A welding training device and a welding training method

Abstract

The application relates to the technical field of automobile manufacturing, in particular to a welding training device and a welding training method. The welding training device comprises a welding robot, a standard workbench, a support platform, a quick-change workbench and an automobile shell positioning table. The standard workbench comprises a fixed seat and a box body, the box body is provided with a first jack and a first water and electricity communication interface, and a first locking mechanism is arranged in the box body. The support platform comprises a supporting platform and a supporting column, the bottom of the supporting column is provided with a first pin and a second water and electricity communication interface, the top of the supporting column is provided with a second jack, a second locking mechanism is arranged in the supporting platform, and a third water and electricity communication interface is arranged on the supporting platform. The quick-change workbench is matched with the supporting platform. The automobile shell positioning table is installed on the quick-change workbench. The welding training method comprises the following steps: positioning two side shell body plates on the automobile shell positioning table; and carrying a top shell body plate or a rear shell body plate to be matched between the two side shell body plates and then welding. The application makes up for the gap between virtual simulation training and actual application.

Description

Technical Field

[0001] This application relates to the field of automotive manufacturing technology, and in particular to a welding training device and a welding training method. Background Technology

[0002] Currently, trajectory programming and process debugging training for welding robots mainly rely on virtual simulation training using offline programming software, where operators complete trajectory planning and process simulation in a computer environment. However, while offline programming software can perform path planning and collision detection, its simulation environment differs significantly from actual production conditions. The virtual environment struggles to accurately simulate the spatial pose, clamping tolerances, workpiece deformation, and welding clamp accessibility of a real car body, leading to the need for extensive secondary corrections on the actual production line after offline programming. This results in a significant gap between training effectiveness and practical application. Summary of the Invention

[0003] This application aims to at least partially address one of the aforementioned technical problems in the prior art. To this end, embodiments of this application provide a welding training device and a welding training method, bridging the gap between virtual simulation training and practical applications.

[0004] In a first aspect, this application provides a welding training device, comprising:

[0005] Welding robots;

[0006] Standard workbench, including

[0007] The mounting base includes a housing for burying in the ground, the top of the housing is provided with a first socket and a first water and electricity communication interface, and the inside of the housing is provided with a first locking mechanism corresponding to the position of the first socket;

[0008] The platform includes a support platform and a support column. The support column is installed on the edge of the support platform. A first pin is provided at the bottom of the support column. The first pin is inserted into a first socket and locked by a first locking mechanism. A second water and electricity communication interface is provided at the bottom of the support column and is connected to the first water and electricity communication interface. A second socket is provided at the top of the support platform. A second locking mechanism is provided inside the support platform at the position corresponding to the second socket. A third water and electricity communication interface is provided on the support platform and is connected to the second water and electricity communication interface.

[0009] A quick-change workbench is provided, which cooperates with the support platform. The quick-change workbench is provided with a second pin, which is inserted into the second socket and locked by the second locking mechanism. A fourth water and electricity communication interface is provided at the bottom of the quick-change workbench, which is connected to the third water and electricity communication interface.

[0010] The car body positioning platform is installed on the quick-change workbench.

[0011] According to the welding training equipment provided in the first aspect of this application, the first locking mechanism includes...

[0012] A telescopic device is installed inside the box body, and the fixed end of the telescopic device is connected to the box body;

[0013] A lifting plate is installed on the telescopic movable end of the telescopic device, and the vertical projection of the insertion hole is located on the lifting plate;

[0014] The first gripper is disposed on both sides of the lifting plate. One end of the first gripper is a hinge end and the other end is a clamping end. The hinge end of the first gripper is hinged to the housing. The clamping end of the first gripper extends to both sides of the first insertion hole. An inclined strip hole is provided in the middle of the first gripper. The edge of the lifting plate rolls with the strip hole. The telescopic device drives the lifting plate to rise and fall, thereby causing the first grippers on both sides to open or retract synchronously, so that the clamping end of the first gripper releases or clamps the first pin inserted into the first insertion hole.

[0015] According to the welding training equipment provided in the first aspect of this application, the first locking mechanism further includes a base plate, which is fixed to the bottom of the housing, and the hinged end of the first gripper is hinged to the base plate.

[0016] According to the welding training equipment provided in the first aspect of this application, the telescopic device is a first telescopic damping rod, the cylinder of the first telescopic damping rod is connected to the base plate, the piston rod of the first telescopic damping rod is connected to the lifting plate, and a first return spring is sleeved on the piston rod of the first telescopic damping rod. One end of the first return spring is connected to the lifting plate, and the other end is connected to the cylinder of the first telescopic damping rod.

[0017] According to the welding training equipment provided in the first aspect of this application, a second telescopic damping rod is further provided between the lifting plate and the base plate, the cylinder of the second telescopic damping rod is connected to the lifting plate, and the piston rod of the second telescopic damping rod is connected to the base plate.

[0018] According to the welding training equipment provided in the first aspect of this application, the second locking mechanism includes...

[0019] The telescopic drive component is horizontally arranged inside the support platform;

[0020] A fixing plate is fixed inside the support platform;

[0021] A translation plate is installed at the telescopic movable end of the telescopic drive component;

[0022] The second gripper is disposed on both sides of the translation plate. The middle part of the second gripper is hinged to the fixed plate. One end of the second gripper is provided with an inclined extending stroke hole. The side of the translation plate is in rolling engagement with the stroke hole. The other end of the second gripper extends to both sides of the second insertion hole. The telescopic drive component is used to drive the translation plate to move closer to or away from the fixed plate in the horizontal direction, so that the second gripper can release or clamp the second pin inserted into the second insertion hole.

[0023] According to the welding training equipment provided in the first aspect of this application, the second locking mechanism further includes a third telescopic damping rod, the cylinder of the third telescopic damping rod is fixedly connected to the translation plate, and the telescopic rod of the third telescopic damping rod is connected to the fixed plate.

[0024] According to the welding training equipment provided in the first aspect of this application, the automobile body positioning table includes...

[0025] Base;

[0026] At least four first clamps are provided, each arranged in a rectangular array on the base. Each first clamp is used to clamp the edge of the wheel arch of the car body. Each first clamp includes a first support base, a first chuck, and a first telescopic drive component. The first support base is fixed on the base. A first hinge seat and a second hinge seat are provided on the side of the first support base. The first hinge seat and the second hinge seat are spaced apart along the height direction of the first support base. The first hinge seat is located above the second hinge seat. The top of the first hinge seat is a support surface for supporting the wheel arch of the car body. The first chuck has a first hinge end, a second hinge end, and a clamping end. The first hinge end of the first chuck is hinged to the first hinge seat, and the clamping end is located above the support surface. The first telescopic drive component is hinged to the second hinge seat, and the telescopic movable end of the first telescopic drive component is hinged to the second hinge end of the first chuck.

[0027] The welding training equipment provided according to the first aspect of this application further includes a second support base, which is disposed between two adjacent first clamps along the length direction of the base. The top of the second support base is provided with a slot, and a second clamp is provided on one side of each second support base. The second clamp is used to apply force from above to press the edge of the car body onto the second support base.

[0028] Secondly, this application also provides a welding training method, using the welding training equipment described above, comprising the following steps:

[0029] Magnetic blocks are installed on the edges of the top shell panel, rear shell panel, and two side shell panels that make up the car body.

[0030] The two side shell panels are positioned relative to each other on the car body positioning platform;

[0031] The welding robot's handling arm moves the top shell plate and fits it onto the top of the two side shell plates, causing the magnetic blocks on the edge of the top shell plate to attract the magnetic blocks on the top of the two side shell plates; the welding robot's welding arm performs spot welding at the connection between the top shell plate and the side shell plates.

[0032] The welding robot's handling arm moves the rear shell plate to the rear of the two side shell plates, and the magnetic blocks on the edge of the rear shell plate are attracted to the magnetic blocks on the rear of the two side shell plates; the welding robot's welding arm performs spot welding at the connection between the rear shell plate and the side shell plates.

[0033] The welding robot performs full welding on all the positions to be welded.

[0034] Based on the above technical solution, the embodiments of this application have at least the following beneficial effects: when welding training is required, the car body is assembled onto the car body positioning platform, and then the car body positioning platform is installed onto the standard workbench. Compared with traditional virtual simulation training, this application directly conducts actual welding training, thus making up for the gap between virtual simulation training and actual application.

[0035] This welding training equipment features a detachable structure between the car body positioning platform and the standard worktable. The standard worktable itself can be directly used as a workbench on an automotive manufacturing assembly line. During training, the car body to be used is installed on the positioning platform, and then the positioning platform is installed on the standard worktable for welding training. When welding training is not needed, the actual car body is installed on the positioning platform, and then the positioning platform is installed on the standard worktable. Therefore, because the car body positioning platform and the standard worktable are detachable, this equipment can be used for both welding training and actual manufacturing. Attached Figure Description

[0036] The present application will be further described below with reference to the accompanying drawings and embodiments;

[0037] Figure 1 This is a schematic diagram of the structure of a welding training device according to an embodiment of this application;

[0038] Figure 2 This is a schematic diagram of the structure of a standard workbench according to an embodiment of this application;

[0039] Figure 3 This is a schematic diagram of the quick-change worktable and the carrier stage separated in an embodiment of this application;

[0040] Figure 4 yes Figure 3 Another structural diagram from another perspective;

[0041] Figure 5 yes Figure 3 Partial structural diagram;

[0042] Figure 6 This is a schematic diagram of one of the fixed seats of a standard worktable in an embodiment of this application, separated from the platform;

[0043] Figure 7 This is a schematic diagram of the mounting base of a standard workbench according to an embodiment of this application;

[0044] Figure 8 This is a schematic diagram of the internal structure of the fixed base of a standard workbench according to an embodiment of this application;

[0045] Figure 9 yes Figure 5 A magnified view of a portion of point A in the middle.

[0046] Figure 10 This is a schematic diagram of the structure of mounting a car body on a car body positioning platform according to an embodiment of this application;

[0047] Figure 11 This is a schematic diagram of the structure of an automobile shell positioning platform according to an embodiment of this application;

[0048] Figure 12 This is a schematic diagram of the structure of the second clamp of the car body positioning platform according to an embodiment of this application.

[0049] Figure label:

[0050] 100. Welding robot; 110. Welding manipulator; 120. Material handling manipulator;

[0051] 200. Standard workbench; 210. Fixed base; 210a. Housing; 210b. Top plate; 211. First insertion hole; 212. First water and electricity communication interface; 2121. First water inlet; 2122. First power inlet; 2123. First communication interface; 213. First locking mechanism; 2131. Telescopic device; 2132. Lifting plate; 2133. First gripper; 2133a. Strip hole; 2133b. Triangular plate; 2134. Base plate; 2135. First return spring; 2136. Second telescopic damping rod; 214. Protective shell; 215. First guide sleeve; 220. Platform 221. Support platform; 2211. Second insertion hole; 2212. Second locking mechanism; 2212a. Telescopic drive component; 2212b. Fixed plate; 2212c. Translation plate; 2212d. Second gripper; 2212e. Connecting seat; 2212f. Stroke hole; 2212g. Locking block; 2212h. Third telescopic damping rod; 2212k. Second guide sleeve; 2213. Third water and electricity communication interface; 222. Support column; 2221. First pin; 2222. Second water and electricity communication interface; 230. Quick-change worktable; 231. Second pin; 232. Fourth water and electricity communication interface;

[0052] 300, Car body positioning platform; 310, Base; 320, First clamp; 321, First support seat; 3211, First hinge seat; 3211a, Support surface; 3212, Second hinge seat; 322, First chuck; 323, First telescopic drive component; 330, Forklift plate; 340, Second support seat; 341, Slot; 350, Second clamp; 351, Second telescopic drive component; 352, Second chuck; 352a, Pressure plate; 352b, Pressure head. Detailed Implementation

[0053] 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.

[0054] In the description of this application, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential", etc., indicating the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this application.

[0055] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of that feature. In the description of this application, "multiple" means at least two, such as two, three, etc., unless otherwise explicitly specified.

[0056] In this application, unless otherwise expressly specified and limited, the terms "installation," "connection," "joining," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components, unless otherwise expressly limited. Those skilled in the art can understand the specific meaning of the above terms in this application according to the specific circumstances.

[0057] In this application, unless otherwise expressly specified and limited, "above" or "below" the second feature can mean that the first feature is in direct contact with the second feature, or that the first feature is in indirect contact with the second feature through an intermediate medium. Furthermore, "above," "on top of," and "over" the second feature can mean that the first feature is directly above or diagonally above the second feature, or simply that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature can mean that the first feature is directly below or diagonally below the second feature, or simply that the first feature is at a lower horizontal level than the second feature.

[0058] It should be noted that when an element is referred to as being "fixed to" or "set on" another element, it can be directly on the other element or there may be an intervening element. When an element is considered to be "connected to" another element, it can be directly connected to the other element or there may be an intervening element. The terms "vertical," "horizontal," "upper," "lower," "left," "right," and similar expressions used herein are for illustrative purposes only and do not represent the only possible implementation.

[0059] Currently, trajectory programming and process debugging training for welding robots mainly rely on virtual simulation training using offline programming software, where operators complete trajectory planning and process simulation in a computer environment. However, while offline programming software can perform path planning and collision detection, its simulation environment differs significantly from actual production conditions. The virtual environment struggles to accurately simulate the spatial pose, clamping tolerances, workpiece deformation, and welding clamp accessibility of a real car body, leading to the need for extensive secondary corrections on the actual production line after offline programming. This results in a significant gap between training effectiveness and practical application.

[0060] Reference Figures 1 to 12 This application provides a welding training device, including a welding robot 100, a standard workbench 200, and an automobile shell positioning platform 300.

[0061] The welding robot 100 includes a welding manipulator 110 and a handling manipulator 120. The handling manipulator 120 is used to grasp the corresponding shell plates, while the welding manipulator 110 is used to perform welding operations. Both the welding manipulator 110 and the handling manipulator 120 are six-axis industrial robots, with welding torches and suction cups mounted on their end effectors. The standard worktable 200 serves as the base of the entire training platform, supporting and positioning the car body positioning table 300, and providing a stable and precise training environment for the welding robot 100. The car body positioning table 300 is used to position and fix multiple shell plates that make up the car body, simulating a real car body welding station.

[0062] Reference Figures 2 to 9 The standard worktable 200 includes a fixed base 210, a platform 220, and a quick-change worktable 230.

[0063] The fixed base 210 is embedded and fixed in the ground, serving as the supporting foundation for the entire standard workbench 200. The platform 220 is detachably mounted on the fixed base 210. The quick-change workbench 230 is used to directly support the workpiece to be processed, and it can quickly dock with and separate from the platform 220.

[0064] In one embodiment of this application, four fixing bases 210 are provided, and the four fixing bases 210 are distributed in a rectangular array on the ground.

[0065] The platform 220 includes a support platform 221 and support columns 222. Four support columns 222 are provided. The support platform 221 is a rectangular platform structure, and a support column 222 is vertically installed at each of the four corners of the support platform 221. The bottoms of the four support columns 222 correspond one-to-one with four fixed seats 210 and cooperate with each other, thereby stably supporting the platform 220 on the ground.

[0066] Of course, in other embodiments, three fixed bases 210 can be provided, arranged in a triangular pattern on the ground. Correspondingly, the support platform 221 can be set as a triangle, and three support columns 222 can also be provided.

[0067] The top of the mounting base 210 is provided with a first socket 211 and a first water and electricity communication interface 212. The first water and electricity communication interface 212 is used to realize the water, electricity and communication connection between the platform 220 and the mounting base 210. The mounting base 210 is provided with a first locking mechanism 213 at the position corresponding to the first socket 211.

[0068] The bottom of the support column 222 is provided with a first pin 2221, the position and shape of which match the first socket 211, and the first pin 2221 can be inserted into the first socket 211. After the first pin 2221 is inserted into the first socket 211, the first pin 2221 is locked by the first locking mechanism 213, thereby fixing the support column 222 to the fixed base 210. The bottom of the support column 222 is also provided with a second water and electricity communication interface 2222. When the platform 220 is docked with the fixed base 210, the second water and electricity communication interface 2222 and the first water and electricity communication interface 212 are docked with each other to realize the connection of water, electricity and signal paths.

[0069] In this embodiment, the support column 222 of the platform 220 has a hollow structure. For example, the support column 222 can be made of square hollow steel. The support column 222 not only provides support but also serves as a cable receiving channel.

[0070] Specifically, the second water and electricity communication interface 2222 is located on one side of the bottom of the support column 222. The side of the bottom of the support column 222 is provided with a cable routing hole. The cable led out from the second water and electricity communication interface 2222 enters the internal cavity of the support column 222 through the cable routing hole and runs upward along the internal cavity of the support column 222. This simplifies the external pipeline layout of the entire platform 220 and avoids the risk of cable entanglement and wear.

[0071] To prevent damage to the second hydroelectric communication interface 2222 and the wiring hole from external dust or impact, a protective shell 214 is provided on the outside of the second hydroelectric communication interface 2222. The protective shell 214 is fixedly connected to the support column 222 and completely covers the wiring hole.

[0072] The top of the support platform 221 is provided with a second socket 2211, and a second locking mechanism 2212 is provided inside the support platform 221 at the position corresponding to the second socket 2211. The support platform 221 is also provided with a third water and electricity communication interface 2213, which is connected to the second water and electricity communication interface 2222 through the space inside the support platform 221 and the hollow support column 222.

[0073] The quick-change worktable 230 is an independent modular component, with its top surface used to support the object to be processed. The bottom of the quick-change worktable 230 is equipped with a second pin 231, the position and shape of which match the second socket 2211 on the top of the support platform 221. The bottom of the quick-change worktable 230 also has a fourth water and electricity communication interface 232. When the quick-change worktable 230 is installed on the support platform 221, the second pin 231 is inserted into the second socket 2211 and locked by the second locking mechanism 2212. Simultaneously, the fourth water and electricity communication interface 232 connects with the third water and electricity communication interface 2213 on the support platform 221, achieving mechanical fixation between the quick-change worktable 230 and the platform 220, as well as communication of water, electricity, and signals.

[0074] The quick-change worktable 230 is a carrier specifically designed for different products. When switching between different products, only the quick-change worktable 230 needs to be replaced, without any modification to the fixed base 210 and the platform 220. Since the platform 220 provides a unified mechanical interface (i.e., the second socket 2211) and a unified energy communication interface (i.e., the third water and electricity communication interface 2213), all different specifications of the quick-change worktable 230 use the same bottom interface (i.e., the second pin 231 and the fourth water and electricity communication interface 232), thus achieving a plug-and-play effect when switching between different products.

[0075] This application embodiment integrates a product-specific positioning and support structure onto a quick-change workbench 230. When the vehicle model changes, only the corresponding quick-change workbench 230 needs to be designed and manufactured according to the support point positions of the new model; the existing fixed base 210 and platform 220 can be reused. This not only shortens the cycle of vehicle model switching and modification but also avoids a large amount of repetitive investment in basic equipment, significantly reducing production costs. By carrying the product on the quick-change workbench 230 and allowing it to circulate as a whole between processes, repeated hoisting and repositioning of the product between different support platforms is avoided, improving production cycle time and increasing production efficiency. This application integrates water, electricity, and communication interfaces. When the platform 220 is installed on the fixed base 210 and the quick-change workbench 230 is placed on the platform 220, the water, electricity, and communication connections are completed simultaneously, requiring no manual wiring operations. This not only greatly shortens product switching time but also eliminates safety hazards caused by manual wiring errors, improving production efficiency.

[0076] When this application is applied to welding training, firstly, a portion of the car body is installed onto the car body positioning table 300, then the car body positioning table 300 is installed onto the standard workbench 200, and then the remaining car bodies are assembled and welded to complete the welding training. Compared with traditional virtual simulation training, this application directly conducts actual welding training, thus bridging the gap between virtual simulation training and actual application.

[0077] Because the car body positioning platform 300 and the standard worktable 200 are detachable, the standard worktable 200 can be directly used as a worktable on an automobile manufacturing assembly line. During training, the car body to be used for training is installed on the car body positioning platform 300, and then the car body positioning platform 300 is installed on the standard worktable 200 for welding training. When welding training is not required, the actual car body is installed on the car body positioning platform 300, and then the car body positioning platform 300 is installed on the standard worktable 200. Therefore, because the car body positioning platform 300 and the standard worktable 200 are detachable, this application can be used for both welding training and actual manufacturing.

[0078] The mounting base 210 includes a housing 210a for burying in the ground. The top of the housing 210a is provided with a first socket 211 and a first water and electricity communication interface 212. The housing 210a is provided with a first locking mechanism 213 inside the housing corresponding to the position of the first socket 211.

[0079] Specifically, the mounting base 210 includes a housing 210a and a top plate 210b. The top of the housing 210a has an opening, and the top plate 210b is installed on the top of the housing 210a to seal the opening. A first socket 211 is provided on the top plate 210b, which is exposed to the ground surface. A first water and electricity communication interface 212 is provided on the top plate 210b.

[0080] In one embodiment of this application, the first locking mechanism 213 includes a telescopic device 2131, a lifting plate 2132, and a first gripper 2133.

[0081] The telescopic device 2131 is installed inside the housing 210a. The fixed end of the telescopic device 2131 is connected to the housing 210a, and the telescopic movable end of the telescopic device 2131 extends towards the top plate 210b. In this embodiment, the telescopic device 2131 is a first telescopic damping rod, which can be a hydraulic damping rod, a pneumatic damping rod, or a spring damping rod. The cylinder of the first telescopic damping rod is connected to the bottom of the housing 210a, and the piston rod of the first telescopic damping rod is connected to the lifting plate 2132. When the piston rod of the first telescopic damping rod extends, it pushes the lifting plate 2132 towards the top plate 210b.

[0082] The lifting plate 2132 is installed at the telescopic movable end of the telescopic device 2131. The lifting plate 2132 is a horizontal flat plate that can move freely in the vertical direction within the housing 210a. The vertical projection of the first insertion hole 211 is located on the lifting plate 2132, that is, the lifting plate 2132 is positioned directly below the first insertion hole 211.

[0083] The first gripper 2133 is disposed on both sides of the lifting plate 2132. Specifically, there are two first grippers 2133, which are disposed opposite to each other on the left and right sides of the lifting plate 2132. One end of the first gripper 2133 is a hinge end, and the other end is a clamping end. The hinge end of the first gripper 2133 is hinged to the housing 210a, and the clamping end of the first gripper 2133 extends to both sides of the first insertion hole 211. An inclined extending strip hole 2133a is provided in the middle of the first gripper 2133, and a roller or pin is provided on the edge of the lifting plate 2132. The roller or pin is embedded in the strip hole 2133a and forms a rolling engagement with the strip hole 2133a.

[0084] When the telescopic device 2131 drives the lifting plate 2132 to rise and fall, the rollers or pins on the edge of the lifting plate 2132 roll within the slotted hole 2133a. Since the slotted hole 2133a is inclined relative to the vertical direction, when the lifting plate 2132 moves upward, the rollers or pins push the inner wall of the slotted hole 2133a, causing the clamping ends of the two first grippers 2133 to synchronously retract inward around the hinge end. Conversely, when the lifting plate 2132 moves downward, the rollers or pins drive the slotted hole 2133a to move in the opposite direction, causing the clamping ends of the two first grippers 2133 to synchronously open outward.

[0085] By using the rolling cooperation between the strip hole 2133a and the lifting plate 2132, the clamping and releasing action of the first gripper 2133 in the horizontal direction is controlled by a vertical telescopic movement, which can ensure that the first pin 2221 is clamped with uniform force and will not be deflected.

[0086] Furthermore, the first locking mechanism 213 also includes a base plate 2134, which is fixed to the bottom of the housing 210a. The hinged end of the first gripper 2133 is hinged to the base plate 2134. By setting an independent base plate 2134, the hinged base of the first gripper 2133 is made more stable, and the entire first locking mechanism 213 can be pre-assembled and debugged as an independent module outside the housing 210a before being installed into the housing 210a, thus improving manufacturing and assembly efficiency.

[0087] As a further improvement to this embodiment, a first return spring 2135 is fitted onto the piston rod of the first telescopic damping rod. One end of the first return spring 2135 is connected to the lifting plate 2132, and the other end is connected to the cylinder of the first telescopic damping rod. The first telescopic damping rod and the first return spring 2135 provide additional damping force, making the first gripper 2133 move smoothly during clamping or releasing, avoiding impact. In addition, when the first pin 2221 is released, the telescopic rod of the first telescopic damping rod extends, and the first telescopic damping rod and the first return spring 2135 rebound together, pushing the lifting plate 2132 upward, thereby opening the first gripper 2133.

[0088] Furthermore, a second telescopic damping rod 2136 is provided between the lifting plate 2132 and the base plate 2134. The cylinder of the second telescopic damping rod 2136 is connected to the lifting plate 2132, and the piston rod of the second telescopic damping rod 2136 is connected to the base plate 2134. By providing two damping rods with opposite installation directions, additional damping force is provided, making the first gripper 2133 move more smoothly during clamping or releasing, and avoiding impact.

[0089] Furthermore, to improve the locking reliability of the first locking mechanism 213 on the first pin 2221, a first annular groove is provided on the first pin 2221. Correspondingly, a protruding triangular plate 2133b is provided on the inner side of the clamping end of the first gripper 2133. When the first gripper 2133 is in the clamping state, the triangular plate 2133b is embedded in the first annular groove. Through the cooperation between the triangular plate 2133b and the annular groove, the first pin 2221 is locked in the axial direction, preventing the first pin 2221 from coming out of the first insertion hole 211.

[0090] In some embodiments, the second locking mechanism 2212 is disposed inside the support platform 221. The second locking mechanism 2212 is mainly used to lock the second pin 231 at the bottom of the quick-change worktable 230 into the second socket 2211 on the support platform 221.

[0091] Specifically, refer to Figure 9 The second locking mechanism 2212 includes a telescopic drive component 2212a, a fixed plate 2212b, a translation plate 2212c, and a second gripper 2212d.

[0092] The telescopic drive component 2212a is horizontally disposed inside the support platform 221. Exemplarily, the telescopic drive component 2212a can be a cylinder, a hydraulic cylinder, or an electric actuator. The cylinder body of the telescopic drive component 2212a is fixedly connected to the interior of the support platform 221 via a connecting seat 2212e, ensuring that the telescopic drive component 2212a does not shift during operation. The telescopic movable end of the telescopic drive component 2212a extends or retracts horizontally.

[0093] The fixing plate 2212b is vertically fixed inside the support platform 221, and the fixing plate 2212b is positioned in front of the telescopic drive component 2212a. The translation plate 2212c is installed at the telescopic movable end of the telescopic drive component 2212a. Under the drive of the telescopic drive component 2212a, the translation plate 2212c can move closer to or away from the fixing plate 2212b in the horizontal direction.

[0094] The second gripper 2212d is disposed on both sides of the translation plate 2212c. Specifically, there are two second grippers 2212d, which are respectively disposed on the left and right sides of the translation plate 2212c. The middle part of the second gripper 2212d is hinged to the fixed plate 2212b via a hinge shaft. One end of the second gripper 2212d is provided with an inclined extending stroke hole 2212f, and a pin or roller is provided on the side of the translation plate 2212c, which rolls into the stroke hole 2212f. The other end of the second gripper 2212d extends to both sides of the second insertion hole 2211.

[0095] When the piston rod of the telescopic drive component 2212a extends, it pushes the translation plate 2212c to move horizontally closer to the fixed plate 2212b. Due to the inclined arrangement of the stroke hole 2212f, during the horizontal movement of the translation plate 2212c, the rollers or wheels on its sides roll within the stroke hole 2212f, forcing the two second grippers 2212d to rotate around their central hinge axis. This causes the ends of the second grippers 2212d to expand outwards synchronously, thereby releasing the second pin 231 inserted into the second insertion hole 2211. Conversely, when the piston rod of the telescopic drive component 2212a retracts, it drives the translation plate 2212c to move horizontally away from the fixed plate 2212b, causing the ends of the second grippers 2212d to retract inwards synchronously, thereby clamping the second pin 231.

[0096] Through the above structure, the horizontal movement of the telescopic drive component 2212a is converted into the clamping and releasing movement of the second gripper 2212d. Unlike the vertical drive of the first locking mechanism 213, the second locking mechanism 2212 adopts a horizontal drive, which allows the height dimension of the support platform 221 to be designed to be thinner, which is beneficial to lowering the center of gravity of the entire standard worktable 200 and improving load-bearing stability.

[0097] Furthermore, the second pin 231 is provided with a second annular groove, and the end of the second gripper 2212d is provided with a locking block 2212g for engaging with the second annular groove. When the second gripper 2212d is in the clamping state, the locking block 2212g engages with the second annular groove, thereby locking the second pin 231 in the vertical direction. The engagement of the locking block 2212g with the second annular groove prevents the quick-change worktable 230 from accidentally detaching from the support platform 221.

[0098] As a further improvement to this embodiment, the second locking mechanism 2212 also includes a third telescopic damping rod 2212h. The cylinder of the third telescopic damping rod 2212h is fixedly connected to the translation plate 2212c, and the telescopic rod of the third telescopic damping rod 2212h is connected to the fixed plate 2212b.

[0099] Furthermore, a second return spring is fitted onto the telescopic rod of the third telescopic damping rod 2212h. One end of the second return spring is connected to the fixed plate 2212b, and the other end is connected to the cylinder of the third telescopic damping rod 2212h. When the piston rod of the telescopic drive component 2212a retracts, the third telescopic damping rod 2212h and the second return spring rebound together, assisting in pushing the translation plate 2212c to move away from the fixed plate 2212b.

[0100] Meanwhile, the third telescopic damping rod 2212h and the second return spring act as buffer elements, so that the second gripper 2212d will not damage the surface of the second pin 231 due to excessive impact when clamping the second pin 231.

[0101] In one embodiment of this application, the quick-change worktable 230 has a rectangular structure, and the support platform 221 also has a rectangular structure. Four second locking mechanisms 2212 are arranged inside the support platform 221, and the four second locking mechanisms 2212 are respectively distributed in the four corner areas of the support platform 221. Correspondingly, the second insertion holes 2211 are also distributed at the four corners of the top of the support platform 221. When the quick-change worktable 230 is placed on the support platform 221, the second insertion pins 231 at its four corners are simultaneously inserted into the corresponding second insertion holes 2211, and are synchronously locked by the four second locking mechanisms 2212.

[0102] The fourth water and electricity communication interface 232 is located at the bottom of the quick-change workbench 230. When the second pin 231 is inserted into the second socket 2211 on the support platform 221, the fourth water and electricity communication interface 232 is exactly connected to the third water and electricity communication interface 2213 on the support platform 221.

[0103] In one embodiment of this application, the first water-electricity communication interface 212, the second water-electricity communication interface 2222, the third water-electricity communication interface 2213, and the fourth water-electricity communication interface 232 all adopt the same interface standard, that is, each water-electricity communication interface includes a water inlet, a power outlet, and a communication interface. Taking the first water-electricity communication interface 212 and the second water-electricity communication interface 2222 as examples: the first water-electricity communication interface 212 is located on the lower side of the top plate 210b of the fixed base 210, and it includes a first water inlet 2121, a first power outlet 2122, and a first communication interface 2123. The second water-electricity communication interface 2222 is located at the bottom of the supporting column 222, and it includes a second water inlet, a second power outlet, and a second communication interface.

[0104] When the support column 222 of the platform 220 is connected to the fixed base 210, the first water and electricity communication interface 212 is connected to the second water and electricity communication interface 2222. At this time, the first water inlet interface 2121 is connected to the second water inlet interface to realize the connection of the waterway; the first power inlet interface 2122 is connected to the second power inlet interface to realize the connection of the electrical signal; and the first communication interface 2123 is connected to the second communication interface to realize the connection of communication.

[0105] Similarly, when the quick-change workbench 230 is placed on the support platform 221, the third water and electricity communication interface 2213 connects with the fourth water and electricity communication interface 232. The connecting cable between the second water and electricity communication interface 2222 and the third water and electricity communication interface 2213 is run through the cavity inside the support column 222 and the internal space of the support platform 221. Therefore, water, electricity and signals introduced from the fixed base 210 can be transmitted to the quick-change workbench 230 via the carrier 220, providing comprehensive energy and information supply for the objects to be processed on the quick-change workbench 230.

[0106] This embodiment integrates the water interface, power interface, and communication interface into a standardized interface. When the quick-change workbench 230 is placed on the carrier platform 220, all energy and signal connections are completed simultaneously, eliminating the need for any manual wiring operations. This not only significantly shortens product changeover time but also eliminates safety hazards caused by manual wiring errors.

[0107] It is understood that, in the embodiments of this application, the structure of the quick-change workbench 230 can be designed in various ways according to the specific shape and support points of the object to be processed. However, no matter how the upper structure of the quick-change workbench 230 changes, the layout and size of the second pin 231 and the fourth water and electricity communication interface 232 at its bottom remain strictly consistent.

[0108] In addition, chamfered guide structures are provided at the entrance of the first socket 211 and the entrance of the second socket 2211 to assist the first pin 2221 and the second pin 231 in being inserted smoothly.

[0109] Furthermore, a first guide sleeve 215 is provided on the inner side of the top plate 210b corresponding to the position of the first insertion hole 211, to further facilitate the insertion of the first insertion pin 2221. Similarly, a second guide sleeve 2212k is provided inside the support platform 221 corresponding to the position of the second insertion hole 2211, to further facilitate the insertion of the second insertion pin 231.

[0110] Reference Figures 10 to 12 The car body positioning table 300 is installed on the quick-change workbench. The car body positioning table 300 includes a base 310 and a plurality of first clamps 320 disposed on the base 310.

[0111] The base 310 has a flat mounting surface on top. A forklift platform 330 is mounted on the bottom of the base 310. The forklift platform 330 allows the positioning platform to be easily moved and transferred as a whole by forklift, which greatly improves the convenience of equipment movement between different workstations, reduces the difficulty and time cost of equipment relocation, and enhances the flexibility of the production line.

[0112] At least four first clamps 320 are provided; specifically, in this application, four first clamps 320 are provided, arranged in a rectangular array on the base 310. A rectangular array means that the mounting positions of each first clamp 320 on the base 310 are located at the four vertices of a rectangle. This layout is designed based on the structural characteristic that automobile bodies typically have four wheel arches. The four first clamps 320 are respectively used to clamp the edges of the four wheel arches of the automobile body. By positioning and clamping the four wheel arches, preliminary constraints on the overall posture can be achieved from the outer main contour of the automobile body. Compared to the traditional method of selecting points for clamping from the bottom or sides of the automobile body, this application uses four first clamps 320 arranged in a rectangular array to clamp the four wheel arches respectively. The distribution range of the clamping points is wider and more uniform, and the clamping action is on the wheel arch area where the automobile body has good rigidity, achieving precise and stable positioning and clamping of the automobile body.

[0113] Each first clamp 320 includes a first support base 321, a first chuck 322, and a first telescopic drive component 323. The bottom of the first support base 321 is fixedly connected to the mounting plane of the base 310. The fixed connection can be made by bolting, welding, or by using a locating key and screws. In this embodiment, bolting is preferred to facilitate maintenance and position adjustment of the first clamp 320.

[0114] A first hinge seat 3211 and a second hinge seat 3212 are provided on the side of the first support seat 321. The first hinge seat 3211 and the second hinge seat 3212 are spaced apart along the height direction of the first support seat 321. In the height direction, the first hinge seat 3211 is located above the second hinge seat 3212. The top of the first hinge seat 3211 is formed as a support surface 3211a for supporting the wheel arch of the vehicle body. This support surface 3211a is used to contact the lower surface of the wheel arch during positioning.

[0115] The first chuck 322 has a first hinge end, a second hinge end, and a clamping end. The first chuck 322 as a whole can be considered a lever component, with its middle or one end serving as a fulcrum and the other end as a force application point. Specifically, the first hinge end of the first chuck 322 is hinged to the first hinge seat 3211, thereby enabling the first chuck 322 to rotate around the hinge axis of the first hinge seat 3211. The clamping end is located above the support surface 3211a. The first telescopic drive component 323 is hinged to the second hinge seat 3212, and the telescopic movable end of the first telescopic drive component 323 is hinged to the second hinge end of the first chuck 322.

[0116] When the telescopic movable end of the first telescopic drive component 323 telescopically extends or retracts, it pushes or pulls the second hinge end of the first clamp 322, causing the first clamp 322 to swing around the hinge point between its first hinge end and the first hinge seat 3211. Since the clamping end is located on the other side of the hinge point, the clamping end moves up and down with the swing of the first clamp 322, thereby moving closer to or away from the support surface 3211a at the top of the first hinge seat 3211. When the clamping end moves downward and closer to the support surface 3211a, it can clamp the wheel arch edge of the car body between the clamping end and the support surface 3211a; conversely, when the clamping end moves upward and away from the support surface 3211a, it releases the clamping on the wheel arch.

[0117] In this embodiment, the first telescopic drive component 323 is preferably an electric cylinder. The cylinder body of the first telescopic drive component 323 is hinged to the second hinge seat 3212, and the telescopic rod of the first telescopic drive component 323 serves as the telescopic movable end, hinged to the first hinge end of the first clamp 322. By precisely extending and retracting the electric cylinder telescopic rod, precise control of the clamping end position can be achieved, thereby enabling precise adjustment of the clamping force on the car body wheel arch, avoiding the problem of deformation of the car body due to excessive clamping force or insecure positioning due to insufficient clamping force.

[0118] Furthermore, the height of the support surface 3211a of the first hinge seat 3211 is lower than the top of the first support seat 321. In other words, the top of the first support seat 321 is higher than the support surface 3211a. This height difference creates a stepped structure between the top of the first support seat 321 and the support surface 3211a, allowing the top of the first support seat 321 to act as an auxiliary lateral restraint structure when the wheel arch of the car body is placed on the support surface 3211a.

[0119] In this embodiment, since the four first clamps 320 respectively clamp the four wheel arches, and each clamp applies clamping force from above and below the wheel arches, reliable constraint can be provided for the vehicle body. Compared with the traditional method of clamping only from both sides, this application significantly improves positioning accuracy by clamping through the wheel arches.

[0120] The vehicle body positioning platform 300 provided in this embodiment also includes a second support base 340. The second support base 340 is disposed between two adjacent first clamps 320 along the length direction of the base 310. In the structure of the vehicle body, in addition to the four wheel arch areas, its front and rear sides or door sill areas usually also have high structural rigidity. The second support base 340 disposed between two adjacent first clamps 320 can provide additional auxiliary support points for the vehicle body in the area between the wheel arches. The combined action of multiple support points makes the supporting posture of the vehicle body on the positioning platform more stable, further enhancing the reliability of positioning.

[0121] The top of the second support 340 is provided with a slot 341. The cross-sectional shape and size of the slot 341 are adapted to the shape of the edge flange of the car body. For example, the slot 341 can be a U-shaped groove with the opening facing upwards. When the car body is placed on the positioning platform, the edge flange of the car body can be embedded into the slot 341. The two side walls of the slot 341 can restrict the edge of the car body, playing a role in auxiliary positioning and guidance.

[0122] In some embodiments of this application, multiple second support seats 340 may be provided, with each second support seat 340 spaced apart along the length direction of the base 310. For example, two second support seats 340 may be provided on each side of the base 310. The arrangement of two second support seats 340 can provide a more uniform support force to the long side of the vehicle body.

[0123] Each second support 340 has a second clamp 350 on one side. The second clamp 350 applies force from above to press the edge of the car body onto the second support 340. The second clamp 350 works in conjunction with the first clamp 320 to form a multi-point clamping of the car body. The first clamp 320 mainly positions and clamps the wheel arches on the car body, while the second clamp 350 provides auxiliary clamping to the edge of the car body. This composite clamping method makes the clamping force distribution on the car body more uniform and reasonable.

[0124] Specifically, the second clamp 350 includes a second telescopic drive component 351 and a second chuck 352. The second chuck 352 is mounted on the telescopic movable end of the second telescopic drive component 351. The second telescopic drive component 351 is preferably an electric cylinder. The cylinder body of the second telescopic drive component 351 is fixedly connected to the base 310, and is fixed vertically on the base 310. The second chuck 352 is mounted on the telescopic rod of the second telescopic drive component 351. The telescopic rod of the second telescopic drive component 351 moves vertically, thereby driving the second chuck 352 to move up and down, so as to achieve clamping and releasing of the edge of the car body.

[0125] Reference Figure 12 The second clamp 352 specifically includes a pressure plate 352a and a pressure head 352b. One end of the pressure plate 352a is fixedly connected to the telescopic rod of the second telescopic drive component 351. The other end of the pressure plate 352a is detachably fitted with the pressure head 352b. This detachable connection allows the pressure head 352b to be quickly replaced according to the edge thickness and shape of different car body models.

[0126] This application also provides a welding training method, including the following steps:

[0127] Step S101: Magnetic blocks are installed on the edges of the top shell plate, rear shell plate, and two side shell plates that make up the car body.

[0128] In this step, before placing the housing panels onto the car body positioning platform 300, magnetic blocks are installed along the edges of each housing panel. The number and position of the magnetic blocks are determined based on the geometry and splicing relationship of the respective housing panels. For example, for longer edges, multiple magnetic blocks can be spaced apart to ensure sufficient adsorption force.

[0129] Step S102: Position the two side shell plates relative to each other on the car shell positioning platform 300.

[0130] In this step, the two side shell plates are clamped and fixed by the first clamp 320 and the second clamp 350 respectively, so that the two side shell plates are vertically spaced on the car body positioning platform 300.

[0131] In step S103, the handling manipulator 120 of the welding robot 100 moves the top shell plate to the top of the two side shell plates, and the magnetic blocks on the edge of the top shell plate are attracted to the magnetic blocks on the top of the two side shell plates; the welding manipulator 110 of the welding robot 100 performs spot welding on the connection between the top shell plate and the side shell plates.

[0132] In step S104, the handling manipulator 120 of the welding robot 100 moves the rear shell plate to the rear of the two side shell plates, and the magnetic blocks on the edge of the rear shell plate are attracted to the magnetic blocks on the rear of the two side shell plates; the welding manipulator 110 of the welding robot 100 performs spot welding on the connection between the rear shell plate and the side shell plates.

[0133] In step S105, the welding robot 100 performs full welding on all positions to be welded.

[0134] The number and distribution of spot welds are set according to the shape and size of the shell plates to ensure that the shell plates do not undergo significant displacement or deformation during the subsequent full welding process. After spot welding is completed, the welding robot 100 performs continuous full welding at the joints between the shell plates. During the full welding process, the welding robot 100 continuously moves the welding torch along the weld path to form a continuous welded joint that meets the strength requirements.

[0135] The embodiments of this application have been described in detail above with reference to the accompanying drawings. However, this application is not limited to the above embodiments. Within the scope of knowledge possessed by those skilled in the art, various changes can be made without departing from the spirit of this application.

Claims

1. A welding training device, characterized in that, include: Welding robots; Standard workbench, including The mounting base includes a housing for burying in the ground, the top of the housing is provided with a first socket and a first water and electricity communication interface, and the inside of the housing is provided with a first locking mechanism corresponding to the position of the first socket; The platform includes a support platform and a support column. The support column is installed on the edge of the support platform. A first pin is provided at the bottom of the support column. The first pin is inserted into a first socket and locked by a first locking mechanism. A second water and electricity communication interface is provided at the bottom of the support column and is connected to the first water and electricity communication interface. A second socket is provided at the top of the support platform. A second locking mechanism is provided inside the support platform at the position corresponding to the second socket. A third water and electricity communication interface is provided on the support platform and is connected to the second water and electricity communication interface. A quick-change workbench is provided, which cooperates with the support platform. The quick-change workbench is provided with a second pin, which is inserted into the second socket and locked by the second locking mechanism. A fourth water and electricity communication interface is provided at the bottom of the quick-change workbench, which is connected to the third water and electricity communication interface. The car body positioning platform is installed on the quick-change workbench.

2. The welding training equipment according to claim 1, characterized in that: The first locking mechanism includes A telescopic device is installed inside the box body, and the fixed end of the telescopic device is connected to the box body; A lifting plate is installed on the telescopic movable end of the telescopic device, and the vertical projection of the insertion hole is located on the lifting plate; The first gripper is disposed on both sides of the lifting plate. One end of the first gripper is a hinge end and the other end is a clamping end. The hinge end of the first gripper is hinged to the housing. The clamping end of the first gripper extends to both sides of the first insertion hole. An inclined strip hole is provided in the middle of the first gripper. The edge of the lifting plate rolls with the strip hole. The telescopic device drives the lifting plate to rise and fall, thereby causing the first grippers on both sides to open or retract synchronously, so that the clamping end of the first gripper releases or clamps the first pin inserted into the first insertion hole.

3. The welding training equipment according to claim 2, characterized in that: The first locking mechanism also includes a base plate, which is fixed to the bottom of the housing, and the hinge end of the first gripper is hinged to the base plate.

4. The welding training equipment according to claim 3, characterized in that: The telescopic device is a first telescopic damping rod. The cylinder of the first telescopic damping rod is connected to the base plate, and the piston rod of the first telescopic damping rod is connected to the lifting plate. A first return spring is sleeved on the piston rod of the first telescopic damping rod. One end of the first return spring is connected to the lifting plate, and the other end is connected to the cylinder of the first telescopic damping rod.

5. The welding training equipment according to claim 4, characterized in that: A second telescopic damping rod is also provided between the lifting plate and the base plate. The cylinder of the second telescopic damping rod is connected to the lifting plate, and the piston rod of the second telescopic damping rod is connected to the base plate.

6. The welding training equipment according to claim 1, characterized in that: The second locking mechanism includes The telescopic drive component is horizontally arranged inside the support platform; A fixing plate is fixed inside the support platform; A translation plate is installed at the telescopic movable end of the telescopic drive component; The second gripper is disposed on both sides of the translation plate. The middle part of the second gripper is hinged to the fixed plate. One end of the second gripper is provided with an inclined extending stroke hole. The side of the translation plate is in rolling engagement with the stroke hole. The other end of the second gripper extends to both sides of the second insertion hole. The telescopic drive component is used to drive the translation plate to move closer to or away from the fixed plate in the horizontal direction, so that the second gripper can release or clamp the second pin inserted into the second insertion hole.

7. The welding training equipment according to claim 6, characterized in that: The second locking mechanism further includes a third telescopic damping rod, the cylinder of which is fixedly connected to the translation plate, and the telescopic rod of which is connected to the fixed plate.

8. The welding training equipment according to claim 1, characterized in that: The vehicle body positioning platform includes Base; At least four first clamps are provided, each arranged in a rectangular array on the base. Each first clamp is used to clamp the edge of the wheel arch of the car body. Each first clamp includes a first support base, a first chuck, and a first telescopic drive component. The first support base is fixed on the base. A first hinge seat and a second hinge seat are provided on the side of the first support base. The first hinge seat and the second hinge seat are spaced apart along the height direction of the first support base. The first hinge seat is located above the second hinge seat. The top of the first hinge seat is a support surface for supporting the wheel arch of the car body. The first chuck has a first hinge end, a second hinge end, and a clamping end. The first hinge end of the first chuck is hinged to the first hinge seat, and the clamping end is located above the support surface. The first telescopic drive component is hinged to the second hinge seat, and the telescopic movable end of the first telescopic drive component is hinged to the second hinge end of the first chuck.

9. The welding training equipment according to claim 8, characterized in that: It also includes a second support base, which is disposed between two adjacent first clamps along the length direction of the base. The top of the second support base is provided with a slot, and a second clamp is provided on one side of each second support base. The second clamp is used to apply force from above to press the edge of the car body onto the second support base.

10. A welding training method, characterized in that, The welding training equipment according to claim 1 includes the following steps: Magnetic blocks are installed on the edges of the top shell panel, rear shell panel, and two side shell panels that make up the car body. The two side shell panels are positioned relative to each other on the car body positioning platform; The welding robot's handling arm moves the top shell plate and fits it onto the top of the two side shell plates, causing the magnetic blocks on the edge of the top shell plate to attract the magnetic blocks on the top of the two side shell plates; the welding robot's welding arm performs spot welding at the connection between the top shell plate and the side shell plates. The welding robot's handling arm moves the rear shell plate to the rear of the two side shell plates, and the magnetic blocks on the edge of the rear shell plate are attracted to the magnetic blocks on the rear of the two side shell plates; the welding robot's welding arm performs spot welding at the connection between the rear shell plate and the side shell plates. The welding robot performs full welding on all the positions to be welded.

Images