A servo frame automatic riveting and welding detection integrated robot

Abstract

The application discloses a kind of servo frame body automatic riveting welding detection integrated robot, specifically including automatic riveting system, automatic laser welding system, visual detection system, double-shaft positioner and control system, wherein automatic riveting system and double-shaft positioner cooperate riveting point, first riveting is carried out using cold riveting technology, after the part to be welded of servo frame body is heated to deep melting state by blue light-infrared coaxial composite laser beam, and welded by automatic laser welding system, the quality of weld after welding is detected automatically by visual detection system through machine vision technology, double-shaft positioner is placed between riveting and welding ground rail, to cooperate and realize servo frame body riveting before welding process, control system sends instruction and drives riveting welding detection integrated process execution, and is synchronously linked with double-shaft positioner, forms multi-system integrated control, the application realizes the automation manufacturing of servo frame body riveting before welding and then detection, with the advantages of high production efficiency, high welding strength, strong flexibility.

Description

Technical Field

[0001] This invention belongs to the field of intelligent manufacturing, specifically relating to an integrated robot for automatic riveting, welding and inspection of a follow-up frame. Background Technology

[0002] The servo frame is a crucial component of large-scale construction machinery. Currently, it is often connected using welding processes. However, the quality of manual welding depends heavily on the operator's skill level, resulting in issues such as uneven weld formation, uncontrollable appearance, and insufficient strength. It also suffers from low production efficiency, high labor intensity, and difficulty in quality inspection, hindering sustainable development and meeting the safety requirements of construction machinery. With the rapid development of the machinery industry, various mechanical equipment are evolving towards automation, high efficiency, and high quality. Increasingly fierce competition among enterprises places higher demands on the reliability and performance of mechanical products. Improving the level of intelligent manufacturing and quality stability of products has become a critical issue that urgently needs to be addressed.

[0003] To address existing problems, this invention proposes an integrated robot for automatic riveting, welding, and inspection of follow-up frames. This robot overcomes the shortcomings of poor weld quality and low automation in the existing manual manufacturing of follow-up frames, achieving high production efficiency, excellent welding quality, and high flexibility.

[0004] Domestic scholars have proposed various integrated robotic riveting and welding equipment.

[0005] Chinese invention patent CN109483111B discloses a dual-robot automatic roller welding device. This device, by arranging two welding robots side-by-side on both sides of the roller's axial direction, can simultaneously perform circumferential welding on the end caps at both ends of the same roller. This invention utilizes the parallel layout of welding robots on both sides of the workpiece production line to improve production cycle time and processing efficiency, solving the problem of automating pure welding of roller-type parts. However, in this invention, the two welding robots share a single ground rail, resulting in limited freedom of movement and limiting its application to complex three-dimensional workpieces such as those with moving frames. Therefore, this invention adds a dual-axis positioner to clamp the workpiece, enabling omnidirectional posture processing. Simultaneously, riveting robots and laser welding robots are arranged in parallel on both sides of the dual-axis positioner to collaboratively complete the workpiece riveting-welding process, eliminating manual transfer and secondary clamping steps, thus improving production efficiency and flexibility.

[0006] Chinese invention patent CN117102872A discloses an integrated ultrasonic welding and hot riveting device for automotive lamp parts. This patent integrates ultrasonic welding and hot riveting processes into one unit, relying on a robotic arm to change tools to achieve ultrasonic welding and hot riveting at different angles. However, the aforementioned equipment is only suitable for processing planar or simple curved automotive lamp parts, and switching between riveting and welding processes requires a robotic arm tool change, resulting in repeated positioning errors and low production efficiency. This invention, on the other hand, sets up two independent robots arranged in parallel, distributing the riveting and welding processes to the two robots respectively, eliminating tool change waiting time. Simultaneously, the robots, in conjunction with a dual-axis positioner, perform high-precision machining of complex-shaped workpieces. Finally, a post-weld inspection process is added to perform offline evaluation and feedback of weld quality, constructing an integrated closed-loop process for riveting, welding, and inspection.

[0007] Utility model patent CN211939587U discloses a welding system for multi-robot collaborative operation. This system consists of a master robot, at least three slave robots, and optional inspection equipment. Its working principle is as follows: the master control module issues welding-related and scheduling-related instructions, and the slave control modules receive these instructions, achieving signal synchronization between the master and slave robots, enabling each welding robot to work collaboratively according to a preset mode. This patent enables multi-robot collaborative automatic welding, significantly saving manpower and improving welding efficiency. However, this system can only perform welding processes, and the equipment layout requires a large area, exhibiting shortcomings such as limited functionality and low space utilization. To improve production flexibility, this patent adopts a parallel layout method for riveting and welding dual robots, and simultaneously adds a vision inspection system above the workpiece for offline quality assessment. This not only improves the control of weld quality but also allows for the processing of workpieces of different shapes and specifications on the same production line. Summary of the Invention

[0008] This invention proposes an integrated robot for automatic riveting, welding, and inspection of a moving frame, addressing the shortcomings of manual welding processes such as poor weld quality and low production efficiency. The integrated robot, driven by a control system, comprises an automatic riveting system, an automatic laser welding system, and a vision inspection system, operating synchronously with a dual-axis positioner to achieve an integrated riveting, welding, and inspection process.

[0009] This invention provides a detailed description of an integrated robot for automatic riveting, welding, and inspection of a follow-up frame.

[0010] To achieve the above objectives, this invention provides an integrated robot for automatic riveting, welding, and inspection of a moving frame. This equipment includes an automatic riveting system, an automatic laser welding system, a vision inspection system, a dual-axis positioner, and a control system. The automatic riveting system and the automatic laser welding system are arranged on both sides of the dual-axis positioner, with their ground rails arranged parallel to each other. This allows the riveting robot and the laser welding robot to perform linear movements on both sides of the moving frame, cooperating with the dual-axis positioner to achieve multi-pose processing. An industrial camera in the vision inspection system is deployed above the dual-axis positioner for post-weld quality inspection. The control system is distributed in the non-processing area surrounding the equipment to drive the system operation, realizing fully automated manufacturing of the moving frame, including riveting, welding, and inspection.

[0011] The automatic riveting system includes: a riveting robot, a riveting support frame, and a ground rail; the riveting robot includes a riveting machine base, a first riveting machine joint, a second riveting machine joint, a first riveting machine robotic arm, a third riveting machine joint, a motor, a fourth riveting machine joint, a rivet delivery pipe, a connecting rod, a driven wheel, a rivet delivery belt, a rivet stamping column, a clamping device, and a drive wheel; the riveting robot is mounted on the riveting support frame via the riveting machine base, and the riveting support frame is mounted on the ground rail, enabling the riveting robot to move linearly along the ground rail.

[0012] The automated laser welding system includes a laser welding robot, a chiller, a ground rail, and a welding support frame. The laser welding robot includes a welding machine base, a first welding machine joint, a second welding machine joint, a first welding machine robotic arm, a third welding machine joint, a fourth welding machine joint, a second welding machine robotic arm, a laser welding nozzle, a motor assembly, and a protective gas nozzle. The ground rail includes a base fixing plate, a guide rail, a crash plate, a base foot plate, a crash pad, an anti-slip steel plate, a guide rail guard plate, and a square tube. The chiller is placed outside the automated laser welding system. The laser welding robot is mounted on the welding support frame via the welding machine base, which is fixed to the ground rail, enabling the laser welding robot to move linearly along the ground rail.

[0013] The vision inspection system includes: a visual interactive display screen, an industrial camera, a flexible connector, a ball clamp connector, a positioning axis, and a control cabinet; the positioning axes are fixedly connected to each other through the ball clamp connector; the industrial camera is connected to the positioning axis through the flexible connector and is suspended above the dual-axis positioner.

[0014] The dual-axis positioner includes: a base, a tooling fixture, a cantilever assembly, a housing connecting device, and a column assembly; the cantilever assembly includes a hanging plate, a cantilever side plate, a cantilever back plate, a first-axis drive assembly, a working ladder, a cantilever bottom plate, a cantilever web plate, and a tooling support sleeve; the column assembly includes a housing fixing ring, a column front plate, an ear plate, a rear inclined plate, a column rear plate, a second-axis drive assembly, and a column bottom plate; the follower frame is installed on the tooling fixture, and the cantilever assembly is rigidly connected to the column assembly through the housing connecting device, suspending the follower frame in the air to achieve multi-posture processing.

[0015] The control system is used to regulate the execution of riveting, welding and inspection processes.

[0016] In the riveting robot, based on the positioning of the riveting point, the control system controls the movement of the riveting robot to move the clamping device to the riveting area; then the rivet conveying pipe conveys the rivet to the stamping position through the rivet conveying belt, the drive wheel drives the driven wheel to move through the connecting rod, and drives the rivet stamping column to perform cold stamping on the rivet, so as to realize the cold riveting and fixing of the follower frame.

[0017] In the laser welding robot, the protective gas nozzle sprays argon gas onto the surface of the follower frame to remove air; the laser welding robot generates welding path information and executes CNC code through the CAD / CAM system, and works with the dual-axis positioner to perform blue-infrared coaxial composite laser beam welding along the identified path; after welding is completed, the protective gas nozzle continues to supply argon gas, continuously covering the area until the temperature drops to the preset range.

[0018] The ground rail in the automatic riveting system has the same structure as the ground rail in the automatic laser welding system, and is set differently only because of the different assembly positions.

[0019] The aforementioned vision inspection system allows for precise adjustment of the industrial camera's height and position by manually adjusting the tightness of the ball clamp positioner and adjusting the extension and retraction of the positioning shaft according to working conditions, ensuring that the follow-up frame is within the detection range of the industrial camera.

[0020] In the aforementioned dual-axis positioner, the first-axis drive assembly drives the tooling to achieve horizontal rotation within a range of ±180° via gear output. Simultaneously, the housing connecting device, driven by the second-axis drive assembly, completes vertical flipping motion within a range of ±135°. Under the premise of ensuring the above-mentioned motion accuracy and structural rigidity, the dual-axis positioner can bear a maximum weight of 1.5~2 t.

[0021] Both the one-axis drive assembly and the two-axis drive assembly consist of a servo motor and an RV reducer, achieving high response, high precision and high torque output.

[0022] Compared with existing technologies, the above-mentioned integrated robot for automatic riveting, welding, and inspection of a follow-up frame has the following advantages:

[0023] ① High welding precision and strength: In this invention, the laser welding robot and the dual-axis positioner work together to achieve high-precision positioning and adjust the laser welding parameters in real time to adapt to welding parts of different sizes and shapes, thereby improving the weld formation precision and positional consistency. In addition, the composite blue-infrared laser welding process has excellent performance. The blue band first induces efficient absorption on the material surface to form a molten pool, and the infrared wave then achieves deep melting keyhole. The synergistic coupling effect of the two laser beams reduces welding spatter, improves the uniformity of weld penetration and suppresses porosity defects, and enhances the overall strength and fatigue resistance of the follower frame.

[0024] ② High process adaptability: The control system coordinates the riveting robot, laser welding robot, and dual-axis positioner to meet the processing requirements of weldments of different sizes and structures. The laser welding robot has a high degree of freedom and flexible welding torch movement, enabling precise welding of small-area, small-angle welding areas.

[0025] ③ High production efficiency: Laser welding robots can enhance the continuity of welding operations and shorten the production cycle of a single piece; compared with manual welding, they eliminate human operation interruptions and fatigue limitations, significantly improve production capacity, and meet the needs of large-scale manufacturing of follow-up frames.

[0026] ④ High degree of adaptability: After laser welding, the vision inspection system performs offline inspection of the weld seam of the follow-up frame, comprehensively evaluates the quality and feeds it back to the control system. It performs adaptive parameter calculation based on the analysis of size and defect characteristics, and automatically matches the secondary laser repair welding process parameters. Based on the storage and optimization of inspection data and repair welding parameters, it continuously iterates and adapts to the welding requirements under different working conditions, further improving the uniformity of weld seam and process reproducibility.

[0027] ⑤ High degree of system integration: This equipment arranges the riveting robot and laser welding robot in parallel on both sides of the dual-axis positioner, allowing them to work synchronously or asynchronously on both sides of the follower frame; furthermore, the vision inspection system is deployed behind the dual-axis positioner, with its industrial camera suspended in the top area of ​​the dual-axis positioner, which not only avoids equipment interference but also ensures full spatial coverage of the riveting, welding, and inspection processes; the control system deeply integrates the above subsystems to realize a fully automated integrated processing flow for riveting, welding, and inspection. Attached Figure Description

[0028] Figure 1 This is a schematic diagram of the overall structure of the present invention.

[0029] Figure 2 yes Figure 1 A schematic diagram of the automatic riveting system.

[0030] Figure 3 yes Figure 1 A schematic diagram of the automatic laser welding system.

[0031] Figure 4 yes Figure 1 A schematic diagram of the visual inspection system structure.

[0032] Figure 5 yes Figure 1 A schematic diagram of the dual-axis positioner structure.

[0033] Figure 6 yes Figure 2 A schematic diagram of the riveting robot structure.

[0034] Figure 7 yes Figure 3 A schematic diagram of the laser welding robot structure.

[0035] Figure 8 yes Figure 3 A schematic diagram of the ground track.

[0036] Figure 9 yes Figure 5 A cross-sectional schematic diagram of the cantilever assembly.

[0037] Figure 10 yes Figure 5 A sectional view of the column assembly.

[0038] Figure 11 This is a schematic diagram of the structure of the follower frame manufactured by the present invention.

[0039] above Figures 1 to 11The labels are as follows: 1. Automatic riveting system; 1-1. Riveting robot; 1-1-1. Riveting machine base; 1-1-2. First riveting machine joint; 1-1-3. Second riveting machine joint; 1-1-4. First riveting machine robotic arm; 1-1-5. Third riveting machine joint; 1-1-6. Motor; 1-1-7. Fourth riveting machine joint; 1-1-8. Rivet delivery pipe; 1-1-9. Connecting rod; 1-1-10. Driven wheel; 1-1-11. Rivet conveyor belt; 1-1-12. Rivet stamping column; 1-1-13. Clamping device; 1-1-14. Drive wheel. 1.2. Riveting support frame; 1.3. Ground rail; 2. Automatic laser welding system; 2.1. Laser welding robot; 2.1.1. Welding machine base; 2.1.2. First welding machine joint; 2.1.3. Second welding machine joint; 2.1.4. First welding machine robotic arm; 2.1.5. Third welding machine joint; 2.1.6. Fourth welding machine joint; 2.1.7. Second welding machine robotic arm; 2.1.8. Laser welding nozzle; 2.1.9. Motor assembly; 2.1.10. Protective gas nozzle; 2.2. Chiller; 2.3. Ground rail; 2.3.1. Base 1. Fixed plate, 2-3-2, guide rail, 2-3-3, anti-collision plate, 2-3-4, base foot plate, 2-3-5, anti-collision pad, 2-3-6, anti-slip steel plate, 2-3-7, guide rail guard plate, 2-3-8, square tube, 2-4, welded support frame; 2. Vision inspection system, 3-1, visual interactive display screen, 3-2, industrial camera, 3-3, flexible connector, 3-4, ball clamp connector, 3-5, positioning shaft, 3-6, control cabinet; 3. Dual-axis positioner, 4-1, base, 4-2, tooling fixture, 4-3, cantilever assembly, 4-3-1, hoist 4-3-2, Cantilever side plate, 4-3-3, Cantilever back plate, 4-3-4, One-axis drive assembly, 4-3-5, Working ladder, 4-3-6, Cantilever bottom plate, 4-3-7, Cantilever web plate, 4-3-8, Tooling support sleeve, 4-4, Box connecting device, 4-5, Column assembly, 4-5-1, Box fixing ring, 4-5-2, Column front plate, 4-5-3, Ear plate, 4-5-4, Rear inclined plate, 4-5-5, Column rear plate, 4-5-6, Two-axis drive assembly, 4-5-7, Column bottom plate; 5, Control system; 6, Follow-up frame. Detailed Implementation

[0040] To make the above-mentioned objectives, features, and advantages of this application more apparent and understandable, the specific embodiments of this application are described in detail below with reference to the accompanying drawings. Many specific details are set forth in the following description to provide a thorough understanding of this application. However, this application can be implemented in many other ways different from those described herein, and those skilled in the art can make similar modifications without departing from the spirit of this application. Therefore, this application is not limited to the specific embodiments disclosed below.

[0041] The present invention relates to an integrated robot for automatic riveting, welding and inspection of a follow-up frame, which consists of a riveting system 1, an automatic laser welding system 2, a vision inspection system 3, a dual-axis positioner 4 and a control system 5.

[0042] The automatic riveting system 1 includes: a riveting robot 1-1, a riveting support frame 1-2, and a ground rail 1-3; the riveting robot 1-1 includes: a riveting machine base 1-1-1, a first riveting machine joint 1-1-2, a second riveting machine joint 1-1-3, a first riveting machine robotic arm 1-1-4, a third riveting machine joint 1-1-5, a motor 1-1-6, a fourth riveting machine joint 1-1-7, a rivet delivery pipe 1-1-8, a connecting rod 1-1-9, a driven wheel 1-1-10, a rivet delivery belt 1-1-11, a rivet stamping column 1-1-12, a clamping device 1-1-13, and a drive wheel 1-1-14; the riveting robot 1-1 is mounted on the riveting support frame 1-2 via the riveting machine base 1-1-1, and the riveting support frame 1-2 is mounted on the ground rail 1-3, thereby realizing the linear movement function of the riveting robot 1-1 along the ground rail 1-3.

[0043] The automated laser welding system 2 includes: a laser welding robot 2-1, a chiller 2-2, a ground rail 2-3, and a welding support frame 2-4; the laser welding robot 2-1 includes: a welding machine base 2-1-1, a first welding machine joint 2-1-2, a second welding machine joint 2-1-3, a first welding machine robotic arm 2-1-4, a third welding machine joint 2-1-5, a fourth welding machine joint 2-1-6, a second welding machine robotic arm 2-1-7, a laser welding nozzle 2-1-8, a motor assembly 2-1-9, and a protective gas nozzle 2-1-10. The ground rail 2-3 includes: a base fixing plate 2-3-1, a guide rail 2-3-2, a crash plate 2-3-3, a base foot plate 2-3-4, a crash pad 2-3-5, an anti-slip steel plate 2-3-6, a guide rail guard plate 2-3-7, and a square tube 2-3-8. The chiller 2-2 is placed outside the automatic laser welding system 2. The laser welding robot 2-1 is mounted on the welding support frame 2-4 via the welding machine base 2-1-1, which is fixed on the ground rail 2-3, enabling the laser welding robot 2-1 to move linearly along the ground rail 2-3.

[0044] The ground rails 1-3 and 2-3 are arranged in parallel. The riveting robot 1-1 and the laser welding robot 2-1 move in parallel on both sides of the dual-axis positioner 4. This arrangement allows the follower frame 6 to be shared among multiple machines, reducing redundant investment in equipment and wasting space, and also realizing continuous production of riveting before welding.

[0045] The vision inspection system 3 includes: a vision interactive display screen 3-1, an industrial camera 3-2, a flexible connector 3-3, a ball clamp connector 3-4, a positioning axis 3-5, and a control cabinet 3-6; the positioning axes 3-5 are fixedly connected to each other through the ball clamp connector 3-4; the industrial camera 3-2 is connected to the positioning axis 3-5 through the flexible connector 3-3 and is suspended above the dual-axis positioner 4.

[0046] The dual-axis positioner 4 includes: a base 4-1, a tooling fixture 4-2, a cantilever assembly 4-3, a housing connecting device 4-4, and a column assembly 4-5; the cantilever assembly 4-3 includes a hanging plate 4-3-1, a cantilever side plate 4-3-2, a cantilever back plate 4-3-3, a single-axis drive assembly 4-3-4, a working ladder 4-3-5, a cantilever base plate 4-3-6, a cantilever web plate 4-3-7, and a tooling support sleeve 4-3-8; the column assembly 4-5... The column assembly 4-5 includes a housing fixing ring 4-5-1, a column front plate 4-5-2, an ear plate 4-5-3, a rear inclined plate 4-5-4, a column rear plate 4-5-5, a two-axis drive assembly 4-5-6, and a column base plate 4-5-7. The follower frame 6 is mounted on the tooling fixture 4-2. The cantilever assembly 4-3 is rigidly connected to the column assembly 4-5 through the housing connecting device 4-4, suspending the follower frame 6 in the air to achieve multi-posture processing.

[0047] Control system 5 is used to regulate the execution of riveting, welding and inspection processes.

[0048] The working principle of this invention is as follows: The operator uses the tooling fixture 4-2 to fix the follower frame 6 onto the cantilever assembly 4-3. The control system 5 sends operating instructions to each integrated subsystem, which then sequentially executes the following integrated riveting, welding, and inspection process. In the riveting process, the dual-axis positioner 4 first rotates the follower frame 6 to the preset riveting position. The riveting robot 1-1 drives the clamping device 1-1-13 to fix the riveting components. Cold forming riveting is achieved by stamping rivets. The above operation is repeated to complete the connection of the thin plate structure of the follower frame 6. During the welding process, argon gas is first introduced into the shielding gas nozzle 2-1-10 for 10-15 seconds before welding to remove air from the surface and back of the area to be welded. Then, the laser welding robot 2-1 emits a composite blue-infrared laser beam along the weld tangent of the load-bearing rear plate component to perform welding. The maximum laser power is 5-8 kW, and the spot sizes of the blue wave and infrared light waves are 0.2-0.4 mm and 0.4-0.8 mm, respectively, with a scanning rate of 20-100 mm / s. After welding, argon gas is introduced for 10-15 seconds to ensure that the weld remains in a protected state during the cooling process. During the inspection process, the dual-axis positioner 4 adjusts the angle of the follower frame 6 to bring the weld seam within the field of view of the industrial camera 3-2. Offline inspection and evaluation of the weld seam are performed using machine vision technology, and the results are fed back to the control system 5 for adaptive adjustment to determine whether the weld seam requires secondary welding. Simultaneously, the operator can view the weld seam quality data on the visual interactive display screen 3-1 and make timely processing adjustment decisions, forming a dual quality control mechanism of intelligent primary judgment and manual secondary judgment. Finally, the operator removes the follower frame 6 for warehousing, thus completing the fully automated integrated riveting, welding, and inspection process.

[0049] The above embodiments should be understood as being used only to illustrate the present invention more clearly, and not to limit the scope of the present invention. After reading this invention, any modifications of the present invention by those skilled in the art in various equivalent forms fall within the scope defined by the appended claims.

Claims

1. A robot integrating automatic riveting, welding, and inspection of a follow-up frame, characterized in that: The equipment includes an automatic riveting system (1), an automatic laser welding system (2), a vision inspection system (3), a dual-axis positioner (4), and a control system (5). The automatic riveting system (1) and the automatic laser welding system (2) are arranged on both sides of the dual-axis positioner (4), and their ground rails (1-3) and ground rails (2-3) are arranged in parallel, so that the riveting robot (1-1) and the laser welding robot (2-1) can move linearly on both sides of the follower frame (6) and cooperate with the dual-axis positioner (4) to achieve multi-posture processing. The industrial camera (3-2) in the vision inspection system (3) is deployed above the dual-axis positioner (4) for post-weld quality inspection. The control system (5) is distributed in the non-processing area of ​​the equipment to drive the system to run and realize the fully automated manufacturing of the follower frame (6) by riveting, welding, and inspection. The automatic riveting system (1) includes: a riveting robot (1-1), a riveting support frame (1-2), and a ground rail (1-3); the riveting robot (1-1) includes a riveting machine base (1-1-1), a first riveting machine joint (1-1-2), a second riveting machine joint (1-1-3), a first riveting machine robotic arm (1-1-4), a third riveting machine joint (1-1-5), a motor (1-1-6), a fourth riveting machine joint (1-1-7), and a rivet delivery pipe (1-1-8). The components include: connecting rod (1-1-9), driven wheel (1-1-10), rivet conveyor belt (1-1-11), rivet stamping column (1-1-12), clamping device (1-1-13), and drive wheel (1-1-14). The riveting robot (1-1) is mounted on the riveting support frame (1-2) via the riveting machine base (1-1-1). The riveting support frame (1-2) is mounted on the ground rail (1-3), thereby enabling the riveting robot (1-1) to move linearly along the ground rail (1-3). The automatic laser welding system (2) includes: a laser welding robot (2-1), a chiller (2-2), a ground rail (2-3), and a welding support frame (2-4); the laser welding robot (2-1) includes a welding machine base (2-1-1), a first welding machine joint (2-1-2), a second welding machine joint (2-1-3), a first welding machine robotic arm (2-1-4), a third welding machine joint (2-1-5), a fourth welding machine joint (2-1-6), a second welding machine robotic arm (2-1-7), a laser welding nozzle (2-1-8), a motor assembly (2-1-9), and a protective gas nozzle (2-1-10). The ground rail (2-3) includes a base fixing plate (2-3-1), a guide rail (2-3-2), a crash plate (2-3-3), a base foot plate (2-3-4), a crash pad (2-3-5), an anti-slip steel plate (2-3-6), a guide rail guard plate (2-3-7), and a square tube (2-3-8). The chiller (2-2) is placed outside the automatic laser welding system (2). The laser welding robot (2-1) is installed on the welding support frame (2-4) through the welding machine base (2-1-1), which is fixed on the ground rail (2-3), so that the laser welding robot (2-1) can move linearly along the ground rail (2-3). The visual inspection system (3) includes: a visual interactive display screen (3-1), an industrial camera (3-2), a flexible connector (3-3), a ball clamp connector (3-4), a positioning axis (3-5), and a control cabinet (3-6); the positioning axes (3-5) are fixedly connected to each other through the ball clamp connector (3-4); the industrial camera (3-2) is connected to the positioning axis (3-5) through the flexible connector (3-3) and is suspended above the dual-axis positioner (4); The dual-axis positioner (4) includes: a base (4-1), a tooling fixture (4-2), a cantilever assembly (4-3), a housing connecting device (4-4), and a column assembly (4-5); the cantilever assembly (4-3) includes a hanging plate (4-3-1), a cantilever side plate (4-3-2), a cantilever back plate (4-3-3), a single-axis drive assembly (4-3-4), a working ladder (4-3-5), a cantilever base plate (4-3-6), a cantilever web plate (4-3-7), and a tooling support sleeve (4-3-8); the column The assembly (4-5) includes a housing fixing ring (4-5-1), a column front plate (4-5-2), an ear plate (4-5-3), a rear inclined plate (4-5-4), a column rear plate (4-5-5), a two-axis drive assembly (4-5-6), and a column base plate (4-5-7). The follower frame (6) is installed on the tooling fixture (4-2), and the cantilever assembly (4-3) is connected to the column assembly (4-5) through the housing connecting device (4-4), so that the follower frame (6) can be suspended in the air to realize subsequent multi-posture processing in space. The control system (5) is used to regulate the execution of riveting, welding and inspection processes.

2. The integrated robot for automatic riveting, welding, and inspection of a follow-up frame as described in claim 1, characterized in that: In the riveting robot (1-1), based on the positioning of the riveting point, the control system (5) controls the movement of the riveting robot (1-1) to move the clamping device (1-1-13) to the riveting area; then the rivet conveying pipe (1-1-8) conveys the rivet to the stamping position through the rivet conveying belt, and the drive wheel (1-1-14) drives the driven wheel (1-1-10) to move through the connecting rod (1-1-9), driving the rivet stamping column (1-1-12) to perform cold stamping on the rivet, so as to realize the cold riveting fixation of the follower frame (6).

3. The integrated robot for automatic riveting, welding, and inspection of a follow-up frame as described in claim 1, characterized in that: The laser welding robot (2-1) uses a protective gas nozzle (2-1-10) to spray argon gas onto the surface of the follower frame (6) to remove air. The laser welding robot (2-1) generates welding path information and executes numerical control code through a CAD / CAM system. It works with a dual-axis positioner (4) to perform blue light-infrared coaxial composite laser beam welding along the identification route. After welding is completed, the protective gas nozzle (2-1-10) continues to supply argon gas, covering the area until the temperature drops to the preset range.

4. The integrated robot for automatic riveting, welding, and inspection of a follow-up frame as described in claim 1, characterized in that: The ground rail (2-3) in the automatic riveting system (1) has the same structure as the ground rail (1-3) in the automatic laser welding system (2), and is set separately only because of the different assembly positions.

5. The integrated robot for automatic riveting, welding, and inspection of a follow-up frame as described in claim 1, characterized in that: The visual inspection system (3) can adjust the tightness of the ball clamp positioner (3-4) manually and adjust the extension of the positioning shaft (3-5) according to the working conditions to achieve precise adjustment of the height and front and back positions of the industrial camera (3-2) so that the follower frame (6) is within the detection range of the industrial camera (3-2).

6. The integrated robot for automatic riveting, welding, and inspection of a follow-up frame as described in claim 1, characterized in that: In the dual-axis positioner (4), the first-axis drive assembly (4-3-4) drives the tooling to achieve horizontal rotation within a range of ±180° through gear output. At the same time, the housing connection device (4-4) completes vertical flipping motion within a range of ±135° under the drive of the second-axis drive assembly (4-5-6). Under the premise of ensuring the above-mentioned motion accuracy and structural rigidity, the dual-axis positioner (4) can bear a maximum weight of 1.5~2 t.

7. The integrated robot for automatic riveting, welding, and inspection of a follow-up frame as described in claim 1, characterized in that: Both the one-axis drive assembly (4-3-4) and the two-axis drive assembly (4-5-6) are composed of servo motors and RV reducers, achieving high response, high precision and high torque output.

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