual grippers 22 of the robot handling system pick up workpiece OP03 and transfer it to the next sequence OP04 welding station 6.

[0059] like Figure 18 As shown, workpiece OP03 and four workpieces OP04-1 (which together form the overall workpiece OP04) are processed as follows: First, the dual gripper 22 of the handling robot system grabs the other side of workpiece OP03, and the quick-clamping head on the other side grabs the already welded workpiece OP04 on the OP4 welding station 6. Then, workpiece OP03 is placed on the dual gripper 22 and placed on the fixed clamping unit 19 and clamped. Then, workpiece OP04-1 is placed on the positioning clamping unit 207 and clamped. Then, the arc welding robot 5 performs welding. After welding is completed, the dual gripper 22 of the robot handling system grabs workpiece OP04 and then unloads it.

[0060] When a problem occurs in a certain process or cycle time in the handling robot system, the gripped workpiece can be placed on the transfer table 18 and clamped by the fixed fixture 182 as a buffer for later use.

[0061] This welding system completes welding processing in multiple stations and steps. Each station is responsible for assembling and welding different components. The transfer robot system, together with the dual grippers, completes the transfer of workpieces between stations. Each station relies on multiple sets of different clamping components to position and clamp subframe components of different shapes and positions. With the help of a single-axis positioner to adjust the welding angle, the arc welding robot completes the precise welding. It can effectively meet the multi-component assembly and welding needs of automotive front subframes. It has high positioning accuracy and good clamping stability. Combined with automated transfer welding, it greatly improves welding processing efficiency and finished product processing accuracy, and reduces manual labor intensity.

[0062] The above provides a detailed description of an intelligent welding system for a front subframe of an automobile. The specific embodiments described are only for the purpose of helping to understand the method and core ideas of the present invention. It should be noted that those skilled in the art can make several improvements and modifications to the present invention without departing from it, and these improvements and modifications also fall within the protection scope of the claims of the present invention.

Claims

1. An intelligent welding system for a front subframe of an automobile, characterized in that: It includes OP1 welding station (1), OP2 welding station (2), gravity sliding stage (3), OP3 welding station (4), arc welding robot (5), OP4 welding station (6) and transfer robot system; The OP1 welding station (1), OP2 welding station (2), OP3 welding station (4) and OP4 welding station (6) all include a single-axis positioner (8), a fixture support frame (9) and a clamping unit assembly. The clamping unit is installed on the fixture support frame (9). The single-axis positioner (8) drives the fixture support frame (9) to rotate. The gravity sliding stage (3) is set between the OP1 welding station (1) and the OP2 welding station (2) for transferring the workpiece from the OP1 process to the OP2 process. The arc welding robot (5) is respectively set between the OP1 welding station (1) and the OP4 welding station (6) and between the OP2 welding station (2) and the OP3 welding station (4). The aforementioned transfer robot system includes a dual gripper (22), a transfer robot (23), and a robot walking axis (24), used to transfer workpieces between various processes.

2. The intelligent welding system for a front subframe of an automobile according to claim 1, characterized in that: The clamping unit assembly of the OP1 welding station (1) includes two sets of symmetrical first clamping assemblies and second clamping assemblies (10). The first clamping assembly is composed of several quick clamps. The second clamping assembly (10) is located between the first clamping assemblies. The second clamping assembly (10) includes a first cylinder (101), a second cylinder (102), a third cylinder (103), and a first slide rail (104). The first slide rail (104) is mounted on the clamp support frame (9). A slider is slidably arranged on the first slide rail (104), and a fixing plate (1) is fixedly arranged on the slider. 05), the output shaft of the first cylinder (101) is connected to the fixed plate (105) through the connecting block. When moving, it drives the fixed plate (105) to move on the first slide rail (104). The fixed plate (105) is provided with a bracket. The second cylinder (102) and the third cylinder (103) are both provided on the bracket. The output shaft of the second cylinder (102) is provided with a pressure plate (106). The pressure plate (106) is provided with a positioning pin. Positioning and pressing are performed by the positioning pin and the pressure plate (106). The output shaft of the third cylinder (103) is provided with a rotatable chuck (107).

3. The intelligent welding system for a front subframe of an automobile according to claim 1, characterized in that: The clamping unit assembly of the OP2 welding station (2) includes a symmetrically arranged third clamping assembly (11), a fourth clamping assembly (12), a fifth clamping assembly (13), and a sixth clamping assembly (14). The third clamping assembly (11) includes a workpiece support clamping assembly (111), a sliding assembly (112), and a positioning clamping assembly (113). The workpiece support clamping assembly (111) is composed of several quick-release chucks. The workpiece support clamping assembly (111) is mounted on a moving plate (114), which is located above the fixture support frame (9). The sliding assembly (112) includes a mounting bracket (1121). The mounting bracket (1121) is set on the fixture support frame (9). The mounting bracket is equipped with a fourth cylinder. The output shaft of the fourth cylinder is connected to a sliding head (1122). The sliding head (1122) is mounted on the moving plate (114). The fourth cylinder drives the moving plate (114) to move laterally on the fixture support frame (9). The positioning clamping assembly (113) is a quick clamp, which is fixedly mounted on the fixture support frame (9) and is used to clamp the moving plate (114) after it has been moved into position. The fourth clamping assembly (12) and the fifth clamping assembly (13) are both quick clamps, which are mounted on the fixture support frame (9).

4. The intelligent welding system for a front subframe of an automobile according to claim 3, characterized in that: The sixth clamping assembly (14) includes two second slide rails (141) and a mounting bracket (142). The two second slide rails (141) and the mounting bracket (142) are both mounted on the clamp support frame (9). A fifth cylinder (143) is mounted on the mounting bracket (142). A slider is slidably mounted on the second slide rails (141). A mounting plate (144) is mounted between the two sliders. A sixth cylinder (145), a cylinder connecting block (146), and a detection bracket (147) are mounted on the mounting plate (144). A detection switch (148) is mounted on the detection bracket (147). The cylinder connecting block (146) is connected to the output shaft of the fifth cylinder (143). The output shaft of the sixth cylinder (145) is connected to a positioning bracket (149). A positioning pin is mounted on the positioning bracket (149). The positioning pin and the positioning bracket (149) are used for positioning and clamping.

5. The intelligent welding system for a front subframe of an automobile according to claim 1, characterized in that: The clamping unit assembly of the OP3 welding station (4) includes a bottom support clamping unit (15) and a lateral clamping unit. The bottom support clamping unit (15) consists of quick-release chucks for large-area clamping. The lateral clamping unit includes a front lateral clamping device (16) and a rear lateral clamping device (17). The front lateral clamping device (16) includes two third slide rails (161), each with a slider slidably mounted on it. A clamping and fixing plate (162) is provided on the upper part, and a seventh cylinder (163) is provided below the clamping support frame (9). The output shaft of the seventh cylinder (163) is connected to the lower part of the clamping and fixing plate (162) through a connector. A rotating shaft seat (164) is provided on the side of the clamping and fixing plate (162), and a limiting block (165) is rotatably connected on the rotating shaft seat (164). A waist-shaped groove is provided in the middle of the limiting block (165), and the waist-shaped groove is a through groove. A rotating shaft (166) is fitted inside the waist-shaped groove. The rotating shaft (166) is connected to the clamping and fixing plate (162). A rocker arm (167) is also provided on the limiting block (165). The rocker arm (167) drives the limiting block (165) to rotate. The rotating shaft (166) moves inside the waist-shaped groove, causing the clamping and fixing plate (162) to move on the third slide rail (161). The clamping and fixing block (162) is provided with... The rear lateral clamping device (17) includes a rear clamping cylinder (171), and a rear moving clamping block (172) is provided on the output shaft of the rear clamping cylinder (171). A slider is provided above and below the rear moving clamping block (172), and the slider is slidably disposed on a fourth slide rail (173). The fourth slide rail (173) is mounted on the clamp support frame (9), and a plurality of clamping blocks are provided on the rear moving clamping block (172).

6. The intelligent welding system for a front subframe of an automobile according to claim 1, characterized in that... It also includes a transfer station (18), which is located between the OP3 welding station (4) and the OP4 welding station (6). The transfer station (18) includes a frame (181) and a fixing fixture (182), which is composed of several quick clamps.

7. The intelligent welding system for a front subframe of an automobile according to claim 6, characterized in that: The clamping unit of the OP4 welding machine station (6) includes a fixed clamping unit (19) and a lifting clamping unit (20). There are two lifting clamping units (20), which are symmetrically arranged on the fixture support frame (9). The fixed clamping unit (19) is composed of several quick-release chucks and is installed on the fixture support frame (9). The lifting clamping unit (20) includes an eighth cylinder (201). A lifting plate (202) is provided on the output shaft of the eighth cylinder (201). The lifting plate (202) is provided with sliders on both sides and also includes a limiting gantry (203). The limiting gantry (203) is provided with a fifth slide rail (204) on the side away from the eighth cylinder (201). The sliders are slidably mounted on the fifth slide rail (204). The lifting plate (202) is also provided with a support tongue (205). The upper part of the limiting gantry (203) is provided with a chuck mounting seat (206). A quick chuck is mounted on the chuck mounting seat (206).

8. The intelligent welding system for a front subframe of an automobile according to claim 1, characterized in that: The transfer robot (21) is located between the OP1 welding station (1), the OP3 welding station (4) and the OP2 welding station (2), the OP4 welding station (6). The robot walking axis (24) is installed on the transfer robot base (25) for moving on the transfer robot base (25). The handling double gripper (22) is a frame structure. The upper and lower parts of the handling double gripper (22) are equipped with quick grippers controlled by several cylinders.

9. The intelligent welding system for a front subframe of an automobile according to claim 1, characterized in that... There are four arc welding robots (5). Two arc welding robots (5) are set between the OP1 welding station (1) and the OP4 welding station (6), and two arc welding robots are set between the OP2 welding station (2) and the OP3 welding station (4).

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