Intelligent automatic assembly and welding integrated device

Abstract

The present application belongs to the technical field of assembly welding, and particularly relates to an intelligent automatic assembly welding integrated device, which comprises a welding piece conveying mechanism, an auxiliary mechanical arm, a welding mechanical arm, a mechanical arm control mechanism, a lateral clamping module and a positioning support module; a workpiece is conveyed by the welding piece conveying mechanism, the auxiliary mechanical arm clamps the workpiece from the welding piece conveying mechanism to the positioning support module, the workpiece is clamped by the positioning support module and the lateral clamping module, and then is assembled and welded by the welding mechanical arm; the present application is self-adaptive and flexible in design of a support head in the positioning support module: the support head is inflated through a connecting air pipe, and the shape profile of the bottom of the workpiece is adapted by expansion deformation of an elastic head or an elastic bag or sliding expansion of a support rod, so that the support head is fully in contact with the bottom of the workpiece, the support stability is ensured, the self-adaptive support of workpieces with different bottom shapes is realized, and the positioning precision and processing efficiency of the assembly welding are improved.

Description

Technical Field

[0001] This invention belongs to the field of assembly and welding technology, and particularly relates to an intelligent automatic assembly and welding integrated device. Background Technology

[0002] In the field of mechanical manufacturing, welding assembly is an important processing step that connects multiple workpieces into one through welding processes.

[0003] Traditional welding assembly is mostly done manually. Workers first move the workpiece to the welding station, manually adjust its position, clamp it in place, and then use a welding torch to perform the welding operation. This method has the following drawbacks: First, it is labor-intensive and has low production efficiency, making it difficult to meet the needs of mass production; second, manual positioning has limited accuracy, resulting in poor workpiece assembly consistency and affecting welding quality; and third, the arc light, fumes, and high temperatures generated during the welding process pose health hazards to workers.

[0004] With the development of automation technology, automated welding devices using conveyor lines and robotic arms have emerged. However, existing devices still have shortcomings in workpiece positioning and support: the support heads of existing positioning and support modules are mostly fixed rigid structures with a fixed top shape, which cannot adapt to the different shapes and contours of the workpiece bottom. When the workpiece bottom is curved, sloping, or irregularly shaped, the contact area between the support head and the workpiece bottom is small or even point contact, leading to unstable support. The workpiece is prone to displacement or vibration during welding, affecting welding accuracy and quality. In some schemes using flexible supports, the flexible elements are prone to expansion and deformation after inflation, weakening the vertical support force and further reducing support reliability. Therefore, it is necessary to develop an intelligent automated assembly and welding integrated device that can adapt to the shape of the workpiece bottom and provide stable and reliable support.

[0005] This invention designs an intelligent automatic assembly and welding integrated device to solve the above problems. Summary of the Invention

[0006] Therefore, it is necessary to provide an intelligent automatic assembly and welding integrated device to address the problems existing in current assembly and welding technologies, in order to solve the problems of the support head not being able to adapt to the bottom shape of the workpiece, unstable support, and low welding and assembly accuracy in the existing technology.

[0007] The above objectives are achieved through the following technical solutions: An intelligent automatic assembly and welding integrated device includes a workpiece conveying mechanism, an auxiliary robotic arm, a welding robotic arm, a robotic arm control mechanism, a lateral clamping module, and a positioning support module. The workpiece is conveyed to the welding station via the workpiece conveying mechanism. The auxiliary robotic arm clamps the workpiece from the workpiece conveying mechanism and transports it to the positioning support module. The positioning support module supports the workpiece from below, and the lateral clamping module clamps the workpiece from the side, achieving precise positioning and fixation of the workpiece. Then, the welding robotic arm performs assembly and welding operations on the workpiece. The positioning support module includes a mounting platform and multiple positioning support units mounted on the mounting platform. Each positioning support unit includes a fixed... The system comprises a fixed cylinder, a mounting sleeve, and a support head. The fixed cylinder is fixedly mounted on a mounting platform. The mounting sleeve is slidably fitted inside the fixed cylinder and can slide along the axial direction of the fixed cylinder. The support head is mounted on the upper end of the mounting sleeve and is connected to an air source via a connecting air pipe. The support head is an adaptive flexible support head with an air cavity formed inside. The connecting air pipe communicates with the air cavity. By inflating the air cavity through the connecting air pipe, the upper support portion of the support head undergoes adaptive deformation or extension / retraction to adapt to the shape and contour of the workpiece bottom and to fully contact the bottom of the workpiece. The support head is provided with a limiting structure to restrict the deformation of the upper support portion in all directions.

[0008] In one embodiment, the support head includes a fixed sleeve, a bellows, and an elastic head. The fixed sleeve is installed on the upper end of the mounting sleeve, the bellows is positioned above the fixed sleeve, and the elastic head is positioned above the bellows and communicates with the bellows to form a sealed air chamber. The connecting air pipe communicates with the sealed air chamber. Air is injected into the elastic head through the connecting air pipe. After the elastic head contacts the bottom of the workpiece, it deforms to adapt to the shape and contour of the bottom of the workpiece. The bellows can extend and retract axially to limit radial expansion, preventing the elastic head from deforming in all directions and affecting the support effect. A sealing gasket is provided between the fixed sleeve and the mounting sleeve.

[0009] In one embodiment, the support head includes a fixed sleeve, an elastic bladder, and multiple limiting rods. The fixed sleeve is installed on the upper end of the mounting sleeve, and a first air cavity is formed inside the fixed sleeve. The elastic bladder is disposed in the first air cavity and communicates with a connecting air pipe. The top of the fixed sleeve is provided with multiple first mounting grooves, and the multiple limiting rods are slidably installed in the corresponding first mounting grooves. Air is inflated into the elastic bladder through the connecting air pipe. The expansion of the elastic bladder pushes each limiting rod to slide out along the first mounting groove. After the upper end of the limiting rod contacts the bottom of the workpiece, it adapts to the shape and contour of the bottom of the workpiece and performs differentiated expansion and contraction. The limiting rods can prevent the elastic bladder from deforming in all directions and affecting the support effect.

[0010] In one embodiment, the support head includes a fixed sleeve and multiple support rods. The fixed sleeve is installed on the upper end of the mounting sleeve, and a second air chamber is formed inside the fixed sleeve. The second air chamber is connected to a connecting air pipe, and multiple second mounting grooves are provided at the top of the second air chamber. The multiple support rods are slidably installed in the corresponding second mounting grooves. Air is injected into the second air chamber through the connecting air pipe, and the air pressure pushes each support rod to slide out along the second mounting groove. After the upper end of the support rod contacts the bottom of the workpiece, it adapts to the shape and contour of the bottom of the workpiece and performs differentiated extension and retraction.

[0011] In one embodiment, a mounting shell is fixedly mounted on the lower side of the mounting platform by four fixing rods. Four support legs are fixedly mounted at the four corners below the mounting shell, and an adjustable foot cup is installed at the bottom of each support leg. The positioning support unit also includes a guide sleeve, a servo motor, a lead screw, and a nut. The fixed cylinder is fixedly mounted on the mounting platform. The guide sleeve is slidably fitted inside the fixed cylinder. The mounting sleeve is fixedly mounted on the upper end of the guide sleeve by a connecting arc plate. The lead screw is mounted above the mounting shell by a fixed base. The nut is fixed inside the guide sleeve and threadedly engaged with the lead screw. The servo motor is fixedly mounted inside the mounting shell, and its output shaft is fixedly connected to the lower end of the lead screw, driving the lead screw to rotate and thus causing the guide sleeve, the mounting sleeve, and the support head to rise and fall along the fixed cylinder. The inner wall of the fixed cylinder is provided with a guide groove, and the outer wall of the guide sleeve is provided with a guide slider that mates with the guide groove. The side wall of the fixed cylinder is provided with a clearance groove for the connecting air pipe to pass through.

[0012] In one embodiment, four lateral clamping modules are evenly installed around the positioning support module. Each lateral clamping module includes three support legs, three adjustable feet, a linear slide rail, a sliding mounting base, and an adjustable clamping arm. The linear slide rail is mounted on the three support legs, and the adjustable feet are mounted on the bottom of the three support legs. A lead screw is rotatably mounted on the linear slide rail. The sliding mounting base is slidably mounted on the linear slide rail via four support sliders, and a nut that mates with the lead screw is provided at the bottom of the sliding mounting base via a mounting component. The adjustable clamping arm is mounted on the sliding mounting base. A motor support is provided on the three support legs, and a servo motor is mounted on the motor support. The output shaft of the servo motor is connected to the lead screw via a transmission gear. The servo motor drives the lead screw to rotate via the transmission gear, and the rotation of the lead screw drives the sliding mounting base to slide along the linear slide rail.

[0013] The adjustable clamping arm includes a clamping arm unit and a clamping head. The clamping arm unit includes a fixed arm, a swing arm, and a connecting plate. A circular shell is fixedly mounted on the upper end of the connecting plate. The fixed arm is mounted on the circular shell via flange one and flange two. A rotating shaft is fixedly mounted on flange two, with one end of the rotating shaft inserted into the circular shell. The circular shell contains a rotating plate and a dividing plate. The rotating plate is fixedly connected to the rotating shaft. The dividing plate divides the interior of the circular shell into two air chambers. Two air pipe connectors are fixedly mounted on the outer side of the circular shell, communicating with the two air chambers. By inflating different air chambers, the rotating plate drives the rotating shaft to rotate in either the forward or reverse direction. The circular shell contains two limiting blocks that restrict the rotation angle of the rotating plate. A circular shell is located at the upper end of the fixed arm. A rotating shaft is fixedly installed at one end of the swing arm. The swing arm is swung on the fixed arm via the rotating shaft, and the rotating shaft passes through the circular shell. The circular shell contains a rotating plate and a dividing plate. The rotating plate is fixedly connected to the rotating shaft. The dividing plate divides the interior of the circular shell into two air chambers. Two air pipe connectors are fixedly installed on the outside of the circular shell. The two air pipe connectors communicate with the two air chambers inside the circular shell. By inflating different air chambers, the rotating plate is driven to rotate the swing arm in the forward or reverse direction. The circular shell contains two limiting blocks that restrict the rotation angle of the rotating plate. The adjustable clamping arm is composed of multiple clamping arm units connected end to end. The clamping head is installed on the swing arm at the end. The connecting plate of the starting clamping arm unit is fixedly installed on the sliding mounting base. The swing arm and connecting plate of the adjacent clamping arm units are connected.

[0014] In one embodiment, the robotic arm control mechanism includes two legs, two adjustable feet, a U-shaped slide rail, a U-shaped fixing plate, a first sprocket, a first chain, a first servo motor, a second servo motor, a second sprocket, a second chain, a first sliding mounting assembly, and a second sliding mounting assembly. The U-shaped fixing plate and the U-shaped slide rail are mounted internally and externally on the second leg, and the second adjustable feet are mounted on the bottom of the second leg. The first sliding mounting assembly and the second sliding mounting assembly are slidably mounted on the U-shaped slide rail. The auxiliary robotic arm is mounted on the first sliding mounting assembly, and the welding robotic arm is mounted on the second sliding mounting assembly. Four first rotating shafts are rotatably mounted on the four corners of the upper end of the U-shaped fixing plate, and four second rotating shafts are rotatably mounted on the four corners of the lower end. Four first sprockets are mounted on the four first rotating shafts, and four second sprockets are mounted on the four second rotating shafts. The four first sprockets are connected by a first chain, and the four second sprockets are connected by a second chain. The first servo motor and the second servo motor are fixedly mounted on the U-shaped fixing plate. The lower side of the servo motor is fixedly connected to one of the four second rotating shafts, and the output shaft of the servo motor is fixedly connected to one of the four first rotating shafts. The two sides of the U-shaped slide rail are provided with V-grooves. The sliding mounting assembly one includes a connector one, a mounting plate one, a fixing plate one, and a V-shaped pulley one. The connector one is fixedly installed on one side of the mounting plate one. Two fixing plates one are symmetrically fixedly installed on the lower end of the mounting plate one. Two V-shaped pulleys one are installed on the two fixing plates one through two third rotating shafts and cooperate with the V-grooves. The connector one is connected to the chain one. The sliding mounting assembly two includes a connector two, a mounting plate two, a fixing plate two, and a V-shaped pulley two. The connector two is fixedly installed on one side of the mounting plate two through a transition plate. Two fixing plates two are symmetrically fixedly installed on the lower end of the mounting plate two. Two V-shaped pulleys two are installed on the two fixing plates two through two fourth rotating shafts and cooperate with the V-grooves. The connector two is connected to the chain two.

[0015] In one embodiment, the welding component conveying mechanism includes a support leg, an adjustable foot cup, a bracket, a conveyor belt, a geared motor, a sprocket and chain assembly, an auxiliary roller, a main roller, and a support roller. The bracket is mounted on the support leg, and the bottom of the support leg is provided with an adjustable foot cup. The main roller and the auxiliary roller are respectively mounted at both ends of the bracket. The support roller is mounted in the middle of the bracket to support the conveyor belt. The conveyor belt is sleeved on the main roller and the auxiliary roller. The geared motor is mounted on one side of the bracket. The geared motor drives the main roller to rotate through the sprocket and chain assembly, and the main roller drives the conveyor belt to rotate through friction.

[0016] Compared with the prior art, the advantages of the present invention are as follows: 1. The support head in this invention adopts an adaptive flexible design. By inflating the elastic head or elastic bladder to expand and deform, or by sliding and extending the limiting rod or support rod, it can automatically adapt to the shape and contour of the bottom of different workpieces (including flat surfaces, curved surfaces, inclined surfaces and irregular surfaces), ensuring that the support head is in full contact with the bottom of the workpiece, increasing the support area, improving support stability and positioning accuracy, and effectively preventing the workpiece from shifting or vibrating during the welding process.

[0017] 2. In the first type of support head, a bellows is set as a limiting structure. The bellows is axially expandable and radially rigid, which can effectively prevent the elastic head from expanding and deforming in all directions when it is inflated, ensuring that the inflation pressure is mainly converted into the vertical supporting force of the elastic head, thus guaranteeing the supporting effect. In the second type of support head, multiple limiting rods constrain the radial deformation of the elastic bladder. At the same time, the limiting rods themselves can be differentially expanded and contracted to adapt to the contour of the workpiece, thus having both limiting and self-adaptive support functions.

[0018] 3. The three support head structures in this invention can be flexibly selected according to the workpiece type and welding process requirements: the first type, the elastic head integral deformation type, is suitable for workpieces with continuously changing surfaces; the second type, the elastic bladder driven multi-limit rod type, is suitable for workpieces with large differences in bottom contours; the third type, the air pressure direct drive limit rod type, has a simple structure, rapid response, is suitable for mass standardized production, and has strong versatility.

[0019] 4. The machine integrates welding part conveying, robotic arm handling, positioning support, lateral clamping and welding operations into one unit, realizing the automation and intelligence of the entire assembly and welding process, greatly reducing the labor intensity of workers, improving production efficiency and welding quality consistency, and improving the working environment. Attached Figure Description

[0020] Figure 1 This is a schematic diagram of the overall component distribution.

[0021] Figure 2 This is a schematic diagram of the appearance of the welding part conveying mechanism.

[0022] Figure 3 This is a schematic diagram showing the distribution of auxiliary rollers, main rollers, and idler rollers.

[0023] Figure 4 This is a schematic diagram showing the distribution of the robotic arm control mechanism, lateral clamping module, and positioning support module.

[0024] Figure 5 This is a schematic diagram of the planar layout of the robotic arm control mechanism, lateral clamping module, and positioning support module.

[0025] Figure 6 This is a schematic diagram of the installation of the auxiliary robotic arm and the welding robotic arm.

[0026] Figure 7This is a schematic diagram of the installation of sprocket one, chain one, and sliding mounting component two.

[0027] Figure 8 This is a schematic diagram of the installation of sprocket two, chain two, and sliding mounting assembly one.

[0028] Figure 9 This is a schematic diagram of the drive mechanism using sprocket one and chain one.

[0029] Figure 10 This is an installation diagram of sliding installation component one and sliding installation component two.

[0030] Figure 11 This is a schematic diagram showing the combination of sliding mounting component one, sliding mounting component two, and the U-shaped slide rail.

[0031] Figure 12 This is a schematic diagram of the sliding installation component two.

[0032] Figure 13 This is a structural diagram of a sliding installation component.

[0033] Figure 14 This is a schematic diagram showing the distribution of the lateral clamping module and the positioning support module.

[0034] Figure 15 This is a schematic diagram of the planar layout of the lateral clamping module and the positioning support module.

[0035] Figure 16 This is a schematic diagram of the appearance of the side clamping module.

[0036] Figure 17 This is a schematic diagram of the adjustable clamping arm installation.

[0037] Figure 18 This is a schematic diagram of the sliding mounting bracket installation.

[0038] Figure 19 This is a schematic diagram of the fit between lead screw 1 and nut 1.

[0039] Figure 20 This is a schematic diagram of the adjustable clamping arm.

[0040] Figure 21 This is a schematic diagram of the installation of rotating plate 1, rotating shaft 1, and dividing plate 1.

[0041] Figure 22 This is a schematic diagram of the installation of a circular shell.

[0042] Figure 23 This is a schematic diagram of the installation of rotating plate two, rotating shaft two, and dividing plate two.

[0043] Figure 24 This is a schematic diagram showing the connection between the fixed arm and the swing arm.

[0044] Figure 25 This is a schematic diagram of the positioning support module.

[0045] Figure 26 This is a schematic diagram of the installation of four servo motors.

[0046] Figure 27 This is a schematic diagram of the installation of the positioning support unit.

[0047] Figure 28 This is a schematic diagram showing the positioning support unit and the mounting platform working together.

[0048] Figure 29 This is a schematic diagram of the positioning support unit and the mounting shell working together.

[0049] Figure 30 This is a schematic diagram of the positioning support unit structure.

[0050] Figure 31 This is a schematic diagram of a fixed cylinder structure.

[0051] Figure 32 This is a schematic diagram of the connection between the mounting sleeve and the guide sleeve.

[0052] Figure 33 This is a schematic diagram of the first type of support head structure.

[0053] Figure 34 This is a schematic diagram of the appearance of the second type of support head.

[0054] Figure 35 This is a schematic diagram of the second type of support head structure.

[0055] Figure 36 This is a schematic diagram of a fixed sleeve structure.

[0056] Figure 37 This is a schematic diagram of the appearance of the third type of support head.

[0057] Figure 38 This is a schematic diagram of the third type of support head structure.

[0058] Figure 39 This is a schematic diagram of a fixed three-piece set structure.

[0059] The labels in the diagram are as follows: 1. Welding component conveying mechanism; 2. Auxiliary robotic arm; 3. Welding robotic arm; 4. Robotic arm control mechanism; 5. Lateral clamping module; 6. Positioning support module. 101. Support leg 1; 102. Adjustable foot cup 1; 103. Support frame; 104. Conveyor belt; 105. Gear motor; 106. Sprocket and chain assembly; 107. Auxiliary roller; 108. Main roller; 109. Idler roller; 401. Support Leg Two; 402. Adjustable Foot Cup Two; 403. U-shaped Slide Rail; 404. U-shaped Fixing Plate; 405. Sliding Mounting Component Two; 406. Sliding Mounting Component One; 407. Sprocket One; 408. First Rotating Shaft; 409. Chain One; 410. Servo Motor One; 411. Servo Motor Two; 412. Sprocket Two; 413. Second Rotating Shaft; 414. Chain Two; 415. V-groove; 416. Connector One; 417. Mounting Plate One; 418. Fixing Plate One; 419. V-Pulley One; 420. Third Rotating Shaft; 421. Fourth Rotating Shaft; 422. V-Pulley Two; 423. Fixing Plate Two; 424. Connector Two; 425. Mounting Plate Two; 426. Transition Plate; 501. Support Leg 3; 502. Adjustable Foot Cup 3; 503. Linear Slide Rail; 504. Sliding Mount; 505. Adjustable Clamping Arm; 506. Motor Support; 507. Servo Motor 3; 508. Transmission Gear; 509. Lead Screw 1; 510. Support Slider; 511. Nut 1; 512. Mounting Component; 513. Clamping Head; 514. Clamping Arm Unit; 515. Fixed Arm; 516. 517. Flange 1; 518. Circular Shell 1; 519. Rotating Plate 1; 520. Rotating Shaft 1; 521. Dividing Plate 1; 522. Limiting Block 1; 523. Air Pipe Connector 1; 524. Connecting Plate; 525. Rotating Plate 2; 526. Rotating Shaft 2; 527. Dividing Plate 2; 528. Limiting Block 2; 529. Swing Arm; 530. Air Pipe Connector 2; 531. Circular Shell 2; 601. Four support legs; 602. Four adjustable feet; 603. Mounting housing; 604. Fixing rod; 605. Mounting platform; 606. Positioning support unit; 607. Support head; 608. Four servo motors; 611. Fixing cylinder; 612. Mounting sleeve; 613. Connecting air pipe; 614. Guide sleeve; 615. Two lead screws; 616. Fixed base; 617. Clearance groove; 619. Guide groove; 620. Guide slider; 621. Connecting arc plate; 623. Fixing sleeve one; 624. Bellows; 625. Elastic head; 626. Sealing gasket; 628. Elastic bladder; 629. Limiting rod; 630. Fixing sleeve two; 631. First mounting groove; 632. First air chamber; 633. Fixing sleeve three; 634. Support rod; 635. Second mounting groove; 636. Second air chamber; 637. Nut two. Detailed Implementation

[0060] To make the objectives, technical solutions, and advantages of this invention clearer, the invention will be further described in detail below through embodiments and in conjunction with the accompanying drawings. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.

[0061] The serial numbers assigned to components in this document, such as "first," "second," etc., are merely used to distinguish the described objects and have no sequential or technical meaning. The terms "connection" and "linkage" used in this application, unless otherwise specified, include both direct and indirect connections (linkages). In the description of this invention, it should be understood that the terms "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," and "counterclockwise," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are used only for the convenience of describing the invention and for 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. Therefore, they should not be construed as limitations on the invention.

[0062] In this invention, unless otherwise explicitly 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," "over," and "on top" of 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.

[0063] like Figure 1-39 As shown, an intelligent automatic assembly and welding integrated device, such as Figure 1 , 4 As shown in Figure 5, it comprises six functional modules: a workpiece conveying mechanism 1, an auxiliary robotic arm 2, a welding robotic arm 3, a robotic arm control mechanism 4, a lateral clamping module 5, and a positioning support module 6. The workpiece conveying mechanism 1 is located on one side of the device and is used to convey the workpiece to be welded to the vicinity of the welding station. The robotic arm control mechanism 4 spans above the positioning support module 6 and the lateral clamping module 5, and the auxiliary robotic arm 2 and the welding robotic arm 3 are mounted on the robotic arm control mechanism 4 and can slide along it. The positioning support module 6 is located below the welding station and is used to support the workpiece from the bottom. The lateral clamping module 5 is located to the side of the positioning support module 6 and is used to clamp and fix the workpiece from the side. Figure 25 , 26 As shown, the positioning support module 6 includes a mounting platform 605 and a plurality of positioning support units 606 disposed on the mounting platform 605, such as... Figure 30As shown, each positioning support unit 606 includes a fixed cylinder 611, a mounting sleeve 612, and a support head 607. The fixed cylinder 611 is fixedly mounted on the mounting platform 605. The mounting sleeve 612 is slidably fitted inside the fixed cylinder 611 and can slide along the axial direction of the fixed cylinder 611. The support head 607 is mounted on the upper end of the mounting sleeve 612. The support head 607 is connected to an air source through a connecting air pipe 613. The support head 607 is an adaptive flexible support head 607. An air cavity is formed inside the support head 607. The connecting air pipe 613 communicates with the air cavity. By inflating the air cavity through the connecting air pipe 613, the upper support part of the support head 607 undergoes adaptive deformation or extension movement to adapt to the shape and contour of the bottom of the workpiece and fully contact the bottom of the workpiece.

[0064] The overall workflow of the device is as follows: The workpiece to be welded is first placed on the conveyor belt 104 of the welding conveyor mechanism 1. The conveyor belt 104 is driven by the geared motor 105 to transport the workpiece to the vicinity of the welding station. Then, the auxiliary robotic arm 2 moves to clamp the workpiece from the conveyor belt 104 and transport it above the positioning support module 6, placing it on the support head 607 of multiple positioning support units 606. The support head 607 is inflated through the connecting air pipe 613, and deforms or extends to adapt to the shape and contour of the bottom of the workpiece, making full contact with the bottom of the workpiece to achieve stable support. At the same time, the adjustable clamping arm 505 of the lateral clamping module 5 moves to clamp and fix the workpiece from the side. After the workpiece is positioned and clamped, the welding robotic arm 3 performs assembly welding operations on the workpiece according to the preset welding path. After welding is completed, the lateral clamping module 5 is released, and the auxiliary robotic arm 2 removes the welded workpiece from the positioning support module 6 and places it back on the welding conveyor mechanism 1 for output.

[0065] In one embodiment, the support head 607 adopts a first structural form, which is an elastic head 625 and a bellows 624 type structure, such as... Figure 33 As shown, the device includes a fixing sleeve 623, a bellows 624, and an elastic head 625. The fixing sleeve 623 is installed on the upper end of the mounting slide sleeve 612. The bellows 624 is positioned above the fixing sleeve 623. The elastic head 625 is positioned above the bellows 624 and communicates with the bellows 624 to form a sealed air chamber. The elastic head 625 is a cap-shaped structure made of elastic material such as rubber or silicone. The connecting air pipe 613 communicates with the sealed air chamber. The internal cavities of the elastic head 625, the bellows 624, and the fixing sleeve 623 are interconnected to form a sealed air chamber. A sealing gasket 626 is provided between the fixing sleeve 623 and the mounting slide sleeve 612 to ensure airtightness.

[0066] The working principle of the first type of support head 607 is as follows: When the workpiece is placed above the support head 607, air is injected into the sealed air chamber through the connecting air pipe 613. The air pressure causes the elastic head 625 to expand and bulge upward. After the upper surface of the elastic head 625 contacts the bottom of the workpiece, as the air pressure increases, the elastic head 625 undergoes adaptive deformation according to the shape and contour of the bottom of the workpiece. The bulging part of the bottom of the workpiece presses the elastic head 625 to make it locally concave, and the concave part of the bottom of the workpiece corresponds to the locally bulging part of the elastic head 625, so that the upper surface of the elastic head 625 completely fits the shape and contour of the bottom of the workpiece, ensuring that the support head 607 is in full contact with the bottom of the workpiece and increasing the support area. In this process, the bellows 624 plays a crucial role: The bellows 624 is axially (vertically) expandable, allowing it to elongate axially as the elastic head 625 expands; however, the bellows 624 also possesses high rigidity radially (horizontally), effectively limiting the outward (radial) expansion and deformation of the elastic head 625. This prevents the elastic head 625 from weakening its vertical support force due to outward deformation during inflation, ensuring that the inflation pressure is primarily converted into the vertical support force of the elastic head 625 on the bottom of the workpiece, thus guaranteeing support effectiveness and stability. After welding, air is released through the connecting air pipe 613, causing the elastic head 625 to contract and return to its original position under its own elasticity, and the bellows 624 also contracts accordingly.

[0067] In one embodiment, the support head 607 adopts a second structural form, which is an elastic bladder 628 and a limiting rod 629 type structure, such as... Figure 34 , 35 As shown in Figure 36, the device includes a second fixing sleeve 630, an elastic bladder 628, and multiple limiting rods 629. The second fixing sleeve 630 is installed on the upper end of the mounting slide sleeve 612. A first air chamber 632 is formed inside the second fixing sleeve 630. The elastic bladder 628 is a bladder-shaped structure made of rubber or elastic material. The elastic bladder 628 is disposed in the first air chamber 632 and communicates with the connecting air pipe 613. The top of the second fixing sleeve 630 is provided with multiple first mounting grooves 631. The multiple limiting rods 629 are slidably installed in the corresponding first mounting grooves 631.

[0068] The working principle of the second type of support head 607 is as follows: When the workpiece is placed above the support head 607, air is injected into the elastic bladder 628 through the connecting air pipe 613. The elastic bladder 628 expands upward, and at the same time, the gas pushes each limiting rod 629 to slide upward along the first mounting groove 631. After the upper end of each limiting rod 629 contacts the bottom of the workpiece, due to the different heights of different positions on the bottom of the workpiece, the convex parts of the bottom of the workpiece exert greater downward pressure on the corresponding limiting rod 629, preventing the limiting rod 629 from continuing to extend upward or even causing it to retract downward; while the limiting rod 629 corresponding to the concave parts of the bottom of the workpiece experiences less pressure and can continue to extend upward until it contacts the bottom of the workpiece. In this way, multiple limiting rods 629 extend and retract differently according to the shape and contour of the bottom of the workpiece, and the upper end of each limiting rod 629 contacts the corresponding position on the bottom of the workpiece, thereby forming a support surface that matches the shape and contour of the bottom of the workpiece, ensuring that the support head 607 is in full contact with the bottom of the workpiece. During this process, the multiple limiting rods 629 serve two purposes: firstly, as adaptive support actuators, they adapt to the bottom contour of the workpiece through differentiated expansion and contraction; secondly, as limiting structures, the limiting rods 629, installed in the first mounting groove 631, can only slide vertically, and their sidewalls constrain the radial expansion of the elastic bladder 628, preventing the elastic bladder 628 from deforming in all directions and affecting the vertical support effect. After welding is completed, exhaust is achieved through the connecting air pipe 613, the elastic bladder 628 contracts, and the limiting rods 629 slide downwards to reset under the weight of the workpiece or their own weight.

[0069] In one embodiment, the support head 607 adopts a third structural form, which is a pneumatic direct-drive support rod 634 type structure, such as... Figure 37 , 38 As shown in Figure 39, the device includes a fixed sleeve 633 and multiple support rods 634. The fixed sleeve 633 is installed on the upper end of the mounting slide sleeve 612. A second air chamber 636 is formed inside the fixed sleeve 633. The second air chamber 636 is connected to the connecting air pipe 613. The top of the second air chamber 636 is provided with multiple second mounting grooves 635. The multiple support rods 634 are slidably installed in the corresponding second mounting grooves 635. Air is injected into the second air chamber 636 through the connecting air pipe 613. The air pressure pushes each support rod 634 to slide out along the second mounting groove 635. After the upper end of the support rod 634 contacts the bottom of the workpiece, it adapts to the shape and contour of the bottom of the workpiece and performs differentiated extension and contraction.

[0070] The working principle of the third type of support head 607 is as follows: When the workpiece is placed above the support head 607, air is injected into the second air chamber 636 through the connecting air pipe 613. The air pressure in the second air chamber 636 increases, and the air pressure acts directly on the end face of the lower end of each support rod 634, pushing each support rod 634 to slide upward along the second mounting groove 635. After the upper end of each support rod 634 contacts the bottom of the workpiece, similar to the second type of support head 607, due to the different heights of different positions on the bottom of the workpiece, each support rod 634 extends and retracts differently according to the shape and contour of the bottom of the workpiece. The support rod 634 corresponding to the protruding part of the bottom of the workpiece extends less, and the support rod 634 corresponding to the concave part of the bottom of the workpiece extends more, so that the upper end of each support rod 634 contacts the corresponding position on the bottom of the workpiece, forming a support surface that matches the shape and contour of the bottom of the workpiece, ensuring that the support head 607 is in full contact with the bottom of the workpiece. The difference between the third type of support head 607 and the second type of support head 607 is that the second type of support head 607 indirectly pushes the limiting rod 629 through the expansion of the elastic bladder 628, while the third type of support head 607 directly pushes the support rod 634 through air pressure. This results in a simpler structure, faster response, and the extension force of each support rod 634 is uniformly determined by the air pressure, ensuring consistent support force. After welding, exhaust is achieved through the connecting air pipe 613, reducing the air pressure in the second air chamber 636. The support rod 634 then slides downwards and resets under the weight of the workpiece or its own weight.

[0071] The support head 607 of the present invention provides three structural forms, which can be selected according to the type of workpiece and usage requirements.

[0072] The positioning support module 6 is the core module of this invention, such as... Figure 25 , 26 As shown in Figure 27, the system includes four support legs 601, four adjustable feet 602, a mounting shell 603, fixing rods 604, a mounting platform 605, and multiple positioning support units 606. The mounting shell 603 is a rectangular shell, installed on top of the four support legs 601, with adjustable feet 602 at the bottom of each support leg 601. The mounting platform 605 is a rectangular plate, fixedly installed at the upper opening of the mounting shell 603 by multiple fixing rods 604. A receiving space is formed between the mounting platform 605 and the bottom plate of the mounting shell 603 for installing the support units. Figure 28 , 29 As shown in Figure 30, the positioning support unit 606 further includes a guide sleeve 614, a servo motor 608, a lead screw 615, and a nut 637, as follows: Figure 31As shown, the fixed cylinder 611 is a cylindrical body with a flange at its bottom. The fixed cylinder 611 is fixedly installed on the mounting platform 605. The guide sleeve 614 is slidably sleeved inside the fixed cylinder 611. The mounting sleeve 612 is fixedly installed on the upper end of the guide sleeve 614 through the connecting arc plate 621. The second lead screw 615 is installed above the mounting shell 603 through the fixed base 616. The second nut 637 is fixed inside the guide sleeve 614 and threadedly engaged with the second lead screw 615. The fourth servo motor 608 is fixedly installed inside the mounting shell 603, and its output shaft is fixedly connected to the lower end of the second lead screw 615, driving the second lead screw 615 to rotate so as to drive the guide sleeve 614, the mounting sleeve 612, and the support head 607 to rise and fall along the fixed cylinder 611. Figure 31 As shown, the inner wall of the fixed cylinder 611 is provided with a guide groove 619, such as... Figure 32 As shown, the outer wall of the guide sleeve 614 is provided with a guide slider 620 that cooperates with the guide groove 619; the guide slider 620 is embedded in the guide groove 619, so that the guide sleeve 614 can only slide along the axial direction of the fixed cylinder 611 and cannot rotate; the side wall of the fixed cylinder 611 is provided with a clearance groove 617 for the connecting air pipe 613 to pass through. In this invention, when the servo motor 608 drives the lead screw 615 to rotate, the lead screw 615 drives the connecting arc plate 621 and the mounting sleeve 612 to rise and fall along the axial direction of the fixed cylinder 611 through the nut 637, thereby driving the guide sleeve 614 and the support head 607 to rise and fall, realizing precise adjustment of the support height; the servo motors 608 of the multiple positioning support units 606 can be controlled independently, so that each support head 607 can be raised and lowered to different heights to adapt to the height differences of different positions at the bottom of the workpiece.

[0073] In one embodiment, such as Figure 14 , 15 As shown, four lateral clamping modules 5 are evenly installed around the circumference of the positioning support module 6; as Figure 16 As shown, the lateral clamping module 5 includes a third support leg 501, an adjustable foot cup 502, a linear slide rail 503, a sliding mounting base 504, and an adjustable clamping arm 505. The linear slide rail 503 is mounted on the third support leg 501, and the adjustable foot cup 502 is mounted on the bottom of the third support leg 501. Figure 18 , 19 As shown, a lead screw 509 is rotatably mounted on the linear slide rail 503; the sliding mounting base 504 is slidably mounted on the linear slide rail 503 via four support sliders 510, and the bottom of the sliding mounting base 504 is provided with a nut 511 that mates with the lead screw 509 via a mounting piece 512; Figure 17As shown, the adjustable clamping arm 505 is mounted on the sliding mounting base 504; the support leg 3 501 is provided with a motor support 506, and the servo motor 3 507 is mounted on the motor support 506. The output shaft of the servo motor 3 507 is connected to the lead screw 1 509 through a transmission gear 508. The servo motor 3 507 drives the lead screw 1 509 to rotate through the transmission gear 508. The rotation of the lead screw 1 509 drives the sliding mounting base 504 to slide along the linear slide rail 503. When the servo motor 3 507 is running, it drives the lead screw 1 509 to rotate through the transmission gear 508. The lead screw 1 509 drives the sliding mounting base 504 to slide along the linear slide rail 503 through the nut 1 511, thereby adjusting the horizontal position of the adjustable clamping arm 505 to adapt to the clamping requirements of workpieces of different sizes.

[0074] like Figure 20 As shown, the adjustable clamping arm 505 includes a clamping arm unit 514 and a clamping head 513, as... Figure 24 As shown, the clamping arm unit 514 includes a fixed arm 515, a swing arm 529, and a connecting plate 524, as follows: Figure 22 As shown, a circular shell 518 is fixedly installed on the upper end of the connecting plate 524, such as... Figure 21 , 22 As shown, the fixed arm 515 is mounted on the circular shell 518 via flange 516 and flange 517. A rotating shaft 520 is fixedly mounted on flange 517, with one end of the rotating shaft 520 penetrating into the circular shell 518. The circular shell 518 contains a rotating plate 519 and a dividing plate 521. The rotating plate 519 is fixedly connected to the rotating shaft 520. The dividing plate 521 divides the interior of the circular shell 518 into two air chambers. Two air pipe connectors 523 are fixedly mounted on the outside of the circular shell 518, communicating with the two air chambers. By inflating different air chambers, the rotating plate 519 is driven to rotate the rotating shaft 520 in either the forward or reverse direction. The circular shell 518 contains two limiting blocks 522 that restrict the rotation angle of the rotating plate 519. The upper end of the fixed arm 515 is provided with a circular shell 531, as shown... Figure 23 , 24As shown, a rotating shaft 526 is fixedly installed at one end of the swing arm 529. The swing arm 529 is oscillatingly mounted on the fixed arm 515 via the rotating shaft 526, and the rotating shaft 526 passes through the circular shell 531. The circular shell 531 is provided with a rotating plate 525 and a dividing plate 527. The rotating plate 525 is fixedly connected to the rotating shaft 526. The dividing plate 527 divides the interior of the circular shell 531 into two air chambers. Two air pipe connectors 530 are fixedly installed on the outside of the circular shell 531. The two air pipe connectors 530 communicate with the two air chambers inside the circular shell 531. The swing arm 529 is driven by inflating the different air chambers. The rotating plate 525 drives the swing arm 529 to rotate in the forward or reverse direction. The circular shell 531 is provided with two limiting blocks 528 that limit the rotation angle of the rotating plate 525. The adjustable clamping arm 505 is composed of multiple clamping arm units 514 connected end to end. The clamping head 513 is installed on the swing arm 529 at the end. The clamping head 513 is a block-shaped part made of rubber or polyurethane and is used to contact the side surface of the workpiece to increase friction and protect the workpiece surface. The connecting plate 524 of the starting clamping arm unit 514 is fixedly installed on the sliding mounting base 504. The swing arm 529 of the adjacent clamping arm unit 514 is connected to the connecting plate 524.

[0075] The working process of the adjustable clamping arm 505 is as follows: After the workpiece is placed on the positioning support module 6, the servo motor 3 507 first drives the sliding mounting base 504 to slide along the linear slide rail 503, so that the adjustable clamping arm 505 moves to a suitable position on the side of the workpiece; then, starting from the initial clamping arm unit 514, each clamping arm unit 514 is controlled in sequence to inflate the corresponding air chamber of the circular shell 518 through the air pipe connector 1 523, driving the rotating shaft 1 520 to rotate, thereby driving each swing arm 52 The 9th and fixed arms 515 are swung and adjusted sequentially towards the workpiece; then, air is injected into the corresponding air chamber of the circular shell 531 through the air pipe connector 530 of each clamping arm unit 514, driving each rotating shaft 526 to rotate, causing each swing arm 529 to swing relative to the corresponding fixed arm 515, adjusting the angle of the next level clamping arm unit 514 or the end clamping head 513 step by step; finally, the clamping head 513 installed on the end swing arm 529 is rotated to a position parallel to the side surface of the workpiece and clamps the workpiece. By connecting multiple clamping arm units 514 end to end to form a multi-stage rotary joint, each clamping arm unit 514 has two rotational degrees of freedom, rotating shaft 520 and rotating shaft 526. After multi-stage connection, the position and angle of the clamping head 513 can be adjusted in a larger spatial range, which can bypass obstacles or adapt to the side clamping requirements of complex shaped workpieces, significantly improving the flexibility and versatility of the adjustable clamping arm 505.

[0076] In one embodiment, such as Figure 6As shown, the robotic arm control mechanism 4 includes a second support leg 401, an adjustable foot cup 402, a U-shaped slide rail 403, a U-shaped fixing plate 404, a first sprocket 407, a first chain 409, a first servo motor 410, a second servo motor 411, a second sprocket 412, a second chain 414, a first sliding mounting assembly 406, and a second sliding mounting assembly 405. The U-shaped fixing plate 404 and the U-shaped slide rail 403 are mounted internally and externally on the second support leg 401, and the adjustable foot cup 402 is installed at the bottom of the second support leg 401. Figure 10 , 11 As shown, the sliding mounting assembly 406 and the sliding mounting assembly 405 are respectively slidably mounted on the U-shaped slide rail 403, and can slide independently along the length of the rail; as Figure 6 As shown, the auxiliary robotic arm 2 is mounted on the sliding mounting assembly 406, and the welding robotic arm 3 is mounted on the sliding mounting assembly 405; Figure 7 , 8 As shown, four first rotating shafts 408 are rotatably mounted on the four corners of the upper end of the U-shaped fixing plate 404, and four second rotating shafts 413 are rotatably mounted on the four corners of the lower end; four sprockets 407 are mounted on the four first rotating shafts 408, and four sprockets 412 are mounted on the four second rotating shafts 413. The four sprockets 407 are connected by chains 409, and the four sprockets 412 are connected by chains 414. Figure 7 , 8 As shown in Figure 9, servo motor 1 410 and servo motor 2 411 are fixedly mounted on the lower side of the U-shaped fixing plate 404, and the output shaft of servo motor 1 410 is fixedly connected to one of the four second rotating shafts 413, while the output shaft of servo motor 2 411 is fixedly connected to one of the four first rotating shafts 408; Figure 11 As shown, the U-shaped slide rail 403 has V-shaped grooves 415 on both sides of the track, such as... Figure 12 As shown, the sliding mounting assembly 406 includes a connector 416, a mounting plate 417, a fixing plate 418, and V-shaped pulleys 419. The connector 416 is fixedly mounted on one side of the mounting plate 417. Two fixing plates 418 are symmetrically fixedly mounted on the lower end of the mounting plate 417. Two V-shaped pulleys 419 are mounted on the two fixing plates 418 via two third rotating shafts 420 and cooperate with V-shaped grooves 415. The connector 416 is connected to a chain 409. Figure 13As shown, the sliding mounting assembly 405 includes a connector 424, a mounting plate 425, a fixing plate 423, and a V-shaped pulley 422. The connector 424 is fixedly mounted on one side of the mounting plate 425 via a transition plate 426. Two fixing plates 423 are symmetrically fixedly mounted on the lower end of the mounting plate 425. Two V-shaped pulleys 422 are mounted on the two fixing plates 423 via two fourth rotating shafts 421 and cooperate with the V-shaped groove 415. The connector 424 is connected to the chain 414. The mounting plate 425 is used to mount the welding robotic arm 3. The circumferential surfaces of the V-shaped pulleys 419 and 422 are provided with V-shaped protrusions that cooperate with the V-shaped groove 415. The V-shaped pulleys 419 and 422 are engaged in the V-shaped groove 415 of the track, so that the sliding mounting assembly 406 and the sliding mounting assembly 405 can slide smoothly along the track without disengaging.

[0077] In this invention, sliding mounting component 1 406 and sliding mounting component 2 405 are driven by independent drive mechanisms; the two drive mechanisms operate independently and can control the positions of the auxiliary robotic arm 2 and the welding robotic arm 3 respectively, so as to achieve coordinated operation of handling and welding.

[0078] In one embodiment, such as Figure 2 and Figure 3 As shown, the welding part conveying mechanism 1 includes support legs 101, adjustable feet 102, a bracket 103, a conveyor belt 104, a reduction motor 105, a sprocket and chain assembly 106, auxiliary rollers 107, a main roller 108, and idler rollers 109. The bracket 103 is a rectangular frame structure, installed on top of the four support legs 101. Each support leg 101 has an adjustable foot 102 at its bottom for adjusting the levelness and overall height of the bracket 103. The main roller 108 and auxiliary roller 107 are respectively installed at both ends of the bracket 103 along its length via bearing seats. The main roller 108 is the driving roller, and the auxiliary roller 107 is the driven roller. Multiple idler rollers 109 are installed at equal intervals along the length of the bracket 103 in the middle of the bracket 103. The top of the idler rollers 109 is flush with the top of the main roller 108 and the auxiliary roller 107, used to support the upper branch of the conveyor belt 104 from below, preventing the conveyor belt 104 from sagging due to the weight of the workpiece. The conveyor belt 104 is a ring-shaped conveyor belt, which is fitted onto the main roller 108 and the auxiliary roller 107. The idler roller 109 supports the conveyor belt 104 from the inside. The geared motor 105 is mounted on the support leg 101 on one side of the bracket 103. The output shaft of the geared motor 105 is connected to the rotating shaft of the main roller 108 through the sprocket and chain assembly 106. When the geared motor 105 is running, it drives the main roller 108 to rotate through the sprocket and chain assembly 106. The main roller 108 drives the conveyor belt 104 to rotate through friction, thereby realizing the conveying of the workpiece.

[0079] The technical features of the above embodiments can be combined in any way. For the sake of brevity, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0080] The embodiments described above are merely illustrative of several implementations of the present invention, and while the descriptions are specific and detailed, they should not be construed as limiting the scope of the invention. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of the present invention, and these modifications and improvements all fall within the scope of protection of the present invention. Therefore, the scope of protection of the present invention should be determined by the appended claims.

Claims

1. An intelligent automatic assembly and welding integrated device, comprising a workpiece conveying mechanism, an auxiliary robotic arm, a welding robotic arm, a robotic arm control mechanism, a lateral clamping module, and a positioning support module; the positioning support module includes a mounting platform and multiple positioning support units disposed on the mounting platform, each positioning support unit including a fixed cylinder, a mounting sleeve, and a support head, the fixed cylinder being fixedly mounted on the mounting platform, the mounting sleeve being slidably fitted inside the fixed cylinder and slidable along the axial direction of the fixed cylinder, the support head being mounted on the upper end of the mounting sleeve, and the support head being connected to a gas source via a connecting air pipe; characterized in that: The support head is an adaptive flexible support head, and an air cavity is formed inside the support head. The connecting air pipe is connected to the air cavity. By inflating the air cavity through the connecting air pipe, the upper support part of the support head will produce adaptive deformation or extension movement to adapt to the shape and contour of the bottom of the workpiece and fully contact the bottom of the workpiece.

2. The intelligent automatic assembly and welding integrated device according to claim 1, characterized in that: The support head includes a fixed sleeve, a bellows, and an elastic head. The fixed sleeve is installed on the upper end of the mounting sleeve. The bellows is positioned above the fixed sleeve. The elastic head is positioned above the bellows and communicates with the bellows to form a sealed air chamber. The connecting air pipe communicates with the sealed air chamber. Air is injected into the elastic head through the connecting air pipe. After the elastic head contacts the bottom of the workpiece, it deforms to adapt to the shape and contour of the bottom of the workpiece. A sealing gasket is provided between the fixed sleeve and the mounting sleeve.

3. The intelligent automatic assembly and welding integrated device according to claim 1, characterized in that: The support head includes a fixed sleeve, an elastic bladder, and multiple limiting rods. The fixed sleeve is installed on the upper end of the mounting sleeve, and a first air cavity is formed inside the fixed sleeve. The elastic bladder is disposed in the first air cavity and communicates with the connecting air pipe. The top of the fixed sleeve is provided with multiple first mounting grooves, and the multiple limiting rods are slidably installed in the corresponding first mounting grooves. Air is inflated into the elastic bladder through the connecting air pipe. The expansion of the elastic bladder pushes each limiting rod to slide out along the first mounting groove. After the upper end of the limiting rod contacts the bottom of the workpiece, it adapts to the shape and contour of the bottom of the workpiece and performs differentiated expansion and contraction. The limiting rods can prevent the elastic bladder from deforming in all directions and affecting the support effect.

4. The intelligent automatic assembly and welding integrated device according to claim 1, characterized in that: The support head includes a fixed sleeve and multiple support rods. The fixed sleeve is installed on the upper end of the mounting sleeve. A second air chamber is formed inside the fixed sleeve. The second air chamber is connected to a connecting air pipe. The top of the second air chamber is provided with multiple second mounting grooves. The multiple support rods are slidably installed in the corresponding second mounting grooves. Air is injected into the second air chamber through the connecting air pipe. The air pressure pushes each support rod to slide out along the second mounting groove. After the upper end of the support rod contacts the bottom of the workpiece, it adapts to the shape and contour of the bottom of the workpiece and performs differentiated extension and contraction.

5. The intelligent automatic assembly and welding integrated device according to claim 1, characterized in that: The mounting platform is fixedly mounted with a mounting shell by four fixing rods on its lower side. Four support legs are fixedly mounted at the four corners below the mounting shell. Each support leg has an adjustable foot cup at its bottom. The positioning support unit also includes a guide sleeve, a fourth servo motor, a second lead screw, and a second nut. The fixed cylinder is fixedly installed on the mounting platform. The guide sleeve is slidably fitted inside the fixed cylinder. The mounting sleeve is fixedly installed on the upper end of the guide sleeve through a connecting arc plate. The second lead screw is installed above the mounting shell through a fixed base. The second nut is fixed inside the guide sleeve and threadedly engaged with the second lead screw. The fourth servo motor is fixedly installed inside the mounting shell, and its output shaft is fixedly connected to the lower end of the second lead screw, driving the second lead screw to rotate so as to move the guide sleeve, the mounting sleeve, and the support head up and down along the fixed cylinder.

6. The intelligent automatic assembly and welding integrated device according to claim 5, characterized in that: The inner wall of the fixed cylinder is provided with a guide groove, and the outer wall of the guide sleeve is provided with a guide slider that cooperates with the guide groove; the side wall of the fixed cylinder is provided with a clearance groove for the connecting air pipe to pass through.

7. The intelligent automatic assembly and welding integrated device according to claim 1, characterized in that: The positioning support module has four lateral clamping modules evenly installed around its four sides. The lateral clamping module includes three support legs, three adjustable feet, a linear slide rail, a sliding mounting base, and an adjustable clamping arm. The linear slide rail is mounted on the three support legs, and the adjustable feet are mounted on the bottom of the three support legs. A lead screw is rotatably mounted on the linear slide rail. The sliding mounting base is slidably mounted on the linear slide rail via four support sliders, and a nut that mates with the lead screw is provided at the bottom of the sliding mounting base via a mounting component. The adjustable clamping arm is mounted on the sliding mounting base. A motor support is provided on the three support legs, and a servo motor is mounted on the motor support. The output shaft of the servo motor is connected to the lead screw via a transmission gear. The servo motor drives the lead screw to rotate via the transmission gear, and the rotation of the lead screw drives the sliding mounting base to slide along the linear slide rail.

8. The intelligent automatic assembly and welding integrated device according to claim 7, characterized in that: The adjustable clamping arm includes a clamping arm unit and a clamping head. The clamping arm unit includes a fixed arm, a swing arm, and a connecting plate. A circular shell is fixedly installed on the upper end of the connecting plate. The fixed arm is installed on the circular shell via a flange and a second flange. A rotating shaft is fixedly installed on the second flange. One end of the rotating shaft passes through the circular shell. A rotating plate and a dividing plate are provided inside the circular shell. The rotating plate is fixedly connected to the rotating shaft. The dividing plate divides the interior of the circular shell into two air chambers. Two air pipe connectors are fixedly installed on the outside of the circular shell. The two air pipe connectors communicate with the two air chambers. By inflating different air chambers, the rotating plate is driven to rotate the rotating shaft in the forward or reverse direction. Two limiting blocks are provided inside the circular shell to limit the rotation angle of the rotating plate. The upper end of the fixed arm is provided with a circular shell II. One end of the swing arm is fixedly installed with a rotating shaft II. The swing arm is swung on the fixed arm via the rotating shaft II, and the rotating shaft II passes through the circular shell II. The circular shell II is provided with a rotating plate II and a dividing plate II. The rotating plate II is fixedly connected to the rotating shaft II. The dividing plate II divides the interior of the circular shell II into two air chambers. Two air pipe connectors II are fixedly installed on the outside of the circular shell II. The two air pipe connectors II communicate with the two air chambers inside the circular shell II. By inflating different air chambers, the rotating plate II is driven to drive the swing arm to rotate forward or backward. The circular shell II is provided with two limiting blocks II that limit the rotation angle of the rotating plate II. The adjustable clamping arm is composed of multiple clamping arm units connected end to end in sequence, with the clamping head installed on the swing arm at the end; the connecting plate of the starting clamping arm unit is fixedly installed on the sliding mounting base, and the swing arm and connecting plate of the adjacent clamping arm unit are connected.

9. The intelligent automatic assembly and welding integrated device according to claim 1, characterized in that: The robotic arm control mechanism includes two support legs, two adjustable feet, a U-shaped slide rail, a U-shaped fixing plate, a sprocket, a chain, a servo motor, a servo motor, a sprocket, a chain, a sliding mounting assembly, and a sliding mounting assembly. The U-shaped fixing plate and the U-shaped slide rail are mounted internally and externally on the support legs, and the adjustable feet are mounted on the bottom of the support legs. The sliding mounting assembly and the sliding mounting assembly are slidably mounted on the U-shaped slide rail. The auxiliary robotic arm is mounted on the sliding mounting assembly, and the welding robotic arm is mounted on the sliding mounting assembly. Four first rotating shafts are rotatably mounted on the four corners of the upper end of the U-shaped fixing plate, and four second rotating shafts are rotatably mounted on the four corners of the lower end. Four sprockets are mounted on the four first rotating shafts, and four sprockets are mounted on the four second rotating shafts. The four sprockets are connected by a chain, and the four sprockets are connected by a chain. The servo motors are fixedly mounted on the lower side of the U-shaped fixing plate. The output shaft of servo motor one is fixedly connected to one of the four second rotating shafts, and the output shaft of servo motor two is fixedly connected to one of the four first rotating shafts. The U-shaped slide rail has V-grooves on both sides. The sliding mounting assembly one includes a connector one, a mounting plate one, a fixing plate one, and a V-shaped pulley one. Connector one is fixedly mounted on one side of mounting plate one. Two fixing plates one are symmetrically fixedly mounted on the lower end of mounting plate one. Two V-shaped pulleys one are mounted on two fixing plates one via two third rotating shafts and cooperate with the V-grooves. Connector one is connected to chain one. The sliding mounting assembly two includes a connector two, a mounting plate two, a fixing plate two, and V-shaped pulleys two. Connector two is fixedly mounted on one side of mounting plate two via a transition plate. Two fixing plates two are symmetrically fixedly mounted on the lower end of mounting plate two. Two V-shaped pulleys two are mounted on two fixing plates two via two fourth rotating shafts and cooperate with the V-grooves. Connector two is connected to chain two.

10. The intelligent automatic assembly and welding integrated device according to claim 1, characterized in that: The welding component conveying mechanism includes a support leg, an adjustable foot cup, a bracket, a conveyor belt, a geared motor, a sprocket and chain assembly, an auxiliary roller, a main roller, and a support roller. The bracket is mounted on the support leg, and the bottom of the support leg is provided with an adjustable foot cup. The main roller and the auxiliary roller are respectively mounted at both ends of the bracket. The support roller is mounted in the middle of the bracket to support the conveyor belt. The conveyor belt is sleeved on the main roller and the auxiliary roller. The geared motor is mounted on one side of the bracket. The geared motor drives the main roller to rotate through the sprocket and chain assembly, and the main roller drives the conveyor belt to rotate through friction.

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