Tower leg assembly flexible intelligent assembly welding system and method

Abstract

The application discloses a tower foot assembly flexible intelligent assembly welding system and method, and relates to the field of automatic welding manufacturing.The system mainly comprises a raw material frame, a finished product frame, a robot carrying system with a composite clamp, a multi-axis topology secondary positioning platform, a double-station robot welding system with a displacement assembly, and a teaching-free assembly welding control system.The teaching-free system directly analyzes a three-dimensional model of a tower foot, automatically extracts a weld seam track, and generates a cooperative scheduling program.The secondary positioning platform uses a multi-axis mechanism and a servo drive positioning pin to realize spatial self-adaptive accurate positioning of workpieces of different specifications.Combined with visual identification and laser accurate positioning, the application completely eliminates the bottleneck of traditional manual teaching and rigid tool changeover, realizes full-process unmanned flexible production of tower feet of different specifications from feeding, assembly, to welding, and discharging, and greatly improves production efficiency and product quality.

Description

Technical Field

[0001] This invention relates to the field of automated welding technology, and in particular to a flexible intelligent welding system and method for tower leg assemblies. Background Technology

[0002] The tower foot assembly is a key load-bearing component of power transmission line towers. Its structure typically consists of a heavy base plate with multiple reference mounting holes, multiple sub-plates vertically and crosswise assembled onto the base plate, and reinforcing plates (stiffeners) distributed around the perimeter for support, all welded together orthogonally or obliquely. Due to the wide variety of tower foot component specifications, the current welding production process generally faces the following technical bottlenecks: 1. Low level of automation and poor quality stability: Traditional assembly and spot welding rely entirely on manual marking, alignment and operation. The welding cycle is uneven and greatly affected by human factors. The consistency of welds and welding quality are difficult to guarantee, resulting in a high defect rework rate.

[0003] 2. Poor tooling adaptability and time-consuming changeover: Existing assembly fixtures are mostly fixed, dedicated tooling that can only be used for welding single-specification products. When faced with flexible production needs of multiple samples and small batches, frequent tooling changes or manual adjustments are required, which is not only time-consuming and labor-intensive, but also makes it difficult to guarantee repeatability and positioning accuracy, resulting in extremely low levels of intelligence and digitalization.

[0004] 3. Intelligent Scheduling and Sensing: Traditional industrial robot welding heavily relies on manual teaching, which is extremely cumbersome for complex tower leg multi-component combinations. Furthermore, the lack of deep sensing and digital collaboration between material handling, secondary positioning, robot transport, and welding systems easily leads to information silos, hindering the achievement of a fully unmanned, intelligent, and flexible closed-loop process. Summary of the Invention

[0005] The technical problem to be solved by the present invention is to overcome the shortcomings of the prior art and provide a flexible intelligent welding system and method for tower foot assembly.

[0006] To solve the above technical problems, the technical solution of the present invention is as follows: On one hand, the present invention provides a flexible intelligent welding system for tower foot assemblies, comprising: a raw material frame for classifying and storing raw material workpieces to be welded; a robot handling system disposed on one side of the raw material frame for grasping and transferring workpieces; a base; a secondary positioning platform installed on the base for receiving raw material workpieces placed by the robot handling system and for spatially positioning and assembling the raw material workpieces; a robot welding system installed on the base and located on one side of the secondary positioning platform for welding the assembled workpieces; a finished product frame for storing the welded finished workpieces; and a teach-free welding control system, which is communicatively connected to the robot handling system, the secondary positioning platform, and the robot welding system, for analyzing the three-dimensional model of the tower foot components and controlling the collaborative work of each system.

[0007] On the other hand, the present invention provides a flexible intelligent welding method for tower leg assemblies, applied to the above-mentioned system, including the following steps: S1, Three-dimensional model teaching-free analysis: Import the three-dimensional model of the tower leg, analyze the solid features of the main pipe and accessories; calculate the minimum distance and parallel plane distance between the accessories and the main pipe to obtain the wall thickness and weld position, and calculate the rotation angle of the displacement component and match the welding process parameter library according to the accessory normal vector; S2, Automatic loading and flexible positioning: According to the analyzed main pipe data, control the robot handling system to grab the main pipe to the secondary positioning platform, and automatically adjust the positioning pin to the appropriate position for hole positioning; S3, Accessory visual recognition and assembly spot welding: Generate an accessory model, cooperate with the vision system to automatically identify and grab the accessory in the material library, place it in the corresponding position of the main pipe according to the accessory spatial coordinate parameters, and control the robot welding system to perform assembly spot welding; S4, Laser positioning full welding: Call the matching welding process parameter library to generate a full welding program, and control the welding robot to complete the full welding operation of the weld through laser positioning; S5, Automatic unloading: After the full welding is completed, control the robot handling system to transport the finished tower leg workpiece to the finished product frame.

[0008] The beneficial effects of this invention are: (1) This invention breaks through the limitations of traditional fixed tooling. The conveying end adopts a composite fixture of "magnet + clamping + vision" to realize adaptive non-destructive gripping of multi-form materials. The positioning end innovatively combines "servo motor driven sliding positioning pin" and "electro-permanent magnet", which can accurately adapt to workpieces with different hole spacing and firmly adsorb heavy-duty main pipes in vertical state. The welding end adopts a displacement component of "L-shaped mounting plate + double orthogonal rotating seat", which realizes flexible flipping of workpiece spatial posture without dead angles, greatly improving the compatibility and flexibility of hardware.

[0009] (2) The present invention designs the secondary positioning platform as a composite chain multi-axis topology structure including "rotary seat - translation guide rail - lifting seat - flipping seat". With the positioning pins driven independently by servo motors in the slide, the system can automatically and in real time adjust the spacing of the positioning pins through digital commands to adapt to the hole positions of different specifications of tower feet. The design of the flipping seat flipping axis perpendicular to the guide rail direction allows the workpiece to smoothly switch between the horizontal receiving posture during loading and the specific spatial posture during assembly. Combined with the electro-permanent magnet adsorption mechanism on the first positioning platform, it ensures absolute zero slippage of the component during vertical or inclined high dynamic movement, fundamentally solving the pain points of traditional fixed fixtures such as time-consuming changeover and inability to flexibly adapt to multi-sample production.

[0010] (3) The teach-free welding control system of this invention can directly absorb and analyze the three-dimensional digital model, and automatically extract the spatial position of the main pipe and various accessories through volume and geometric features. By calculating the minimum distance between the parallel surfaces of the accessories to extract the wall thickness, and calculating the angle between the surface normal vector of the accessories and the basic coordinate system, it can not only automatically match the best welding process parameters online, but also directly reverse calculate the spatial rotation trajectory of the dual-axis displacement component and automatically generate the robot's trajectory program. This mechanism breaks the equipment downtime caused by cumbersome manual teaching in traditional multi-variety small-batch welding, and realizes true data-driven and on-demand welding.

[0011] (4) In this invention, two sets of robotic welding systems are symmetrically arranged on both sides of the secondary positioning platform. Each set is equipped with a displacement assembly consisting of mutually perpendicular dual axes (first and second rotary seats) and an L-shaped mounting plate. This structure gives the welding fixture space the freedom to adjust its posture in any way, and can perfectly guide the weld to the optimal welding physical posture such as "ship-shaped welding". Combined with the laser positioning assembly on the welding robot, the weld thermal deformation or assembly tolerance is dynamically compensated in real time before full welding, which completely solves the problem of off-center welding and missed welding caused by workpiece deformation in multi-layer and multi-pass welding, significantly improves the weld penetration and the aesthetic appearance of the weld, and reduces the defect rework rate to an extremely low level. Attached Figure Description

[0012] To more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings used in the following description of the embodiments will be briefly introduced. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0013] Figure 1 A schematic diagram of the flexible intelligent welding system for the tower leg assembly provided by the present invention; Figure 2 A schematic diagram of the robot handling system in the flexible intelligent welding system for the tower leg assembly provided by the present invention; Figure 3 A schematic diagram of the secondary positioning platform in the flexible intelligent welding system for the tower leg assembly provided by the present invention; Figure 4 A schematic diagram of the robotic welding system in the flexible intelligent welding system for the tower leg assembly provided by the present invention; The components are as follows: 100, raw material frame; 200, robot handling system; 300, base; 400, secondary positioning platform; 500, robot welding system; 600, finished product frame; 700, teach-free assembly welding control system; 201, robot component; 202, handling fixture; 401, rotary seat; 402, rotary platform; 403, translation guide rail; 404, sliding seat; 405, lifting drive device; 406, lifting seat; 407, flipping seat; 408, first positioning platform; 409, second positioning platform; 410, slide rail; 411, positioning pin; 412, electro-permanent magnet; 501, welding robot; 502, welding component; 503, welding fixture; 504, first rotating seat; 505, first plate; 506, second plate; 507, second rotating seat. Detailed Implementation

[0014] To make the content of this invention easier to understand, the invention will be further described in detail below with reference to specific embodiments and accompanying drawings.

[0015] Example 1: This example provides a flexible intelligent welding system for tower leg assemblies. See [link / reference]. Figures 1-4 The system's hardware architecture employs a compact, distributed, multi-station collaborative layout in physical space. The base 300 is fixed to the workshop floor, serving as a rigid reference platform upon which a secondary positioning platform 400 and a robotic welding system 500 are integrated and mounted. Surrounding the base are independent raw material frames 100, finished product frames 600, and a robotic handling system 200 primarily responsible for the cross-station movement of materials.

[0016] Specifically, the raw material frames 100 are preferably configured in two sets, while the finished product frames 600 are configured in one set. Both include support legs and a material feeding bracket fixed above the support legs. The support legs are fixed to the ground and have an integrated anchor thread leveling mechanism to ensure the absolute levelness of the material feeding bracket on complex workshop floors. The material feeding bracket of the raw material frames 100 has crisscrossing positioning partitions inside, which are used to group and store components according to the type and quantity of a complete set of tower legs (e.g., 1 main pipe, 4 auxiliary plates, and 2 stiffening plates). This design greatly facilitates the sequential and error-proof visual grasping of the robotic handling system 200.

[0017] The robotic handling system 200 is not only a carrier for material transport, but also a dynamic visual perception hub connecting various workstations. The robotic handling system 200 uses a six-axis articulated industrial robot with high load capacity. The sixth-axis flange of the robot body is rigidly connected to the handling fixture 202 via a flange adapter plate. The handling fixture 202 integrates the following components: Magnet assembly: The interior is a controllable electro-permanent magnet, used to adsorb the main plate or accessory steel plate with a flat surface from the raw material frame 100. The adsorption is rapid and does not damage the surface. Clamping assembly: A servo-driven, centering bidirectional gripper mechanism is used to rigidly mechanically clamp the integral, irregularly shaped, high-heat tower foot components after welding to prevent shaking or falling off during transportation. Vision system: An integrated industrial CCD camera and 3D laser profilometer, mounted on the side of the fixture, used to perform point cloud scanning on the parts in the feeding tray, obtain the accurate stacking pose of the parts, and feed back the deviation data to the main control system in real time.

[0018] The secondary positioning platform 400 is a key mechanism for achieving flexible production changeover and high-precision assembly. This platform includes a bottom rotary base 401, which houses a high-torque servo motor and a precision reducer. Its output shaft is connected to the upper rotary platform 402. Driven by the rotary base 401, the rotary platform 402 can achieve high-precision horizontal indexing rotation of ±90°, thus alternately facing the left or right side of the robotic welding system 500.

[0019] A translation guide rail 403 extending along its length is fixedly mounted on the upper end face of the rotary platform 402. A sliding seat 404 is slidably mounted on the translation guide rail 403 via a servo screw mechanism or a gear and rack mechanism, and the sliding seat 404 can achieve precise displacement along the axis of the guide rail. The first positioning component is integrally mounted on the sliding seat 404, and includes a lifting drive device 405 fixedly mounted on the sliding seat 404. Preferably, it is a servo screw jack with a self-locking function or a double-acting multi-stage pneumatic-hydraulic booster cylinder with a guide optical axis, which drives the lifting seat 406 to move vertically up and down. A tilting seat 407 is spanned between the two vertical plates on the top of the lifting seat 406, and the rotating shafts at both ends of the tilting seat 407 are supported on the vertical plates by self-aligning bearings with seats. A tilting drive motor is connected to one end of the shaft to realize the tilting and tilting of the workpiece. The tilting axis of the tilting seat 407 is perpendicular to the extension direction of the translation guide rail 403. A first positioning platform 408 is fixedly installed on the top surface of the flip base 407, and a plurality of electro-permanent magnet 412 modules are fixedly embedded on the platform surface of the first positioning platform 408. The second positioning component includes a second positioning platform 409, which is directly and rigidly fixed to the upper end surface of the rotary platform 402 and located at the end edge of the translation guide rail 403.

[0020] Both the first positioning stage 408 and the second positioning stage 409 feature a flexible hole positioning design: each positioning stage has a slide groove 410 extending along its width. A lead screw drive pair, driven by an independent servo motor, is embedded within the slide groove 410. An upwardly protruding positioning pin 411 is slidably mounted on the slide groove 410. When different specifications of tower leg main pipes or base plates are loaded, the control system drives the servo motors within each slide groove 410, causing the positioning pin 411 to move precisely within the slide groove 410 to a position completely aligned with the process pin hole of the current workpiece. The first and second positioning components achieve two-dimensional planar constraint of the workpiece by inserting the positioning pin 411 into the pin hole.

[0021] Two sets of robotic welding systems 500 are symmetrically located on opposite sides of the secondary positioning platform 400, supporting simultaneous or independent parallel welding at two stations. Each set of robotic welding systems 500 includes a six-DOF welding robot 501, a welding system (welding machine, wire feeder, welding torch, etc.), and a positioning assembly. The welding fixture 503 is located at the end effector of the welding robot 501.

[0022] To guide the weld to a perfect physical welding posture, the displacement assembly employs a unique dual-axis vertical cross-topology: it includes a first rotating seat 504 fixed to a base 300 (providing first axis indexing rotation in either the horizontal or vertical plane); a highly rigid L-shaped mounting plate is rigidly mounted on the rotating end of the first rotating seat 504. This L-shaped mounting plate consists of a first plate 505 and a second plate 506 that are perpendicular to each other. The first plate 505 is fixed to the flange of the first rotating seat 504, while the second plate 506 extends outward and is fixedly mounted on a second rotating seat 507. Through this spatial structure design, the rotation axis of the first rotating seat 504 and the rotation axis of the second rotating seat 507 form a strict vertical intersection in space. Finally, a welding fixture 503 holding the workpiece is fixedly mounted on the rotating end of the second rotating seat 507. Through the coordinated linkage of the first and second rotating seats 507, the workpiece on the welding fixture 503 can be tilted and flipped at any angle in space. The welding fixture 503 uses a self-centering chuck or a multi-jaw clamping mechanism with an independently driven cylinder to securely lock the workpiece.

[0023] Preferably, the sixth axis of the welding robot 501 is rigidly equipped with a high-precision laser positioning component. Before performing full welding, this component emits a laser line towards the weld and acquires the actual geometric trajectory of the weld in real time to compensate for physical deviations caused by spot welding thermal deformation or accumulated assembly tolerances.

[0024] In addition, the aforementioned flexible intelligent welding system for the tower foot assembly also includes a teach-free welding control system 700, which comprises a model analysis unit and a process scheduling unit. After importing the 3D model of the tower foot (e.g., STEP / IGES format), the model analysis unit automatically traverses the model tree, identifying the largest main pipe (e.g., steel pipe) and other accessories (e.g., base plate, large auxiliary plate, stiffening plate, etc.) based on the component's volume characteristics. It extracts radius, wall thickness, and length data by analyzing the main pipe's edge line; by calculating the minimum distance between each accessory surface and the main pipe surface, it automatically identifies surfaces with zero or minimal distance as "fitting surfaces," thus accurately locking the weld position. Simultaneously, it calculates the angle between the accessory's normal vector and the global coordinate system (XY, YZ planes), automatically deriving the target angle required for the displacement component's rotation, and matching the corresponding welding current, voltage, and travel speed from the built-in expert process parameter library. The process scheduling unit integrates servo drive, visual navigation, and PLC intelligent scheduling technology, responsible for converting the data output by the model analysis unit into coordinated actions of various actuators, achieving deep integration of material and information flow.

[0025] Example 2: This example provides a flexible intelligent welding method for tower leg assemblies, which specifically includes the following steps: Step S1: Three-dimensional model analysis without teaching.

[0026] Specifically, the operator imports the standard 3D model of the tower leg assembly to be processed into the system. The system's internal geometric topology algorithm is activated, automatically executing the following analytical steps: Entity feature analysis: The system automatically analyzes each independent component of the imported model, extracting the spatial surface area, volume, normal vectors of all outer surfaces, and initial spatial relative coordinates of each component.

[0027] Intelligent identification of main components and accessories: The algorithm compares the geometric feature data of all components, identifies the base component with the main mounting hole as the "base plate", identifies the cross plate that stands vertically on the base plate as the "sub-plate", and identifies the triangular plate that supports the sides as the "reinforcing plate".

[0028] Parametric extraction of main plate dimensions: By analyzing the edge lines and cross-sectional features, the length and width of the base plate and the precise coordinate data of the four mounting holes are calculated in reverse. At the same time, the outline dimensions of the sub-plate and the reinforcing plate are extracted.

[0029] The system automatically calculates the weld trajectory and process inversely: the algorithm solves for the minimum geometric distance between the lower end face of the sub-plate and reinforcing plate and the upper surface of the base plate, as well as the minimum geometric distance between the side edge of the reinforcing plate and the surface of the sub-plate. When the distance is less than a set threshold, the contact surface is identified as the corresponding mating surface, and the intersection edge of the mating surface is automatically extracted as the spatial weld trajectory. Simultaneously, the minimum distance between the parallel outer surfaces of each component is calculated to extract the wall thickness of the attachments. Based on this wall thickness data, the system automatically matches and calls the corresponding welding process parameters (such as current, voltage, number of passes, speed, etc.) from the underlying database.

[0030] Displacement angle and adaptive program generation: Calculate the angle between the normal vector of the sub-plate and the reinforcing plate surface and the standard coordinate system, and deduce the target physical angle that the first rotating seat 504 and the second rotating seat 507 of the displacement component need to rotate during spot welding and full welding. Finally, directly compile and generate the robot's handling trajectory program and adaptive full welding program to achieve complete manual teaching-free operation.

[0031] Step S2: Automatic feeding and flexible positioning.

[0032] Specifically, based on the workpiece-free interference coordinates and base plate dimension data parsed in step S1, a physical linkage command is issued: First, the servo motors in the slide grooves 410 of the first positioning platform 408 and the second positioning platform 409 of the secondary positioning platform 400 are started, driving the positioning pins 411 on them to slide in the width direction, precisely aligning with the spacing of the four mounting holes on the current specification base plate.

[0033] The dispatching robot handling system 200 moves above the material box 100, and its end vision system quickly scans the material box to correct the positional deviation. Then, the magnetic assembly of the composite handling fixture 202 is powered on and activated to safely attract the main material.

[0034] The transport robot moves the main pipe to the secondary positioning platform 400, so that the mounting holes of the base plate are vertically inserted into the positioning pins 411, completing the initial planar positioning. The electro-permanent magnet 412 in the first positioning stage 408 is then energized and magnetized, firmly adsorbing the main pipe onto the steel surface to form a rigid constraint.

[0035] Step S3: Visual recognition and spot welding of accessories.

[0036] Specifically, based on the automatically generated 3D models of the sub-plate and reinforcing plate and the material storage layout information, the system drives the robot handling system 200 to move again above the corresponding incoming material kit. The vision system adaptively identifies the center pose of the sub-plate and reinforcing plate and uses a composite gripper to grasp them. At this time, the lifting drive device 405, translation guide rail 403, and flip drive motor of the secondary positioning platform 400 work together to flip the first positioning stage 408 and the base plate workpiece at a specific angle in space, precisely moving them to the spatial position matching the parts to be assembled. The robot handling system 200 precisely attaches the grasped sub-plate to the corresponding design spatial coordinates of the base plate and maintains the gripping posture. The system sends a start command to the robot welding system 500 on one side. The welding robot 501, carrying a welding torch, moves to the edge of the mating surface and performs rapid assembly spot welding to initially fix the sub-plate and reinforcing plate. After spot welding is completed, the handling robot releases the gripper and exits.

[0037] Step S4: Laser positioning and full welding.

[0038] Specifically, after all attachments are assembled and spot-welded, the system controls the rotary seat 401 of the secondary positioning platform 400 to start, causing the workpiece to rotate horizontally and push it towards the adjacent displacement component's working area. The displacement component of the robotic welding system 500 starts, and the first and second rotary seats 507 rotate in tandem, adjusting the clamped tower leg assembly to a standard boat-shaped welding posture. The welding robot 501 starts, first driving the laser positioning component at the end to perform a rapid line scan along the automatically generated weld seam trajectory, dynamically capturing minor weld seam misalignments caused by spot welding thermal deformation. The system integrates the laser-corrected real trajectory into the full welding program, calls the matching process parameters, and controls the welding torch to perform continuous and stable adaptive full welding operations.

[0039] Step S5: Automatic feeding.

[0040] Specifically, once the system confirms that all accessories have been fully welded, the control displacement component resets, and the welding fixture 503 automatically releases. The scheduling robot handling system 200 moves above the workpiece, and the mechanical clamping component of the composite handling fixture 202 activates, rigidly clamping the hot finished tower foot workpiece from the outer wall. The electro-permanent magnet 412 of the first positioning stage 408 of the secondary positioning platform 400 performs a demagnetization operation, and the positioning pin 411 releases its constraint under servo drive. The robot handling system 200 smoothly transfers the entire finished product into the finished product frame 600, completing the entire unmanned flexible intelligent welding cycle of the workstation.

[0041] In addition to the above embodiments, the present invention may have other implementation methods; all technical solutions formed by equivalent substitution or equivalent transformation fall within the protection scope claimed by the present invention.

Claims

1. A flexible intelligent welding system for tower leg assemblies, characterized in that: include: The raw material frame (100) is used to classify and store the raw material workpieces to be welded; A robotic handling system (200) is disposed on one side of the material frame (100) for gripping and transferring workpieces; Base (300); A secondary positioning platform (400) is installed on the base (300) and is used to receive the raw material workpieces placed by the robot handling system (200) and to perform spatial positioning and assembly of the raw material workpieces. A robotic welding system (500) is mounted on the base (300) and located on one side of the secondary positioning platform (400) for welding assembled workpieces; Finished product frame (600) is used to store welded finished workpieces; The teach-free welding control system (700) is communicatively connected to the robot handling system (200), the secondary positioning platform (400), and the robot welding system (500), respectively, and is used to analyze the three-dimensional model of the tower foot components and control the collaborative work of each system.

2. The flexible intelligent welding system for tower leg assembly according to claim 1, characterized in that: Both the raw material frame (100) and the finished product frame (600) include support legs with leveling function and a material feeding bracket fixed above the support legs.

3. The flexible intelligent welding system for tower leg assembly according to claim 1, characterized in that: The robot handling system (200) includes a robot component (201) and a handling fixture (202) installed at the end of the robot component (201). The handling fixture (202) integrates a magnet component for handling raw material workpieces, a clamping component for handling finished products, and a vision system for identifying the gripping position.

4. The flexible intelligent welding system for tower leg assembly according to claim 1, characterized in that: The secondary positioning platform (400) includes a rotary seat (401), a rotary platform (402) drivenly connected to the rotary seat (401), and a first positioning component and a second positioning component disposed on the rotary platform (402); The upper end of the rotary platform (402) is fixedly provided with a translation guide rail (403) extending along its length direction. A sliding seat (404) is slidably provided on the translation guide rail (403). The first positioning component includes a lifting drive device (405) fixedly provided on the sliding seat (404), a lifting seat (406) drivenly connected to the lifting drive device (405), a tilting seat (407) rotatably mounted on the lifting seat (406), a first positioning platform (408) fixedly mounted on the tilting seat (407), and a tilting drive motor for driving the tilting seat (407) to tilt. The tilting axis of the tilting seat (407) is perpendicular to the extension direction of the translation guide rail (403). The second positioning component includes a second positioning stage (409) fixedly mounted on the rotary platform (402) and located at one end of the translation guide rail (403).

5. The flexible intelligent welding system for tower leg assembly according to claim 4, characterized in that: Both the first positioning table (408) and the second positioning table (409) are provided with a sliding groove (410) extending along the width direction of the positioning table. A positioning pin (411) for positioning the positioning hole on the workpiece is slidably disposed in the sliding groove (410), and the positioning pin (411) is driven by a servo motor.

6. The flexible intelligent welding system for tower leg assembly according to claim 4, characterized in that: A plurality of electro-permanent magnets (412) for adsorbing workpieces are fixedly installed on the first positioning stage (408).

7. The flexible intelligent welding system for tower leg assembly according to claim 1, characterized in that: The robotic welding system (500) includes a welding robot (501), a welding assembly (502) mounted on the welding robot (501), a welding fixture (503) for holding the workpiece, and a laser positioning assembly for weld seam positioning.

8. The flexible intelligent welding system for tower leg assembly according to claim 7, characterized in that: The robotic welding system (500) further includes a displacement assembly for adjusting the position and orientation of the welding fixture (503). The displacement assembly includes a first rotary seat (504), an L-shaped mounting plate fixedly mounted on the first rotary seat (504), and a second rotary seat (507) fixedly mounted on the L-shaped mounting plate. The L-shaped mounting plate includes a first plate (505) and a second plate (506) that are perpendicular to each other. The first plate (505) is fixedly mounted on the first rotating seat (504), and the second rotating seat (507) is fixedly mounted on the second plate (506). The rotation axes of the first rotating seat (504) and the second rotating seat (507) are perpendicular to each other. The welding fixture (503) is fixedly mounted on the second rotating seat (507).

9. The flexible intelligent welding system for tower leg assembly according to claim 1, characterized in that: The robotic welding system (500) is provided in two sets, and the two sets of robotic welding systems (500) are located on opposite sides of the secondary positioning platform (400).

10. A flexible intelligent welding method for tower leg assemblies, applied to the flexible intelligent welding system for tower leg assemblies as described in any one of claims 1-9, characterized in that: Includes the following steps: S1. 3D Model Analysis without Teaching: Import the 3D model of the tower foot and analyze the solid features of the base plate, sub-plate, and reinforcing plate; calculate the minimum distance and parallel plane distance between the sub-plate, reinforcing plate and base plate, and between the reinforcing plate and sub-plate to obtain the wall thickness and weld position; and calculate the rotation angle of the displacement component and match the welding process parameter library based on the normal vectors of the sub-plate and reinforcing plate. S2. Automatic feeding and flexible positioning: Based on the analyzed base plate size and hole position data, the robot handling system (200) is controlled to grab the base plate to the secondary positioning platform (400) and automatically adjust the positioning pin (411) to the appropriate position for hole positioning. S3, Visual recognition and assembly spot welding of sub-plate and reinforcing plate: Generate sub-plate and reinforcing plate models, and use the vision system to automatically identify and grab the sub-plate and reinforcing plate in the material warehouse. According to the spatial coordinate parameters of the attachment, place them in the corresponding positions of the base plate and sub-plate in sequence, and control the robot welding system (500) to perform assembly spot welding. S4, Laser Positioning Full Welding: Call the matching welding process parameter library to generate a full welding program, and control the welding robot (501) to complete the full welding operation of the weld seam through laser positioning; S5. Automatic unloading: After full welding is completed, the robot handling system (200) is controlled to transport the finished tower foot workpiece to the finished product frame (600).

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