Welding line and method for controlling a welding line

Abstract

The application discloses a welding line body and a control method thereof, and relates to the technical field of welding. The welding line body comprises a base, a plurality of integrated wire feeding welding mechanisms, a plurality of bearing toolings, a conveying device and a control device. The bearing toolings are circulated between a plurality of work stations under the driving of the conveying device. By reasonably designing the structure of the bearing toolings, universal positioning of a plurality of products can be realized. A plurality of welding stations are arranged, a plurality of welding points are dispersed in the plurality of welding stations, and welding operations are respectively performed, which is beneficial to reducing the processing rhythm. Meanwhile, the integrated wire feeding welding mechanism is arranged, the wire feeding device and the welding device are integrated on the mechanical arm, the physical path of the welding wire from the wire coil to the welding point is greatly compressed, the length of the wire feeding path is greatly reduced, the space occupied by the whole integrated wire feeding welding mechanism is basically equal to the space required by the mechanical arm itself and the movement thereof, and the space is optimized.

Description

Technical Field

[0001] This invention relates to the field of welding technology, and in particular to welding lines and methods for controlling welding lines. Background Technology

[0002] Home appliances, with their complex internal piping and numerous joints, present significant challenges in positioning during the welding process. Currently, whether manual, semi-automatic flame welding, or high-frequency welding is used, the welding process requires multiple personnel. These products come in a variety of models and specifications, and the tooling and fixtures used in production are not only bulky and heavy but also have low versatility. Frequent product updates and rapid production changeovers necessitate constant replacement of tooling and fixtures on the production line, a time-consuming and labor-intensive process that significantly impacts production efficiency. Furthermore, over-reliance on manual operation leads to insufficient positioning accuracy. After welding, workers often need to manually correct and reshape the components based on the actual situation. This high level of manual intervention ultimately lengthens the overall production cycle, hindering capacity expansion and quality stability.

[0003] Meanwhile, welding processes often require specialized automated welding equipment and high-precision wire feeding mechanisms to work together. However, traditional wire feeding mechanisms mostly adopt a floor-standing design that occupies a large area. Their inherent bulk, coupled with the space constraints of the production line layout, often results in the wire guide tubes connecting the welding gun being laid out too long and with complex routing, which affects the layout of the production line. Summary of the Invention

[0004] The main objective of this invention is to propose a welding line and a method for controlling the welding line. By rationally setting the conveying path, tooling, and welding process, the invention achieves the effects of universal products and shortening the processing cycle, while ensuring welding quality through short-path wire feeding.

[0005] To achieve the above objectives, the present invention provides a welding line, comprising: The machine base has multiple workstations spaced apart, including a material loading workstation and multiple welding workstations; Multiple integrated wire feeding and welding mechanisms are located at multiple welding stations. Each integrated wire feeding and welding mechanism includes a base and a robotic arm movably mounted on the base. The robotic arm integrates a welding device and a wire feeding device. The base integrates a wire roll connected to the wire feeding device. Multiple support fixtures, each of which is used to position the workpiece so that multiple welding positions of the workpiece are exposed; A conveying device, the conveying device being used to drive multiple of the carrying fixtures sequentially through multiple workstations; The control device is electrically connected to the multiple integrated wire feeding and welding mechanisms and the conveying device.

[0006] In one embodiment, one end of the robotic arm is a mounting end for mounting to the base, and the other end of the robotic arm is a movable end with multiple degrees of freedom; The welding device includes a heating part located at the movable end, which can be driven by the robotic arm to correspond to the part of the workpiece to be welded on the bearing fixture at the welding station. The wire feeding device includes a conveying assembly and a wire guide. The wire guide is located at the movable end and close to the heating part. The wire guide has a wire guide channel for the welding wire to pass through. The conveying assembly is used to convey the welding wire wound on the coil to the wire guide and extend from the wire guide channel to contact the workpiece to be welded.

[0007] In one embodiment, a flexible wire guide is provided between the wire guide and the conveying assembly, and between the conveying assembly and the wire roll, for accommodating the welding wire; and / or, Two wire guides and two wire rolls are provided, with the two wire guides arranged at an angle. The conveying assembly is used to convey the welding wire wound on the two wire rolls to the two wire guides.

[0008] In one embodiment, the welding apparatus includes a high-frequency induction heating welding machine, wherein the induction coil of the high-frequency induction heating welding machine forms the heating part, and a welding channel is formed on the heating part, wherein one side of the welding channel is open to accommodate the workpiece to be welded; The end of the guide wire is located within the welding channel.

[0009] In one embodiment, the welding apparatus further includes a temperature sensing element for detecting the surface temperature of the workpiece at the point to be welded; and / or, The welding apparatus further includes a first visual inspection device, which is used to detect at least the height of the part of the workpiece to be welded.

[0010] In one embodiment, the conveying device has a circular transport path, with multiple welding stations and loading stations distributed on opposite sides of the transport path. The conveying device is used to ensure that the workpiece-carrying fixture returns to the loading station after passing through the multiple welding stations; and / or, The support fixture is used to position and install the condenser, evaporator, and at least one dryer filter.

[0011] In one embodiment, the support fixture includes a support base and a plurality of positioning components, the plurality of positioning components being spaced apart on the upper surface of the support base, and the plurality of positioning components being used to define the position of the main body of the workpiece and the pipe.

[0012] In one embodiment, the plurality of positioning components includes a first positioning component, which includes two first guide rails and two adjusting platforms. The two first guide rails are horizontally spaced apart on the support, and the two adjusting platforms are respectively disposed on the two first guide rails. The upper surfaces of the two adjusting platforms are used to contact the main body of the workpiece together. Each adjusting platform has a limiting hole on its side surface. The limiting hole includes a first hole segment, a second hole segment, and a connecting segment extending in a vertical direction. The upper surfaces of the first hole segment and the second hole segment are at different heights. Each first guide rail has a first limiting member on its side surface. The first limiting member is movable within the first hole segment, the connecting segment, and the second hole segment, so that the adjusting platform has a first height position and a second height position. At the first height position, the first limiting member abuts against the upper surface of the first hole segment; at the second height position, the first limiting member abuts against the upper surface of the second hole segment; and / or, The plurality of positioning components include a second positioning component, which includes a second guide rail, a first stop, a second stop, and a second limiting member. The second guide rail is fixed to the bearing seat and extends horizontally. The first stop is located to the side of the second guide rail and protrudes upward from it. The second stop includes a connecting seat and a floating seat. The connecting seat is slidably mounted on the second guide rail, and the floating seat is slidably mounted on the second guide rail and connected to the end of the connecting seat away from the first stop via a spring. A baffle is provided on the floating seat, and the baffle and the first stop together abut against opposite sides of the workpiece body. The second limiting member is used to limit the position of the connecting seat on the second guide rail; and / or, The plurality of positioning components include a third positioning component, which includes two first support portions and one second support portion. The two first support portions are horizontally disposed opposite each other on the carrier. The second support portion is movably mounted on the carrier to have a first position and a second position. In the first position, the second support portion is located between the two first support portions to jointly abut against opposite sides of the workpiece with one of the two first support portions. In the second position, the second support portion avoids the two first support portions so that the two first support portions abut against opposite sides of the main body of the workpiece.

[0013] In one embodiment, a positioning area is formed on the support, and at least one of the plurality of positioning components includes a height adjustment block. The height adjustment block is stepped, having two stepped portions offset vertically. A first notch and a second notch are provided on the side of the two stepped portions away from each other, penetrating the height adjustment block. The height adjustment block is detachably mounted on the support such that one of the first notch and the second notch is located within the positioning area to mate with a pipe of the workpiece; and / or, At least one of the plurality of positioning components includes a fixing base and a clamping assembly. The fixing base is disposed on the bearing base. The clamping assembly includes two clamping units spaced horizontally from the fixing base. Each clamping unit includes a second mounting base and a clamping plate. The second mounting base is disposed on the fixing base. The upper end face of the second mounting base is provided with a through groove. The clamping plate is located in the through groove. The clamping plate is connected to one side wall of the through groove by an elastic element so as to jointly abut against the opposite sides of the workpiece's pipe with the other side wall of the through groove; and / or, At least one of the plurality of positioning components includes a plurality of pipe clamps distributed on the support, wherein at least some of the pipe clamps are oriented differently and / or at least some of the pipe clamps are positioned differently in height; and / or, At least some of the positioning components are used to position the same workpiece.

[0014] In one embodiment, the supporting fixture further includes: Support, fixed on the bearing seat; A rotating seat is rotatably mounted on the support along an axis extending in the horizontal direction, and one side of the rotating seat forms a positioning surface; One of the positioning components is located on the positioning surface so as to change the orientation of the workpiece during the rotation of the rotating seat.

[0015] In one embodiment, a positioning area is formed on the support base, and the support tooling further includes a pressing structure, the pressing structure comprising: The first mounting base is fixed to the bearing base; A clamping member, the lower end of which is rotatably mounted on the first mounting base, such that the upper end of the clamping member has a rotational stroke toward or away from the positioning area; the middle portion of the clamping member is connected to the first mounting base via a drive spring; and, A third limiting member is disposed on the first mounting base and located on the side of the pressing member that is close to or far from the positioning area. The third limiting member is used to limit the position of the pressing member relative to the first mounting base.

[0016] In one embodiment, two third limiting members are provided, with the two third limiting members respectively disposed on both sides of the pressing member near and away from the positioning area; and / or, The third limiting member includes a first bracket and a limiting bolt. The lower end of the first bracket is fixed to the first mounting base, and the upper end of the first bracket extends away from the pressing member. The limiting bolt is threaded onto the upper end of the first bracket, and the end of the limiting bolt can abut against the surface of the pressing member during the swinging process of the pressing member.

[0017] In one embodiment, the supporting fixture is provided with a plurality of air pipes, which are used to communicate with the workpiece's welding pipe and an external nitrogen filling device; and / or, The welding line also includes a second visual inspection device, which is located on the machine base or the integrated wire feeding welding mechanism. The second visual inspection device is electrically connected to the control device and the integrated wire feeding welding mechanism.

[0018] In one embodiment, along the conveying direction of the conveying device, the plurality of workstations further include a testing workstation and a temporary storage workstation located behind the plurality of welding workstations. The welding line also includes: An inspection device, located at the inspection station, is used to inspect the appearance of a workpiece that is on the support fixture and has been welded. A stop assembly is located at the temporary storage station. The stop assembly includes a movable stop plate that can contact the side of the carrying fixture during its movement to stop the carrying fixture. The control device is electrically connected to the detection device and the stop assembly. The control device is used to control the operation of the stop assembly based on the detection result of the detection device.

[0019] The present invention also proposes a control method for a welding line, which, based on the above-mentioned welding line, includes the following steps: When the carrying fixture at the loading station is carrying a first split workpiece to be welded and at least one second split workpiece, the conveying device is controlled to work, driving the carrying fixture through multiple welding stations, and one of the integrated wire feeding welding mechanisms is controlled to work, so that the first split workpiece is welded at the corresponding welding station. When the carrying fixture returns to the loading station and carries the first split workpiece and the first combined workpiece, the conveying device and the multiple integrated wire feeding and welding mechanisms are controlled to work, so that the carrying fixture passes through the multiple welding stations in sequence to complete the welding of the first split workpiece and the first combined workpiece, wherein the first combined workpiece is composed of a second split workpiece and the welded first split workpiece.

[0020] In one embodiment, the welding apparatus includes a heating section, and the wire feeding device includes a conveying assembly and a wire guide. The step of controlling the conveying device and multiple integrated wire feeding and welding mechanisms to operate when the carrying fixture returns to the loading station and carries the first split workpiece and the first combined workpiece, so that the carrying fixture sequentially passes through multiple welding stations to complete the welding of the first split workpiece and the first combined workpiece, includes: When the bearing fixture is at each of the welding stations, the robotic arm is controlled to move according to the preset welding information of the corresponding integrated wire feeding welding mechanism so that the heating part corresponds to the welding position of the first split workpiece or the first combined workpiece. The preset welding information includes the weld point position and the number of weld points. The robotic arm, the conveying assembly, and the heating unit are controlled to work together to complete the welding operation at the current welding station.

[0021] The technical solution of this invention involves a support fixture that moves between multiple workstations under the drive of a conveying device. Through a rationally designed structure, the support fixture can achieve universal positioning for multiple products. Multiple welding workstations are set up, distributing multiple weld points across them for separate welding operations. This helps reduce processing cycle time, lowers manual intervention intensity, and greatly enhances the adaptability and flexibility of the production line. Simultaneously, an integrated wire feeding and welding mechanism is incorporated, integrating the wire feeding device and welding device onto the robotic arm. This ensures coordinated welding and wire feeding. The physical path of the welding wire from the coil to the weld point is significantly compressed, resulting in a substantial reduction in the wire feeding path length. This solves the problem of wire entrapment in traditional wire feeding and return processes, improving wire feeding accuracy. The entire integrated wire feeding and welding mechanism occupies approximately the same space as the robotic arm itself and the space required for its movement, thus optimizing space utilization. Attached Figure Description

[0022] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on the structures shown in these drawings without creative effort.

[0023] Figure 1 This is a schematic diagram of the structure of the welding line provided by the present invention; Figure 2 for Figure 1 Schematic diagram of the integrated wire feeding and welding mechanism; Figure 3 for Figure 2 Schematic diagram of the welding device; Figure 4 for Figure 1 Schematic diagram of the load-bearing tooling in the middle; Figure 5 for Figure 4 A schematic diagram of the positioning component; Figure 6 for Figure 4 Schematic diagram of the medium-pressure support structure; Figure 7 for Figure 4 A structural diagram showing a product of model A installed in a load-bearing fixture. Figure 8 for Figure 4 A structural diagram showing a product of model B installed in a load-bearing fixture. Figure 9 A flowchart illustrating an embodiment of the welding line control method provided by the present invention; Figure 10 This is a schematic flowchart of another embodiment of the welding line control method provided by the present invention.

[0024] Explanation of icon numbers: 1000. Welding line; 100. Integrated wire feeding and welding mechanism; 1. Base; 2. Robotic arm; 21. Movable joint; 3. Welding device; 31. Heating unit; 32. First vision inspection device; 33. Temperature detection element; 4. Wire feeding device; 41. Material roll; 42. Conveying assembly; 43. Wire guide; 200. Machine base; 210. Loading station; 220. Welding station; 230. Inspection station; 240. Temporary storage station; 300. Bearing fixture; 310. Positioning assembly; 3111. First guide rail; 3112. Adjusting platform; 3113. Limiting hole; 3114. First limiting component; 3121. Second guide rail; 3122. First stop; 3123. Connecting seat; 3124. Floating seat; 3125. Second limiting component; 3126. Baffle; 3131. First support part; 3132. Second support part; 314. Height adjustment block; 3141. First notch; 3142. Second notch; 3151, fixed seat; 3152, second mounting seat; 3153, clamping plate; 315, pipe clamp; 3150, first pipe clamp; 3161, second bracket; 3162, abutment; 320, support; 330, rotating seat; 3301, anti-fool plate; 3302, limiting protrusion; 340, pressing structure; 341, first mounting seat; 342, pressing component; 343, third limiting component; 3431, first bracket; 3432, limiting bolt; 400. Conveying device.

[0025] The realization of the objective, functional features and advantages of the present invention will be further explained in conjunction with the embodiments and with reference to the accompanying drawings. Detailed Implementation

[0026] 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 a part of the embodiments of the present invention, and not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the scope of protection of the present invention.

[0027] It should be noted that if the embodiments of the present invention involve directional indication, the directional indication is only used to explain the relative positional relationship and movement of the components in a certain specific posture. If the specific posture changes, the directional indication will also change accordingly.

[0028] Furthermore, if the embodiments of this invention involve descriptions such as "first" or "second," these descriptions are for descriptive purposes only and should not be construed as indicating or implying their relative importance or implicitly specifying the number of technical features indicated. Therefore, a feature defined with "first" or "second" may explicitly or implicitly include at least one of those features. Additionally, the technical solutions of the various embodiments can be combined with each other, but this must be based on the ability of those skilled in the art to implement them. If the combination of technical solutions is contradictory or impossible to implement, it should be considered that such a combination of technical solutions does not exist and is not within the scope of protection claimed by this invention.

[0029] This invention is not limited to specific products and can be used for welding copper pipes in the compressor, evaporator, condenser and other structures involved in washing machines, dryers, refrigerators and other similar products.

[0030] Home appliances, due to their complex internal piping and numerous joints, present significant challenges in positioning during the welding process. Currently, whether manual, semi-automatic flame welding, or high-frequency welding is used, the welding process requires multiple personnel. These products come in various models and specifications, and the tooling and fixtures used in production are not only bulky and heavy but also have low versatility. Frequent product updates and rapid production changeovers necessitate constant replacement of tooling and fixtures on the production line, a time-consuming and labor-intensive process that significantly impacts production efficiency. Furthermore, over-reliance on manual operation leads to insufficient positioning accuracy. After welding, workers often need to manually correct and reshape the product based on the actual situation, resulting in numerous and arduous manual interventions. Ultimately, this lengthens the overall production cycle, hindering capacity expansion and quality stability. This invention proposes a welding line that, through the rational design of the conveyor path, tooling, and welding process, achieves product versatility and shortens the processing cycle.

[0031] Meanwhile, welding processes often require specialized automated welding equipment and high-precision wire feeding mechanisms to work together. However, traditional wire feeding mechanisms mostly adopt a floor-standing design that occupies a large area. Their inherent bulk, coupled with the space constraints of the production line layout, often results in excessively long and complex wire guide tubes connecting the welding torch. During continuous welding operations, this long-distance wire feeding and return process is prone to irregular bending and accumulation of the welding wire in the tube due to tube friction and path tortuosity, resulting in the so-called "wire entrapment" phenomenon. This phenomenon directly interferes with the smoothness and stability of wire delivery, causing fluctuations in the actual wire delivery time to the welding point, and affecting the precise control of the wire feeding amount. Ultimately, it adversely affects the forming quality, strength consistency, and process stability of the welded joint. Therefore, this invention improves the welding mechanism in the design of the welding line, thereby meeting the requirements of short-path wire feeding and production cycle time, and ensuring welding quality.

[0032] Please refer to Figure 1 and Figure 7The welding line 1000 includes a base 200, multiple integrated wire feeding welding mechanisms 100, multiple supporting fixtures 300, a conveying device 400, and a control device. The base 200 has multiple stations spaced apart, including a material feeding station 210 and multiple welding stations 220. The multiple integrated wire feeding welding mechanisms 100 are located at the multiple welding stations 220 respectively. Each integrated wire feeding welding mechanism 100 includes a base 1 and a robotic arm 2 movably mounted on the base 1. The robotic arm 2 integrates a welding device 3 and a wire feeding device 4. The base 1 integrates a material roll 41 connected to the wire feeding device 4. Each supporting fixture 300 is used to position the workpiece so that multiple welding positions of the workpiece are exposed. The conveying device 400 is used to drive the multiple supporting fixtures 300 sequentially through the multiple stations. The control device is electrically connected to the multiple integrated wire feeding welding mechanisms 100 and the conveying device 400.

[0033] The technical solution of this invention involves a support fixture 300 that moves between multiple workstations under the drive of a conveying device 400. By rationally designing the structure of the support fixture 300, universal positioning for multiple products can be achieved. Multiple welding workstations 220 are set up, distributing multiple weld points across them for separate welding operations. This helps reduce processing cycle time, lowers manual intervention intensity, and greatly enhances the adaptability and flexibility of the production line. Simultaneously, an integrated wire feeding and welding mechanism 100 is provided, integrating the wire feeding device 4 and welding device 3 onto the robotic arm 2. This ensures coordinated welding and wire feeding. The physical path of the welding wire from the coil 41 to the weld point is greatly compressed, significantly reducing the wire feeding path length and solving the wire entrapment problem in traditional wire feeding and return processes, thus improving wire feeding accuracy. The entire integrated wire feeding and welding mechanism 100 occupies approximately the same space as the robotic arm 2 itself and the space required for its movement, optimizing space utilization.

[0034] The conveyor 400 can be configured as a motor-driven transmission chain, a pulley conveyor belt, or other similar structures. In the wiring design, the conveying path of the conveyor 400 can be straight or L-shaped. In some embodiments, the conveying path of the conveyor 400 is arranged in a loop, allowing the workpiece-carrying fixture 300 to return to the loading station 210 after passing through multiple welding stations 220. At this point, the loading station 210 needs to perform the installation of new materials and the removal of welded materials. Specifically, operators or external robots can directly remove finished products from the loading station 210 and then place new workpieces to be processed, eliminating the need for additional unloading stations. This reduces the overall floor space of the production line and optimizes production space utilization.

[0035] The support fixture 300 is used to support, position, and move workpieces. The number of workpieces supported on the support fixture 300 is not limited. In a specific product, the support fixture 300 is used to position and place the condenser, evaporator, and at least one dryer filter. The dryer filter can be positioned separately or positioned after being assembled with the condenser.

[0036] Please refer to Figures 2 to 3 One end of the robotic arm 2 is a mounting end for mounting on the base 1, and the other end is a movable end with multiple degrees of freedom. The welding device 3 includes a heating part 31 located at the movable end. The heating part 31 can correspond to the welding position of the workpiece on the bearing fixture 300 of the welding station 220 under the drive of the robotic arm 2. The wire feeding device 4 includes a conveying component 42 and a wire guide 43. The wire guide 43 is located at the movable end and is close to the heating part 31. The wire guide 43 has a wire guide channel for the welding wire to pass through. The conveying component 42 is used to convey the welding wire wound on the coil 41 to the wire guide 43 and extend it from the wire guide channel to contact the welding position of the workpiece. The wire feeding device 4 and the welding device 3 are both integrated on the robotic arm 2. Since the welding wire itself has a certain degree of flexibility and deformation characteristics, when the robotic arm 2 drives the heating part 31 to move along a certain trajectory and perform welding operations, the extended welding wire can adaptively bend and adjust its shape according to the changes in the movement path and posture. Meanwhile, the conveying component 42 can adjust the total length of the welding wire extending from the coil 41, thus enabling the displacement function of the robotic arm 2 and the wire conveying function to be satisfied simultaneously without interfering with each other. The space occupied by the entire mechanism is basically equal to the space required for the robotic arm 2 itself and its movements, optimizing space utilization. Integrating the welding device 3 onto the robotic arm 2 ensures coordinated welding and wire feeding. The physical path of the welding wire from the coil to the weld point is greatly compressed, significantly reducing the wire feeding path length, thereby solving the problem of wire entrapment in the traditional wire feeding and return process and improving wire feeding accuracy. Combined with the welding line, it can effectively improve the processing quality at the welding station and shorten the processing cycle.

[0037] Robotic arm 2 is a programmable mechanical device composed of multiple rigid links connected by joints, whose structure and movement mimic the human arm. The base 1 serves as the supporting structure, and robotic arm 2 also includes the arm itself, joints, end effector, and other structures. Robotic arm 2 can perform welding operations in three-dimensional space. The movement path of robotic arm 2 can be programmed. For example, the coordinates of the welding positions can be pre-set based on the current product being processed, and robotic arm 2 can repeat the operation according to the preset trajectory each time. Alternatively, a camera device can be added to construct the trajectory based on real-time visual detection.

[0038] The welding device 3 can be configured as a flame welding device, a high-frequency induction brazing device, etc., with the welding torch or induction coil in the corresponding device serving as the heating element 31. The heating element melts the welding wire and automatically fills the weld seam by heating the pipe surface, thus achieving a connection after cooling. The welding device 3 also includes other necessary structures, such as gas cylinders, manifolds, ignition devices, and regulating valves; or, for example, rectifier units, inverter units, and capacitors. These can be rationally designed and positioned at corresponding locations on the robotic arm 2 or the base 1 according to actual design needs.

[0039] It should be understood that wire guide hoses are provided between the wire guide 43 and the conveying assembly 42, and between the conveying assembly 42 and the material coil 41, to accommodate the welding wire. The wire guide hoses can follow the arm routing of the robotic arm 2, providing stable guidance and protection for the welding wire.

[0040] Specifically, the robotic arm 2 includes multiple movable joints 21, with the welding device 3, conveying assembly 42, and wire guide 43 arranged at intervals on the same movable joint 21. This arrangement can effectively shorten the wire feeding distance between the conveying assembly 42 and the heating unit 31, reduce resistance fluctuations during wire feeding, simplify the overall wiring layout, reduce the probability of interference between the welding wire and the robotic arm 2 or other structures, and improve the stability of wire feeding and welding operations.

[0041] In other embodiments, the welding device 3 and the conveying assembly 42 may be mounted on different movable joints 21.

[0042] The specific structural form of the conveying component 42 is not limited. Depending on the material of the workpiece to be welded and the material of the welding wire, the conveying component 42 can realize the wire feeding function based on friction drive, airflow propulsion, rotary spring drive, magnetic drive, etc.

[0043] In some embodiments, the conveying assembly 42 includes a base, two wire feeding wheels, and a drive unit. The base is fixed to the side surface of the robotic arm 2. Both wire feeding wheels are rotatably mounted on the base to jointly support the opposite sides of the welding wire. The drive unit is located on the base and is driven by one of the wire feeding wheels to rotate, thereby moving the welding wire. The two wire feeding wheels cooperate to support the welding wire, relying on the friction between the wheels and the wire to convey the wire forward. This wire feeding structure is simple and compact, with a small overall size, suitable for the limited installation space of the robotic arm 2. Furthermore, the driving force is stable and controllable, enabling precise control of the wire feeding speed and feed rate, ensuring the stability of the wire feeding process. The drive unit can be a motor, driving one wire feeding wheel to rotate actively, while the other wire feeding wheel rotates passively.

[0044] It should be noted that the two wire feeding wheels are configured as one set of friction wire feeding structures. Multiple sets of friction wire feeding structures can be configured according to actual design requirements. When a single welding wire is fed, multiple sets of friction wire feeding structures can be arranged at intervals along the wire feeding direction. When two welding wires are fed, multiple sets of friction wire feeding structures can drive different welding wires respectively. Alternatively, each welding wire can be driven by two sets of friction wire feeding structures.

[0045] In this embodiment, two wire guides 43 and two wire rolls 41 are provided. The conveying assembly 42 is used to convey the welding wire wound on the two wire rolls 41 to the two wire guides 43. The total length of welding wire required for welding is the sum of the lengths of the two welding wires extending from the ends of the two wire guides 43. Compared with single wire feeding, the wire feeding length of each wire guide 43 is shorter, the resistance encountered during wire feeding is smaller, and the wire feeding jamming is less likely to occur, which can further improve the stability of wire feeding. At the same time, the welding wires at both ends are fed out from the ends of different wire guides 43 and converge at the welding position, which can be adapted to the dual-wire welding process, improving welding efficiency and welding quality.

[0046] When two wire guides 43 and two wire coils 41 are provided, the two wire guides 43 are arranged at an angle. By feeding the two welding wires into the welding area at a certain angle, the wire feeding speed of the two welding wires can be flexibly adjusted, thereby changing the heat input of the welding process, which can improve welding efficiency and improve the forming quality of the weld joint.

[0047] Please follow Figure 2 In this embodiment, the welding apparatus 3 includes a high-frequency induction heating welding machine. The induction coil of the high-frequency induction heating welding machine forms a heating part 31, and a welding channel is formed on the heating part 31. One side of the welding channel is open to accommodate the workpiece to be welded. The end of the wire guide 43 is located inside the welding channel. The high-frequency induction heating welding machine generates a high-frequency alternating magnetic field through the induction coil, causing the welding wire and the workpiece to be welded to quickly generate a thermal effect and heat up to melt. Compared with other heating methods, the heat is more concentrated and the heat-affected zone is smaller, which can effectively prevent other parts of the workpiece from being deformed by heat, improve the stability of welding and the accuracy of the welded product. The induction coil is set into an approximately U-shaped structure with one side open. During welding, the workpiece is restricted by the bearing fixture 300, and the corresponding pipe with the weld point can extend in the vertical direction. By controlling the movement of the induction coil, it can be directly placed around the outside of the pipe of the workpiece. The wire feeding end of the wire guide 43 can extend into the U-shaped space, thereby just aligning with the welding position and ensuring that the welding wire can be accurately fed into the welding area. This not only ensures a better welding effect, but also facilitates positioning and matching.

[0048] Based on the above embodiments, the welding apparatus 3 further includes a temperature detection element 33, which is used to detect the surface temperature of the workpiece to be welded. The temperature detection element 33 can be configured as an infrared temperature control structure. By collecting temperature data at the welding position in real time, the temperature information can be fed back to the corresponding control unit, facilitating the control unit to adjust the heating power and control the timing of wire feeding. The temperature detection element 33 can be located next to the induction coil, without occupying additional operating space or interfering with the normal operation of wire feeding and welding. The temperature detection element 33 can also be configured as a non-contact temperature probe, which will not be described in detail here.

[0049] In some embodiments, the welding apparatus 3 further includes a first vision detection device 32, which is used to detect at least the height of the workpiece to be welded. The first vision detection device 32 can quickly locate the workpiece position before the welding operation begins, and by acquiring the height information of the part to be welded, it can plan the movement trajectory of the robotic arm 2 or complete height compensation in conjunction with a preset welding trajectory.

[0050] Considering the spatial arrangement, the first visual detection device 32 and the temperature detection element 33 can be respectively set on opposite sides of the heating part 31.

[0051] It should be noted that the integrated wire feeding welding mechanism 100 can perform welding work on a single weld point or multiple weld points. The specific design is based on the cycle time setting of the welding line and the structural characteristics of the supporting fixture 300. For example, to meet the welding requirement of 5 weld points, a total of 3 welding stations are set up, matched with 3 integrated wire feeding welding mechanisms 100. Two of the integrated wire feeding welding mechanisms 100 perform the welding work on 2 weld points, and the other integrated wire feeding welding mechanism 100 performs the welding work on 1 weld point. All three can operate simultaneously, ensuring the shortest production cycle time.

[0052] Furthermore, the support fixture 300 includes a support base and multiple positioning components 310. The multiple positioning components 310 are spaced apart on the upper surface of the support base and are used to define the position of the workpiece body and the pipe. Different structures can be provided for different components within the multiple positioning components 310. For example, a contour-fitting limiting seat can be provided for the workpiece body, a pipe clamping or slotting structure can be provided for the pipe, and a dedicated clamping and positioning groove can be provided for small components such as the drying filter, ensuring that the workpieces do not shift during transfer and welding, and avoiding welding position deviation that could affect the product welding quality.

[0053] It should be noted that the workpiece to be welded is usually composed of functional components and transmission pipelines. The functional components are defined as the main body, and the transmission pipelines are defined as the pipes.

[0054] In order to accommodate the external dimensions of the workpiece body, in some embodiments, please refer to... Figure 4 The multiple positioning components 310 include a first positioning component, which includes two first guide rails 3111 and two adjusting platforms 3112. The two first guide rails 3111 are horizontally spaced apart on the support, and the two adjusting platforms 3112 are respectively disposed on the two first guide rails 3111. The upper surfaces of the two adjusting platforms 3112 are used to contact the main body of the workpiece together. The side surface of each adjusting platform 3112 is provided with a limiting hole 3113. The limiting hole 3113 includes a first hole segment, a second hole segment, and a connecting segment connecting the first hole segment and the second hole segment extending in the vertical direction. The upper surfaces of the two sections are at different heights. Each first guide rail 3111 has a first limiting member 3114 on its side surface. The first limiting member 3114 can move within the first section, the connecting section, and the second section, so that the adjusting platform 3112 has a first height position and a second height position. When the first limiting member 3114 moves into the first section and abuts against the upper surface of the first section, the adjusting platform 3112 is at the first height position; when the first limiting member 3114 moves into the second section and abuts against the upper surface of the second section, the adjusting platform 3112 is at the second height position. The first guide rail 3111 provides support and guidance for the adjusting platform 3112. During adjustment, the operator holds the adjustment platform 3112 and actively drives it to move relative to the first guide rail 3111. This allows the first limiting member 3114 to move along the limiting hole 3113. The lower ends of the first and second hole sections are at the same height, while the upper ends differ in height. This allows the adjustment platform 3112 to maintain either a first or second height position under the influence of gravity and the resistance of the first limiting member 3114 after being released, thus accommodating workpieces of different specifications. The adjustment of the two adjustment platforms 3112 is independent of each other, so they can be at the same height or at different heights. Furthermore, considering the stability of the support for the adjustment platform 3112, at least two limiting holes 3113 are provided on the same side of the adjustment platform 3112 and / or limiting holes 3113 are provided on opposite sides of the adjustment platform 3112. The first limiting member 3114 can be a locating pin, screw, or other structure, which is fixed or detachably connected to the first guide rail 3111. When the first limiting member 3114 is detachably connected to the first guide rail 3111, the adjustment table 3112 can have more height positions by changing the installation height of the first limiting member 3114, thereby matching more workpieces.

[0055] In order to accommodate the external dimensions of the workpiece body, in some embodiments, please refer to... Figure 5The multiple positioning components 310 include a second positioning component, which includes a second guide rail 3121, a first stop 3122, a second stop, and a second limiting member 3125. The second guide rail 3121 is fixed to the support and extends horizontally. The first stop 3122 is located on the side of the second guide rail 3121 and protrudes upward from the second guide rail 3121. The second stop includes a connecting seat 3123 and a floating seat 3124. The connecting seat 3123 is slidably mounted on the second guide rail 3121, and the floating seat 3124 is slidably mounted on the second guide rail 3121 and is connected to the end of the connecting seat 3123 away from the first stop 3122 by a spring. A baffle 3126 is provided on the floating seat 3124. The baffle 3126 and the first stop 3122 together abut against the opposite sides of the main body of the workpiece. The second limiting member 3125 is used to limit the position of the connecting seat 3123 on the second guide rail 3121. The second guide rail 3121 supports the second stop and provides guidance for its movement. Specifically, the connecting seat 3123 and the floating seat 3124 can slide as a whole relative to the second guide rail 3121. Since the connecting seat 3123 and the floating seat 3124 are floatingly connected along the extension direction of the second guide rail 3121, the floating seat 3124 has a certain floating stroke relative to the connecting seat 3123. Based on the cooperation relationship between the floating seat 3124 and the baffle 3126, when limiting the opposite sides of the workpiece body, the position of the first stop 3122 is fixed, serving as a positioning function, while the position of the baffle 3126 is movable and can be adjusted according to the size of the workpiece body. At the same time, the floating seat 3124 can accommodate a certain degree of error and provide a certain preload, thus achieving a good fit. The second limiting member 3125 ensures that the connecting seat 3123 remains fixed during workpiece welding and movement, thereby giving the workpiece a stable position.

[0056] The shape of the first stop part 3122 is not limited. It can be a plate-like structure with a certain size or multiple column-like structures arranged together, depending on actual needs.

[0057] The movement of the connecting seat 3123 can be manually driven or automatically driven. When automatically driven, the second limiting member 3125 serves as a double safety measure for mechanical limiting. When the connecting seat 3123 is manually driven, the second limiting member 3125 can be actively triggered by the operator. For example, the second limiting member 3125 can be set to be movable or pluggable, and the operator can actively determine the position of the second limiting member 3125 according to the size of the workpiece body. In some embodiments, multiple fixed positioning pieces are provided on the second guide rail 3121, and the positioning pieces are provided with through holes in the vertical direction. Corresponding mating holes are provided on the connecting seat 3123. The second limiting member 3125 is a pin. According to the size of the body, the pin can be inserted when the connecting seat 3123 moves to a position where the mating hole corresponds to one of the through holes in the vertical direction, thereby achieving the effect of position limitation.

[0058] When the connecting seat 3123 is manually driven, a handle is provided on the edge of the floating seat 3124 for the operator to hold, taking into account the convenience of operation.

[0059] In order to adapt to the external dimensions of the workpiece body, in some embodiments, the multiple positioning components 310 include a third positioning component. Please refer to... Figure 5 The third positioning component includes two first support portions 3131 and one second support portion 3132. The two first support portions 3131 are horizontally opposed to each other on the support base. The second support portion 3132 is movably mounted on the support base to have a first position and a second position. In the first position, the second support portion 3132 is positioned between the two first support portions 3131, and together with one of the two first support portions 3131, it abuts against opposite sides of the workpiece. In the second position, the second support portion 3132 is positioned away from the two first support portions 3131, so that the two first support portions 3131 abut against opposite sides of the main body of the workpiece. This structure can accommodate workpieces of two sizes. The larger workpiece is directly abutted and defined by the two first support portions 3131, while the smaller workpiece is abutted by one of the first support portions 3131 and the second support portion 3132, while being away from the other first support portion 3131.

[0060] In practical implementation, the second support part 3132 can be driven by a cylinder, electric push rod, etc. The second support part 3132 can be either automatically or manually driven. The second support part 3132 can move along a straight line or swing along an arc. When the second support part 3132 is automatically driven, the position of the second support part 3132 can be automatically switched by detecting the workpiece size through a sensor; alternatively, a manual operation button can be provided, allowing the operator to manually switch according to actual production needs.

[0061] The specific shapes of the second support part 3132 and the first support part 3131 are not limited; they can be plate-like structures, column-like structures, etc. The dimensions and shapes of the two can be set differently according to actual needs.

[0062] It should be noted that the aforementioned structures for adapting the external dimensions of the workpiece can be set independently or in combination. For example, for a condenser, the first and second positioning components can be combined to adapt to the length and width dimensions of the condenser, respectively; alternatively, the first and third positioning components can be combined to adapt to the length and width dimensions of the condenser, respectively. For example, for an evaporator, only the third positioning component can be set to adapt to the length or width dimension of the evaporator, while other structures are used to restrict the other side. That is, the structures of the positioning components 310 can be reasonably combined according to different product requirements.

[0063] To accommodate pipelines of different workpiece specifications, in some embodiments, a positioning area is formed on the support. At least one of the multiple positioning components 310 includes a height adjustment block 314. The height adjustment block 314 is stepped, having two stepped portions offset vertically. A first notch 3141 and a second notch 3142, respectively, are provided on the side of the two stepped portions away from each other, penetrating the height adjustment block 314. The height adjustment block 314 is detachably mounted on the support, such that one of the first notch 3141 and the second notch 3142 is within the positioning area to engage with the pipeline of the workpiece. Because the two stepped portions have a height difference in the vertical direction, the pipeline is engaged at different positions in the first notch 3141 and the second notch 3142. Considering the different bending positions and lengths of pipelines for different workpiece specifications, and the need for sufficient space at different welding positions of the pipelines in different workpiece specifications, two height settings are provided to meet the requirements.

[0064] It should be noted that the installation method of the height adjustment block 314 is not limited; for example, it can be fixed with screws. In some embodiments, to enable quick orientation changes of the height adjustment block 314 when adapting to different workpieces, a quick-release rotating structure is provided, with an elongated hole on the height adjustment block 314. A through hole is provided on the support base or other support structure on the support base, and a rotating component is provided, one end of which serves as a handle, and the other end has a stop bar. Rotating the handle aligns the stop bar with the elongated hole, allowing it to pass through the through hole and the elongated hole. Continuing to rotate the rotating component allows the stop bar to be angled with the elongated hole, thereby limiting the height adjustment block 314. Properly setting the fitting clearance ensures quick assembly and disassembly.

[0065] To accommodate pipelines with workpieces of different specifications, in some embodiments, at least one of the multiple positioning components 310 includes a fixed base 3151 and a clamping component. The fixed base 3151 is mounted on a support base. The clamping component includes two clamping units spaced horizontally from the fixed base 3151. Each clamping unit includes a second mounting base 3152 and a clamping plate 3153. The second mounting base 3152 is mounted on the fixed base 3151, and its upper end face has a through groove. The clamping plate 3153 is located within the through groove, and is connected to one side wall of the through groove via an elastic element, so that it, together with the other side wall of the through groove, abuts against the opposite sides of the workpiece's pipeline. The two clamping components are positioned in different orientations to adapt to different pipeline locations. They can be used individually or simultaneously. The elastic connection of the clamping units can adapt to different pipeline diameters and ensure good clamping force.

[0066] Furthermore, one side wall of the through groove or the clamping plate 3153 is inclined, thus having a guide slope. When the workpiece's pipe is pressed downward into the through groove, the pipe can push the clamping plate 3153 open along the guide slope and be clamped by the two side walls under the action of the elastic element. The clamping can be completed without manually pressing the elastic element.

[0067] To accommodate pipelines with workpieces of different specifications, in some embodiments, at least one of the multiple positioning components 310 includes multiple pipe clamps 315 distributed on a support base. At least some of the pipe clamps 315 have different orientations and / or at least some of the pipe clamps 315 have different height positions. At least some of the positioning components 310 are used to position the same workpiece. The shape and size of the pipe clamps 315 are not limited; they can be V-shaped or U-shaped. They mainly provide basic positioning for the pipeline. The dimensions of the multiple pipe clamps 315 can be the same or different. The pipe clamps 315 can be arranged reasonably at the required positioning positions according to the differences in the bending direction of the pipeline.

[0068] For the pipe clamp 315, the pipe can perfectly match the size of the pipe clamp 315, and the size of the pipe clamp 315 can also be larger than the pipe. That is, the purpose of the pipe clamp 315 is to limit the extreme position of the pipe. When multiple positions of the workpiece are allowed to be limited, some parts of the pipe have a certain degree of movable adaptation position, thereby accommodating machining errors. Based on this, in one embodiment, the pipe clamp 315 has a clamping channel with a depth greater than the diameter of the pipe. Scale lines are set on the outside of the pipe clamp 315. The pipe needs to be confined between the bottom wall of the clamping channel and the scale lines, but the pipe of the pipe clamp 315 is not required to contact the bottom wall of the clamping channel.

[0069] The plurality of pipe clamps 315 include a first pipe clamp 3150, which includes a base, a baffle, and a clamping part. The base can be fixed on the support of one of the positioning components. The baffle extends in the vertical direction and is fixed on the base. The clamping part includes a first clamping block and a second clamping block that are rotatably connected. The first clamping block and the second clamping block extend in perpendicular directions and are arranged in an L-shape. The first clamping block is fixedly connected to the side of the base away from the baffle. The second clamping block extends in the horizontal direction and is connected to the lower end of the first clamping block or the base by a spring. The second clamping block can be rotated open under the action of external force, so as to be able to adapt to the pipe covered with insulation cotton and have a larger clamping space.

[0070] Furthermore, locating pins can be set to abut against the outer wall of the pipe to limit the installation and positioning of the workpiece.

[0071] The aforementioned structure for limiting the pipeline can also be reasonably combined and set according to actual needs. At the same time, it can be selectively combined with the first positioning component, the second positioning component, and the third positioning component to achieve a better positioning effect on the workpiece.

[0072] Some workpieces have multiple weld points. Due to the workpiece's shape, structural obstructions, or differences in welding angles, the workpiece's angle needs to be adjusted to meet the welding requirements of multiple weld points. Therefore, in some embodiments, the supporting fixture 300 further includes a support 320 and a rotating seat 330. The support 320 is fixed to the supporting seat; the rotating seat 330 is rotatably mounted on the support 320 along a horizontally extending axis, and one side of the rotating seat 330 forms a positioning surface; one positioning component 310 is located on the positioning surface. During the rotation of the rotating seat 330, the orientation of the workpiece changes, and the design of the positioning component ensures that the workpiece will not fall off during rotation. The rotation angle of the rotating seat 330 can be 30°, 90°, 180°, etc. Taking a dryer filter as an example, the dryer filter has two weld points. One positioning component 310 positions the filter on the rotating seat 330. When the thicker tube of the dryer filter faces upwards, welding can be performed on one weld point. Driving the rotating seat 330 to rotate 180° so that the thinner tube of the dryer filter faces upwards allows welding on the other weld point.

[0073] It should be noted that the rotating seat 330 can be rotated and adjusted at the welding station 220, or it can be rotated and adjusted during the transfer process. That is, the welding points that are welded before and after the rotating seat 330 rotates can be completed at the same welding station 220 or at different welding stations 220.

[0074] The positioning component 310 located on the rotating seat 330 can be any of the above-mentioned structures that can achieve the positioning function. The positioning component can also include related structures such as limiting groove and tube clamping groove.

[0075] Furthermore, to facilitate the positioning of the filter dryer on the rotating base 330, the corresponding positioning component 310 includes multiple limiting protrusions 3302. Each limiting protrusion 3302 has a limiting groove extending vertically, and a retainer is formed on one side of the limiting groove along the vertical direction. The retainer has an inclined surface for engaging with the inclined position of the filter dryer. The side of the limiting groove facing away from the rotating base 330 is open, allowing the filter dryer to be installed from the side. The limiting grooves of different limiting protrusions 3302 can have different dimensions, and the retainers can have different orientations, thus adapting to filter dryers of different specifications and installation directions.

[0076] To facilitate operators in quickly identifying the position of the rotating seat 330, a foolproof plate 3301 is installed on the rotating seat 330. When the rotating seat 330 is in its initial position, the foolproof plate 3301 faces upward, allowing the operator to install the relevant workpieces.

[0077] In addition, one of the positioning components 310 includes a second bracket 3161 and a stop member 3162. The second bracket 3161 is mounted to the rotating seat 330; the stop member 3162 is mounted to the second bracket 3161 via a compression spring, allowing for vertical movement. The stop member 3162 is used to abut against the end of the workpiece body. This structure can be used in conjunction with other dimensionally defined positioning structures to assist in limiting the workpiece. The stop member 3162 has a certain amount of compression, thus adapting to the height of the workpiece. Taking a dryer filter as an example, when the dryer filter is fixed on the rotating seat 330 via a slot, the stop member 3162 can abut against the upper or lower end of the dryer filter to prevent it from moving vertically. During the rotational welding of the dryer filter, the stop member 3162 always maintains stable abutment against the workpiece, preventing the workpiece from loosening or shaking due to changes in the angle of the rotating seat 330. This ensures positioning accuracy, simplifies additional positioning and locking operations, adapts to the processing requirements of different workstations during welding, and improves the smoothness of the welding operation.

[0078] To prevent the supporting component 3162 from separating from the workpiece due to vibration during transport or welding, the support base has a positioning area. Please refer to [reference needed]. Figure 6The bearing fixture 300 also includes a holding structure 340, which includes a first mounting base 341, a holding member 342, and a third limiting member 343. The first mounting base 341 is fixed to the bearing base. The lower end of the holding member 342 is rotatably mounted on the first mounting base 341 so that the upper end of the holding member 342 has a rotational stroke toward or away from the positioning area. The middle part of the holding member 342 is connected to the first mounting base 341 through a drive spring. After the holding member 342 rotates and contacts the workpiece, the drive spring always has a tightening force, so it can provide the holding member 342 with a driving force toward the positioning area. Similarly, when the holding member 342 rotates away from the workpiece, it has a downward movement tendency under the action of the tightening force of the drive spring, so it will not rotate back. The third limiting member 343 is disposed on the first mounting base 341 and located on the side of the holding member 342 that is close to or far from the positioning area. The third limiting member 343 is used to limit the position of the holding member 342 relative to the first mounting base 341. This can help the operator confirm the limit position and prevent the holding member 342 from causing the drive spring to have a reverse function due to insufficient rotation angle. In use, after the workpiece is placed in the positioning area of ​​the carrier, the holding member 342 can be manually driven to swing relative to the first mounting base 341. The upper end of the holding member 342 is used to contact the surface of the main body of the workpiece. The holding member 342 is kept in a pressed state under the action of the spring force. Depending on the different connection positions of the spring force, its state can be set to be stretched or contracted under force. When it is necessary to remove the workpiece, it is only necessary to overcome the spring force of the spring force to push the holding member 342 to rotate away from the positioning area, so that the holding member 342 can be separated from the workpiece to complete the unloading. The third limiting member 343 can limit the rotation range of the holding member 342 to avoid excessive rotation of the holding member 342, which may damage the product or make it difficult to reset.

[0079] This structure can further clamp and limit the workpiece, and can be used in conjunction with other positioning structures. For example, when limiting the evaporator, a third positioning component and a pressing structure 340 can be used together. The two first support parts 3131 are formed by opposite sides of a U-shaped frame structure.

[0080] The upper end of the clamping member 342 may be covered with a flexible pad to protect the product, and a handle may be installed on the clamping member 342 for easy manual operation.

[0081] Based on the above structure, two third limiting members 343 are provided, and the two third limiting members 343 are respectively provided on both sides of the pressing member 342 near and away from the positioning area; they are used to limit the position of the pressing member 342 for rotation pressing and rotation reset.

[0082] It should be understood that the structures of the two third limiting members 343 can be the same or different. (See attached...) Figure 6In this embodiment, the third limiting member 343 includes a first bracket 3431 and a limiting bolt 3432. The lower end of the first bracket 3431 is fixed to the first mounting base 341, and the upper end of the first bracket 3431 extends away from the pressing member 342. The limiting bolt 3432 is threaded onto the upper end of the first bracket 3431, and the end of the limiting bolt 3432 can abut against the pressing member 342 during the swinging process. By rotating the limiting bolt 3432, the length of the limiting bolt 3432 protruding from the first bracket 3431 can be adjusted, thereby adjusting the maximum rotation amplitude of the pressing member 342 to adapt to the clamping and positioning requirements of workpieces of different sizes. The adjustment process is simple and convenient, and it can adapt to the production of products of different specifications without replacing components, which can reduce the cost of tooling adjustment.

[0083] When the two third limiting members 343 are formed by the first bracket 3431 and the limiting bolts 3432, the lengths of the two limiting bolts 3432 protruding from the first bracket 3431 can be different.

[0084] The support fixture 300 is equipped with multiple air pipes, which are used to connect to the workpiece's welding pipe and external nitrogen filling equipment. Before welding, nitrogen is filled into the pipe at the welding position through the air pipes to effectively remove residual oxygen in the pipe, thereby significantly reducing or eliminating oxidation during the welding process and ensuring welding quality and pipe joint durability.

[0085] The external nitrogen filling equipment is set up separately, and the corresponding connection interface is arranged on the base 200 of the line body. The quick-connect structure of the pipeline is set on the bearing fixture 300. When it reaches each welding station 220, the nitrogen filling operation can be carried out by quick-connecting the pipeline. The quick-connection of the pipeline before the bearing fixture 300 is moved can meet the travel needs of the bearing fixture 300.

[0086] Furthermore, the welding line 1000 also includes a second vision inspection device, which is located on the base 200 or the integrated wire feeding welding mechanism 100. The second vision inspection device is electrically connected to the control device and the integrated wire feeding welding mechanism. Before the formal welding operation, the second vision inspection device takes pictures to determine the position of the workpiece and the weld point, thereby guiding the welding head of the integrated wire feeding welding mechanism to complete the initial displacement by following the movement path. The first vision inspection device 32 on the integrated wire feeding welding mechanism 100 is only used to detect the height of the workpiece to be welded, providing height guidance during welding alignment. Since the workpiece itself is limited by the corresponding structure on the bearing fixture 300, it has a clear position in the horizontal direction. Therefore, after the initial position adjustment of the robotic arm 2 is completed, welding accuracy can be guaranteed by height control alone, reducing the computational load of the control system and also reducing the performance requirements of the first vision inspection device 32. This ensures the accuracy of welding alignment and controls the overall manufacturing cost of the equipment, effectively balancing the needs of both accuracy and cost.

[0087] Along the conveying direction of the conveying device 400, the multiple stations also include an inspection station 230 and a temporary storage station 240 located behind the multiple welding stations 220; the welding line 1000 also includes an inspection device and a stop assembly. The inspection device is located at the inspection station 230 and is used to inspect the appearance of the workpiece that is on the support fixture 300 and has been welded; the stop assembly is located at the temporary storage station 240 and includes a movable stop plate that can contact the side of the support fixture 300 during its movement to stop the support fixture 300; the control device is electrically connected to the inspection device and the stop assembly, and the control device is used to control the operation of the stop assembly according to the inspection result of the inspection device. When the welded workpiece moves to the inspection station 230 along with the carrier fixture 300, the inspection device automatically performs a comprehensive inspection of the workpiece's weld appearance to determine whether there are defects such as porosity, cracks, weld beads, or incomplete penetration. The specific structure of the inspection device is not limited; it can use fixed and / or moving cameras or other equipment for visual identification. After the inspection is completed, the inspection signal is fed back to the control device. If the inspection result determines that the workpiece is qualified, the control device controls the stop plate of the stop assembly to retract, and the carrier fixture 300 can continue to flow out of the line along the conveyor device 400 with the qualified workpiece or return to the loading station 210. If the inspection result determines that the workpiece is unqualified, the control device controls the stop plate to extend, stopping the carrier fixture 300 at the temporary storage station 240, so that the operator can promptly remove the unqualified workpiece for subsequent processing and prevent the unqualified workpiece from flowing into the next process.

[0088] When the overall structure is configured as a loop, such as a racetrack, multiple welding stations 220 are arranged at intervals along the straight section. This facilitates the control of multiple integrated wire-feeding welding mechanisms to simultaneously perform welding operations on different positions of workpieces on different support fixtures 300 at the same pace. The inspection station 230 can be located in the arc section, providing ample space. The loading station 210 is positioned opposite the multiple welding stations 220 on the other side of the straight section, allowing for a longer trajectory. This provides sufficient time and space for the design of the temporary storage station 240 and for situations where multiple support fixtures 300 are stacked, preventing the inspection and welding processes from being affected by a small number of support fixtures with abnormal inspection results.

[0089] The control device can be an industrial computer, including a processing unit (such as a central processing unit, graphics processing unit, etc.), which can perform various appropriate actions and processes based on programs stored in read-only memory (ROM) or programs loaded from storage devices into random access memory (RAM). RAM also stores various programs and data required for the operation of the control device. The processing unit, ROM, and RAM are interconnected via a bus. Input / output (I / O) interfaces are also connected to the bus. Typically, the following systems can be connected to the I / O interface: input devices including, for example, touchscreens, touchpads, keyboards, mice, image sensors, microphones, accelerometers, gyroscopes, etc.; output devices including, for example, liquid crystal displays (LCDs), speakers, vibrators, etc.; storage devices including, for example, magnetic tape, hard disks, etc.; and communication devices. Communication devices allow the control device to communicate wirelessly or wiredly with other devices to exchange data.

[0090] Based on the above structure, this invention also proposes a method for controlling the welding line, please refer to... Figures 9 to 10 The control method for the welding line includes the following steps: Step S10: When the bearing fixture 300 at the loading station 210 is carrying a first split workpiece to be welded and at least one second split workpiece, control the conveying device 400 to work, drive the bearing fixture 300 through multiple welding stations 220, control one of the integrated wire feeding welding mechanisms to work, so that the first split workpiece is welded at the corresponding welding station 220. It should be noted that the distribution of multiple welding stations 220 should be reasonably set according to the number of weld points and the processing cycle. Each welding station 220 can be used to weld only one weld point or multiple weld points. For stations that need to weld multiple weld points, the selection of weld points should be set according to the arrangement of weld points on the workpiece. The target weld point positions of multiple welding stations 220 should be allocated based on the main body of the workpiece and the principle of proximity.

[0091] Therefore, for the integrated wire feeding welding mechanism performing the welding of the first split workpiece, it may be the first welding station 220 in the direction of travel, or it may be the second or even the third welding station 220. At this time, the carrying fixture 300 does not stop when passing through the station that does not require welding.

[0092] The load-bearing condition of the load-bearing fixture 300 at the loading station 210 can be judged manually or automatically through visual inspection.

[0093] In Example 1, initially at the loading station 210, one first split workpiece and one second split workpiece are installed on the supporting fixture 300. At this time, the total number of weld points exposed to the outside is n. After the first pass welding, only one or more weld points on the first split workpiece are welded, while all weld points on the second split workpiece are not welded.

[0094] In Example 2, initially at the loading station 210, one first split workpiece and two second split workpieces are installed on the supporting fixture 300. The two second split workpieces can be in a combined state, and the total number of exposed weld points is n1. After the first pass welding, only one or more weld points on the first split workpiece are welded, while all weld points on the two second split workpieces remain unwelded. In this example, the first split workpiece is a dryer filter, one of the second split workpieces is a condenser, and the other is an evaporator.

[0095] In step S20, when the carrying fixture 300 returns to the loading station 210 and the carrying fixture 300 is carrying the first split workpiece and the first combined workpiece, the control conveying device 400 and multiple integrated wire feeding and welding mechanisms 100 are activated so that the carrying fixture 300 passes through multiple welding stations 220 in sequence to complete the welding of the first split workpiece and the first combined workpiece. The first combined workpiece is composed of the second split workpiece and the welded first split workpiece.

[0096] When the support fixture 300 arrives at each welding station 220, it should be lifted by the corresponding lifting mechanism to ensure that it is not driven by the conveying device 400 during the welding process and has a stable position. After welding is completed, it is lifted back onto the conveying device 400 by the lifting mechanism. When multiple support fixtures 300 move along the conveying device 400 at certain intervals, multiple welding stations 220 may simultaneously perform welding operations on different weld points on workpieces on support fixtures 300 at different progress.

[0097] Specifically, based on the structural details of the integrated wire feeding and welding mechanism 100 described above, in this step: When the supporting fixture 300 is in each welding station 220, the robotic arm 2 is controlled to move according to the preset welding information of the corresponding integrated wire feeding welding mechanism 100 so that the heating part 31 corresponds to the welding position of the first split workpiece or the first assembled workpiece. The preset welding information includes the weld point position and the number of weld points. The weld point position and the number of weld points are different for different welding stations, therefore the movement trajectory of the robotic arm 2 at each welding station is different.

[0098] The robotic arm 2, conveying assembly 42, and heating unit 31 work together to complete the welding operation at the current welding station 220. It should be noted that when there are multiple weld points, after each welding operation, the heating unit 31, after cooling to its initial temperature, needs to use the current weld point as a new starting point and control the robotic arm 2 to move to the next weld point along the shortest path to reheat the heating unit 31.

[0099] In Example 1, after returning to the loading station 210, the welded first split workpiece is removed and assembled with the second split workpiece. The combined part serves as the first assembled workpiece, and then a new first split workpiece to be welded is added. Therefore, this station simultaneously contains the welded first split workpiece, the unwelded first split workpiece, and the second split workpiece. At this time, the total number of weld points exposed externally is n+1 (new weld points added due to assembly). After the second pass welding, all n+1 weld points are completed. After this step, one welded finished product and one welded first split workpiece are obtained. After returning to the loading station 210 for the third time, the welded finished product is removed and proceeds to the next process. The welded first split workpiece is removed and assembled with the newly loaded second split workpiece, and then a new first split workpiece to be welded is loaded. Step S20 is repeated to perform stable welding operations.

[0100] In Example 2, after returning to the loading station 210, the first split workpiece is removed and assembled with one of the second split workpieces to form the first combined workpiece. The other second split workpiece remains unchanged. When the initial installation state of the two second split workpieces is the combined state, the three are actually a single assembly. Then, a new first split workpiece to be welded is added. Therefore, this station contains a welded first split workpiece, an unwelded first split workpiece, and two second split workpieces. At this point, the total number of weld points exposed externally is n1+1 (new weld points added due to the assembly). After a second pass welding, all n1+1 weld points are completed. After this step, one welded finished product and one welded first split workpiece are obtained. After returning to the loading station 210 for the third time, the welded finished product is removed and proceeds to the next process. Two new, assembled second-part workpieces to be welded are then added. The welded first-part workpiece is removed and assembled with the corresponding second-part workpiece. Then, a new first-part workpiece is added, and step S20 is repeated to perform stable welding operations.

[0101] Based on Example 2, the steps of the control method for the welding line should include: The carrying fixture 300 carries the dryer filter, condenser and evaporator to be welded. The control conveying device works to drive the carrying fixture 300 through multiple welding stations 220. The control of one of the integrated wire feeding welding mechanisms 100 works so that the dryer filter to be welded is welded at the corresponding welding station 220. The material is transferred back to the loading station 210, where the welded dryer filter is removed and assembled with the condenser. A new dryer filter to be welded is placed in the empty position, and the conveying device is controlled to work, driving the carrying fixture 300 through multiple welding stations 220. Multiple integrated wire feeding welding mechanisms 100 are controlled to work respectively, so that the weld points of the dryer filter to be welded, the evaporator, and the condenser combined with the already welded dryer filter are welded respectively.

[0102] It should be understood that the bearing fixture 300 should have a corresponding chip, and each workstation should be equipped with a reader so that information can be transmitted and confirmed in real time.

[0103] When the welding line 1000 also includes an inspection station 230 and a temporary storage station 240, step S20 is followed by: Step S30: Control the bearing fixture 300 to enter the inspection station 230 and perform appearance inspection on the other workpieces except for the first unassembled split workpiece. Step S40: Confirm the test result. If the test result is NG, control the bearing fixture 300 to be blocked at the temporary storage station 240. If the test result is OK, the load-bearing fixture 300 is controlled to continue flowing downstream and return to the loading station 210. This achieves early interception of defective products in the welding process, preventing defective products from entering subsequent processes and wasting processing resources. At the same time, combined with the information transmission function of the load-bearing fixture 300, the information of defective products can be quickly traced, which facilitates subsequent rework and process optimization, ensuring the production efficiency and yield of the entire welding line 1000.

[0104] Corresponding indicator lights or buzzers should be set to remind operators.

[0105] In step S50, when the opening signal of the temporary storage station 240 is received, the stop component is controlled to open, so that the carrying fixture 300 flows into the loading station 210. When the loading station 210 receives the opening signal, the carrying fixture 300 is controlled to continue to flow downward.

[0106] Taking a carrier fixture 300 as an example, it is transferred to the inspection station 230 for inspection to determine whether there are any defects in its appearance. If the inspection result is NG (Not Good), the carrier fixture 300 is controlled to be blocked at the temporary storage station 240, waiting for manual confirmation or scrap disposal by the operator. For example, if the machine makes an error but the operator determines it is a qualified part, no processing is required, and it can be directly transferred; if it is confirmed to be a defective product, the part that needs to be scrapped is removed manually. After the operation is completed, the operator controls the relevant buttons, and the control device controls the stop assembly to open after receiving the signal. This stage is the first inspection and judgment. After reaching the loading station 210, the carrier fixture 300 stops again. After automatic photo inspection, reading the engraved information by the reader, or manual inspection and judgment, an opening signal is issued. This stage is the second inspection and judgment.

[0107] The combined inspection at temporary storage station 240 and loading station 210 forms a secondary inspection mechanism in the entire production line system. For NG (non-compliant) defective products intercepted at temporary storage station 240, the operator will issue an instruction via a button or other means after processing, which serves as the first inspection result output. If multiple NG carrier fixtures 300 are currently queuing for manual confirmation, the stop component may not close in time after opening, causing both manually processed carrier fixtures 300 and unprocessed NG carrier fixtures 300 to enter loading station 210. If a product is missed during the first inspection, the loading station 210 will verify the information using a reader. The reader can read the information recorded on the chip on the carrier fixture 300 to confirm whether all products on the carrier fixture meet the requirements, thus performing a second inspection. If a product with an appearance inspection result is read, it needs to be further verified whether it is an OK product. If the recorded information is an NG product, it can be determined that it is a product that was missed by the temporary storage station 240, and the operator needs to replace it to prevent the carrier fixture 300 carrying defective products from flowing into subsequent workstations.

[0108] In the control logic of this invention, by using a step-by-step flow and staged welding method, combined with the material replenishment and assembly operations of the loading station 210, the subsequent welding of the assembled workpiece and the initial welding of the newly loaded workpiece can be completed simultaneously in each flow cycle. Without increasing the length of the production line, the idle waiting time of the existing welding station 220 is fully utilized, which greatly improves the cycle efficiency of welding processing. At the same time, combined with the defective product interception and secondary confirmation mechanism, while ensuring production efficiency, the processing quality of the welded workpiece can be stably controlled, reducing the resource loss caused by ineffective processing.

[0109] It should be understood that a common dryer filter has two ports arranged opposite each other along its extension direction. One of the two ports is welded to a coarse tube and the other is welded to a fine tube. The coarse tube is subsequently connected to the piping of the condenser, and the fine tube is connected to a capillary tube or a throttling element.

[0110] The welding process is explained using two products of different models as examples. For ease of distinction, the dryer filter, condenser, and evaporator in product model A will be labeled as Dryer Filter A, Condenser A, and Evaporator A; while the dryer filter, condenser, and evaporator in product model B will be labeled as Dryer Filter B, Condenser B, and Evaporator B.

[0111] In one embodiment, for the processing of product model A, please refer to... Figure 7The system includes three welding stations 220, three integrated wire feeding welding mechanisms 100, and a support fixture 300. Before step S10, the dryer filter A, evaporator A, condenser A, and several pre-positioned copper tubes (including thick and thin tubes for welding with the dryer filter A) are placed on the fixture. At this point, a total of four weld points are formed. The dryer filter A has two weld points arranged opposite each other in the vertical direction. During initial installation, the port of the dryer filter A connected to the thick tube faces upward, and the thick and thin tubes are respectively limited by different pipe clamps. The condenser A and evaporator A each have one weld point. In step S10, when passing the first welding station 220, the carrying fixture 300 stops to weld the upward-facing end of the dryer filter A to the coarse tube. When passing the second welding station 220, it does not stop. Before reaching the third welding station 220, or after reaching that position, the rotating seat 330 is rotated 180° so that the second weld point on the dryer filter A faces upward. At the third welding station 220, the other end of the dryer filter A is welded to the fine tube. This is because if the rotating seat 330 is not adjusted, the weld point at the connection between the dryer filter and the fine tube of this specification is easily blocked, and the heating element 31 cannot extend to the corresponding position. Therefore, a reversing operation of the dryer filter A is required. At this time, the positions of the coarse and fine tubes are reversed. After passing the inspection station 230, it returns to the loading station 210. Then, the welded dryer filter A is assembled with the condenser A to form a new weld point. A new dryer filter A to be welded is installed on the rotating seat 330. In step S20, a total of 5 weld points are formed. At the first welding station 220, one weld point of the dryer filter A to be welded on the rotating seat 330 is welded, and one weld point of the evaporator A is welded; at the second welding station 220, two weld points of the combined condenser A are welded; at the third welding station 220, another weld point of the dryer filter A to be welded on the rotating seat 330 after rotation adjustment is welded.

[0112] That is, when the welding stations are distributed, the first and second welding stations 220 perform 2 welding points, and the third welding station performs 1 welding point.

[0113] In another embodiment, for the processing of product model B, please refer to... Figure 8A total of 3 welding stations 220 and 3 integrated wire feeding welding mechanisms 100 are set up. The specifications and initial installation position of the dryer filter B are different from those of the dryer filter A, and the orientation and structural details of the corresponding positioning components are also different. Before step S10, the supporting fixture 300 is equipped with the dryer filter B, evaporator B, condenser B, and several pre-positioned copper tubes (including thick and thin tubes for welding with the dryer filter B), forming a total of 4 welding points. The dryer filter B has 2 welding points. During initial installation, the port connecting the dryer filter B to the thin tube faces upwards, and the thick and thin tubes are respectively constrained by different pipe clamps. The condenser B and evaporator B each have 1 welding point. In step S10, when passing the first welding station 220, the supporting fixture 300 stops to perform welding of the first weld point of the dryer filter B to be welded, that is, welding the upward-facing end of the dryer filter B to the thin tube. When passing the second welding station 220, there is no stop. Upon reaching the third welding station 220, since the initial connection between the dryer filter B and the thin tube is upward, and considering the different welding requirements of the thick and thin tubes, the current installation position of the dryer filter B, and the structural characteristics of this specification of dryer filter, the rotating seat 330 does not need to rotate. The heating unit 31 can move to the position of the second weld point, and can directly perform welding of the other downward-facing end of the dryer filter B to the thick tube. After passing the inspection station 230, it returns to the loading station 210. Then, the welded dryer filter B is assembled with the condenser B to form a new weld point. A new dryer filter B to be welded is installed on the rotating seat 330. In step S20, a total of 5 weld points are completed. At the first welding station 220, one weld point of the dryer filter B to be welded on the rotating seat 330 and one weld point of the evaporator B are welded; at the second welding station 220, two weld points of the combined condenser B are welded; at the third welding station 220, another weld point of the dryer filter B to be welded on the rotating seat 330 is welded.

[0114] The function of the rotating seat 330 is to adjust the angle of the dryer filter on it by rotating it, thereby adapting to the welding requirements of different positions. However, the installation positions of different specifications of products on the rotating seat 330 are different, and the pipe clamps and brackets that play a supporting role are different. Therefore, in the actual production line, the rotating seat 330 can be set to rotate at specific positions and nodes, or the rotating seat 330 can be kept relatively fixed to the carrier.

[0115] In particular, according to the embodiments disclosed in this application, the processes described above with reference to the flowcharts can also be implemented as computer software programs. For example, embodiments disclosed in this application include a computer program product comprising a computer program carried on a computer-readable medium, the computer program containing program code for performing the methods shown in the flowcharts. In such embodiments, the computer program can be downloaded and installed from a network via a communication device, or installed from a storage device, or installed from a ROM. When the computer program is executed by a processing device, it performs the functions defined in the methods of the embodiments disclosed in this application.

[0116] The above are merely preferred embodiments of the present invention and do not limit the patent scope of the present invention. All equivalent structural transformations made using the contents of the present invention specification and drawings under the inventive concept of the present invention, or direct / indirect applications in other related technical fields, are included within the patent protection scope of the present invention.

Claims

1. A welding line, characterized in that, include: The machine base has multiple workstations spaced apart, including a material loading workstation and multiple welding workstations; Multiple integrated wire feeding and welding mechanisms are located at multiple welding stations. Each integrated wire feeding and welding mechanism includes a base and a robotic arm movably mounted on the base. The robotic arm integrates a welding device and a wire feeding device. The base integrates a wire roll connected to the wire feeding device. Multiple support fixtures, each of which is used to position the workpiece so that multiple welding positions of the workpiece are exposed; A conveying device, which is used to drive multiple of the carrying fixtures sequentially through multiple workstations; The control device is electrically connected to the plurality of the integrated wire feeding and welding mechanisms and the conveying device, and the program of the control device is configured as follows: When the carrying fixture at the loading station is carrying a first split workpiece to be welded and at least one second split workpiece, the conveying device is controlled to work, driving the carrying fixture through multiple welding stations. At this time, the total number of weld points that can be exposed to the outside is n. One of the integrated wire feeding welding mechanisms is controlled to work, so that the first split workpiece is welded at the corresponding welding station. When the carrying fixture returns to the loading station and carries the first split workpiece and the first assembled workpiece, the conveying device and multiple integrated wire feeding and welding mechanisms are controlled to work, so that the carrying fixture passes through multiple welding stations in sequence to complete the welding of the first split workpiece and the first assembled workpiece. The welded first split workpiece is removed and assembled with the second split workpiece. The combined part is the first assembled workpiece. Due to the combination, new weld points are added. Then, a new first split workpiece to be welded is added. Therefore, the station simultaneously has the welded first split workpiece, the second split workpiece, and the unwelded first split workpiece. At this time, the total number of weld points that can be exposed to the outside is n+1.

2. The welding line as described in claim 1, characterized in that, One end of the robotic arm is a mounting end for mounting to the base, and the other end of the robotic arm is a movable end with multiple degrees of freedom; The welding device includes a heating part located at the movable end, which can correspond to the part to be welded on the workpiece on the bearing fixture at the welding station under the drive of the robotic arm. The wire feeding device includes a conveying assembly and a wire guide. The wire guide is located at the movable end and close to the heating part. The wire guide has a wire guide channel for the welding wire to pass through. The conveying assembly is used to convey the welding wire wound on the coil to the wire guide and extend from the wire guide channel to contact the workpiece to be welded.

3. The welding line as described in claim 2, characterized in that, A flexible wire guide is provided between the wire guide and the conveying assembly, and between the conveying assembly and the wire roll, for accommodating the welding wire; and / or, Two wire guides and two wire rolls are provided, with the two wire guides arranged at an angle. The conveying assembly is used to convey the welding wire wound on the two wire rolls to the two wire guides.

4. The welding line as described in claim 2, characterized in that, The welding device includes a high-frequency induction heating welding machine. The induction coil of the high-frequency induction heating welding machine forms the heating part. A welding channel is formed on the heating part. One side of the welding channel is open to accommodate the workpiece to be welded. The end of the guide wire is located within the welding channel.

5. The welding line as described in claim 4, characterized in that, The welding apparatus further includes a temperature detection element for detecting the surface temperature of the workpiece at the point to be welded; and / or The welding apparatus further includes a first visual inspection device, which is used to detect at least the height of the part of the workpiece to be welded.

6. The welding line as described in claim 1, characterized in that, The conveying device has a circular transmission path, with multiple welding stations and loading stations distributed on opposite sides of the transmission path. The conveying device is used to ensure that the workpiece-carrying fixture sequentially passes through the multiple welding stations and returns to the loading station; and / or, The support fixture is used to position and install the condenser, evaporator, and at least one dryer filter.

7. The welding line as described in claim 1, characterized in that, The support fixture includes a support base and multiple positioning components. The multiple positioning components are spaced apart on the upper surface of the support base and are used to define the position of the main body of the workpiece and the pipe.

8. The welding line as described in claim 7, characterized in that, The plurality of positioning components include a first positioning component, which includes two first guide rails and two adjusting platforms. The two first guide rails are horizontally spaced apart on the support base. The two adjusting platforms are respectively disposed on the two first guide rails. The upper surfaces of the two adjusting platforms are used to jointly contact the body of the workpiece. Each adjusting platform has a limiting hole on its side surface. The limiting hole includes a first hole segment, a second hole segment, and a connecting segment extending in a vertical direction. The upper surfaces of the first hole segment and the second hole segment are at different heights. Each first guide rail has a first limiting member on its side surface. The first limiting member is movable within the first hole segment, the connecting segment, and the second hole segment, so that the adjusting platform has a first height position and a second height position. At the first height position, the first limiting member abuts against the upper surface of the first hole segment; at the second height position, the first limiting member abuts against the upper surface of the second hole segment; and / or, The plurality of positioning components include a second positioning component, which includes a second guide rail, a first stop, a second stop, and a second limiting member. The second guide rail is fixed to the bearing seat and extends horizontally. The first stop is located to the side of the second guide rail and protrudes upward from it. The second stop includes a connecting seat and a floating seat. The connecting seat is slidably mounted on the second guide rail, and the floating seat is slidably mounted on the second guide rail and connected to the end of the connecting seat away from the first stop via a spring. A baffle is provided on the floating seat, and the baffle and the first stop together abut against opposite sides of the workpiece body. The second limiting member is used to limit the position of the connecting seat on the second guide rail; and / or, The plurality of positioning components include a third positioning component, which includes two first support portions and one second support portion. The two first support portions are horizontally disposed opposite each other on the carrier. The second support portion is movably mounted on the carrier to have a first position and a second position. In the first position, the second support portion is located between the two first support portions to jointly abut against opposite sides of the workpiece with one of the two first support portions. In the second position, the second support portion avoids the two first support portions so that the two first support portions abut against opposite sides of the main body of the workpiece.

9. The welding line as described in claim 7, characterized in that, A positioning area is formed on the support base. At least one of the plurality of positioning components includes a height adjustment block. The height adjustment block is stepped, having two stepped portions offset vertically. A first notch and a second notch are provided on the side of the two stepped portions away from each other, penetrating the height adjustment block. The height adjustment block is detachably mounted on the support base such that one of the first notch and the second notch is located within the positioning area to mate with a pipe of the workpiece; and / or, At least one of the plurality of positioning components includes a fixing base and a clamping assembly. The fixing base is disposed on the bearing base. The clamping assembly includes two clamping units spaced horizontally from the fixing base. Each clamping unit includes a second mounting base and a clamping plate. The second mounting base is disposed on the fixing base. The upper end face of the second mounting base is provided with a through groove. The clamping plate is located in the through groove. The clamping plate is connected to one side wall of the through groove by an elastic element so as to jointly abut against the opposite sides of the workpiece's pipe with the other side wall of the through groove; and / or, At least one of the plurality of positioning components includes a plurality of pipe clamps distributed on the support, wherein at least some of the pipe clamps are oriented differently and / or at least some of the pipe clamps are positioned differently in height; and / or, At least some of the positioning components are used to position the same workpiece.

10. The welding line as described in claim 7, characterized in that, The load-bearing fixture also includes: Support, fixed on the bearing seat; A rotating seat is rotatably mounted on the support along an axis extending in the horizontal direction, and one side of the rotating seat forms a positioning surface; One of the positioning components is located on the positioning surface.

11. The welding line as described in claim 7, characterized in that, The support base has a positioning area, and the support fixture further includes a pressing structure, which includes: The first mounting base is fixed to the bearing base; A clamping member, the lower end of which is rotatably mounted on the first mounting base, such that the upper end of the clamping member has a rotational stroke toward or away from the positioning area; the middle portion of the clamping member is connected to the first mounting base via a drive spring; and, A third limiting member is disposed on the first mounting base and located on the side of the pressing member that is close to or far from the positioning area. The third limiting member is used to limit the position of the pressing member relative to the first mounting base.

12. The welding line as described in claim 11, characterized in that, Two third limiting members are provided, and the two third limiting members are respectively located on both sides of the pressing member near and away from the positioning area; and / or, The third limiting member includes a first bracket and a limiting bolt. The lower end of the first bracket is fixed to the first mounting base, and the upper end of the first bracket extends away from the pressing member. The limiting bolt is threaded onto the upper end of the first bracket, and the end of the limiting bolt can abut against the surface of the pressing member during the swinging process of the pressing member.

13. The welding line as described in claim 1, characterized in that, The supporting fixture is equipped with multiple air pipes, which are used to connect to the workpiece's welding pipe and an external nitrogen filling device; and / or, The welding line also includes a second visual inspection device, which is located on the machine base or the integrated wire feeding welding mechanism. The second visual inspection device is electrically connected to the control device and the integrated wire feeding welding mechanism.

14. The welding line as described in claim 1, characterized in that, Along the conveying direction of the conveying device, the plurality of workstations also include a testing workstation and a temporary storage workstation located behind the plurality of welding workstations. The welding line also includes: An inspection device, located at the inspection station, is used to inspect the appearance of a workpiece that is on the support fixture and has been welded. A stop assembly is located at the temporary storage station. The stop assembly includes a movable stop plate that can contact the side of the carrying fixture during its movement to stop the carrying fixture. The control device is electrically connected to the detection device and the stop assembly. The control device is used to control the operation of the stop assembly based on the detection result of the detection device.

15. A method for controlling a welding line, characterized in that, Based on the welding line according to any one of claims 1 to 14, the control method of the welding line includes the following steps: When the carrying fixture at the loading station is carrying a first split workpiece to be welded and at least one second split workpiece, the conveying device is controlled to work, driving the carrying fixture through multiple welding stations, and one of the integrated wire feeding welding mechanisms is controlled to work, so that the first split workpiece is welded at the corresponding welding station. When the carrying fixture returns to the loading station and carries the first split workpiece and the first combined workpiece, the conveying device and the multiple integrated wire feeding and welding mechanisms are controlled to work, so that the carrying fixture passes through the multiple welding stations in sequence to complete the welding of the first split workpiece and the first combined workpiece, wherein the first combined workpiece is composed of a second split workpiece and the welded first split workpiece.

16. The method for controlling a welding line as described in claim 15, characterized in that, The welding device includes a heating section, and the wire feeding device includes a conveying assembly and a wire guide. The step of controlling the conveying device and multiple integrated wire feeding and welding mechanisms to operate when the carrying fixture returns to the loading station and carries the first split workpiece and the first combined workpiece, so that the carrying fixture sequentially passes through multiple welding stations to complete the welding of the first split workpiece and the first combined workpiece, includes: When the bearing fixture is at each of the welding stations, the robotic arm is controlled to move according to the preset welding information of the corresponding integrated wire feeding welding mechanism so that the heating part corresponds to the welding position of the first split workpiece or the first combined workpiece. The preset welding information includes the weld point position and the number of weld points. The robotic arm, the conveying assembly, and the heating unit are controlled to work together to complete the welding operation at the current welding station.

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