A multi-welding workstation automatic feeding and discharging collaborative production system and a control method thereof

Abstract

This invention discloses an automated loading and unloading collaborative production system for multiple welding workstations and its control method, belonging to the field of industrial automation and intelligent welding technology. The system includes a handling robot, a moving mechanism, at least two welding workstations, a workpiece positioning system, and a control system. The moving mechanism drives the robot to move between workstations; each workstation includes a welding device and a displacement mechanism that can alternate between workstations; the workpiece positioning system acquires the workpiece pose and verifies it to generate correction information; the control system dynamically determines the target workstation based on the status of each workstation and uses welding or displacement time windows to schedule the robot to load and unload materials to other workstations or workstations, forming continuous cyclical production. This invention solves the problems of long equipment waiting time, discontinuous cycle time, low utilization rate, and difficulty in collaborative scheduling when a single robot serves multiple stations.

Description

Technical Field

[0001] This invention relates to the field of industrial automation and intelligent welding technology, and in particular to an automatic loading and unloading collaborative production system for multiple welding workstations and its control method. Background Technology

[0002] With the continuous improvement of industrial automation, robotic welding production lines are widely used in the manufacturing of automotive parts, construction machinery, rail transportation, and metal components. To improve welding efficiency, existing welding production lines typically use handling robots in conjunction with welding robots and dual-station positioning mechanisms to automatically load and unload workpieces and perform welding operations.

[0003] However, most existing automated welding production lines adopt a working mode of one handling robot corresponding to one welding workstation. When the welding device performs welding operations or the positioner performs workstation switching, the handling robot is usually in a waiting state, resulting in low equipment utilization. If one handling robot is used to serve multiple welding workstations, there is generally a lack of a unified scheduling mechanism for the operating status of multiple welding workstations. The handling robot cannot dynamically adjust the handling tasks according to the real-time status of each welding workstation, which can easily cause some welding workstations to wait for loading while others wait for unloading, resulting in discontinuous production rhythm and affecting production efficiency.

[0004] Furthermore, since workpieces are typically placed randomly, they are prone to positional deviations during gripping and handling. Without positional detection and correction measures, insufficient positioning accuracy during loading can easily occur, affecting the subsequent welding quality. Additionally, existing systems often require redesigning the control logic after adding welding workstations, resulting in poor system scalability and difficulty in meeting the demands of flexible and intelligent production.

[0005] Therefore, how to achieve dynamic collaborative scheduling among multiple welding workstations, make full use of the welding and repositioning time window, enable the handling robot to continuously perform loading and unloading tasks, improve equipment utilization and overall production efficiency, and at the same time take into account workpiece positioning accuracy and system scalability, has become a technical problem that urgently needs to be solved in this field. Summary of the Invention

[0006] The purpose of this invention is to solve the problems in the prior art, such as the difficulty of a single handling robot to efficiently serve multiple welding workstations, long equipment waiting time, discontinuous production cycle, low equipment utilization, and insufficient collaborative scheduling capability of multiple workstations. Therefore, this invention proposes an automatic loading and unloading collaborative production system for multiple welding workstations and its control method.

[0007] To achieve the above objectives, the present invention adopts the following technical solution: In the first aspect, this application discloses an automated loading and unloading collaborative production system for multiple welding workstations, including a handling robot, a moving mechanism, at least two welding workstations, a workpiece positioning system, and a control system. The moving mechanism is used to move the handling robot between at least two welding workstations; Each welding workstation includes a welding device and a positioning mechanism; the positioning mechanism has at least two welding stations and can drive at least two welding stations to alternate between the loading / unloading position and the welding position. The workpiece positioning system is used to acquire the pose information of the workpiece to be processed and to perform pose re-inspection on the workpiece after it has been grasped by the handling robot in order to generate pose correction information. The control system is connected to the handling robot, the moving mechanism, the welding device, the positioning mechanism, and the workpiece positioning system. It is configured to dynamically determine the target station of the handling robot based on the welding status, positioning status, and loading / unloading status of each welding station. It also uses the time window when any welding station performs a welding operation or when its positioning mechanism performs a positioning operation to schedule the handling robot to perform workpiece loading or unloading operations on another welding station or another welding workstation, thus forming a continuous and cyclical automatic loading / unloading production process.

[0008] In some embodiments, the moving mechanism is a linear moving mechanism, on which the handling robot is mounted and can move sequentially along multiple welding workstations to expand the working range of the handling robot.

[0009] In some embodiments, the positioning mechanism includes a rotary positioner with two welding stations. The included angle between the centers of the two welding stations is 180°, so that when one welding station is in the welding position, the other welding station is in the loading / unloading position, thereby enabling the welding operation and the loading / unloading operation to be carried out in parallel.

[0010] In some embodiments, the workpiece positioning system includes: The first vision detection unit is used to acquire the initial spatial pose of the workpiece to be processed and generate the grasping pose of the handling robot. The second vision detection unit is used to detect the actual pose of the workpiece during the handling process and compare it with the preset standard pose to obtain the pose deviation, which serves as pose correction information.

[0011] In some embodiments, the first visual detection unit is a 3D vision system used to identify the three-dimensional spatial pose of randomly stacked workpieces to be processed; the second visual detection unit is a 2D vision positioning system used to detect the deviation between the actual pose of the workpiece and the preset standard pose during the handling process.

[0012] In some embodiments, the control system is further configured to: after material loading is completed at any welding station, control the switching mechanism to switch the welding station that has completed material loading to the welding position, and control the welding device to start the welding operation.

[0013] In some embodiments, the control system is further configured to: utilize the time window formed by the displacement mechanism performing displacement operations and the welding device performing welding operations to control the handling robot to complete the loading or unloading of workpieces at other welding stations or welding workbenches, so that the handling robot can continuously perform handling tasks.

[0014] In some embodiments, the control system is further configured to: coordinate the timing of multiple welding workstations entering the welding state according to the working state of multiple welding workstations, so that the welding operation time of at least two welding workstations at least partially overlaps, forming a dual-station or multi-station synchronous welding cycle.

[0015] In some embodiments, the control system is further configured to: control the start of the next process by signal triggering based on the status signals fed back by the handling robot, the positioning mechanism and the welding device, so that the workpiece sequentially completes gripping, posture correction, loading, positioning, welding, unloading and reloading, and forms a closed-loop cycle control.

[0016] Secondly, this application also discloses a control method for an automated loading and unloading collaborative production system with multiple welding workstations, comprising the following steps: S1. Obtain the position and orientation information of the workpiece to be processed, and control the handling robot to complete the workpiece gripping; S2. Detect the workpiece pose after gripping and correct the pose based on the detection results; S3. The control system acquires the real-time working status of each welding station in multiple welding workstations and dynamically determines the target welding station based on the welding status, displacement status, loading and unloading status, and the current position of the handling robot. S4. Control the handling robot to transport the corrected workpiece to the target welding station to complete the loading; S5. Control the strain gauge mechanism to switch the welding station that has completed material loading to the welding position, and start the welding device to perform welding; S6. During welding or relocation at the target welding station, the control system reacquires the real-time status of other welding workstations and controls the handling robot to perform workpiece loading and / or unloading at another welding station or another welding workstation. S7. After welding is completed, control the position change mechanism to switch the welding station to the loading and unloading position, control the handling robot to unload the welded workpiece, and repeat steps S2 to S6 to enable the handling robot to continuously utilize the welding time window to complete the collaborative handling between multiple welding workstations and achieve continuous cycle production.

[0017] Compared with the prior art, the present invention provides an automated loading and unloading collaborative production system for multiple welding workstations and its control method, which has the following beneficial effects.

[0018] 1. The present invention provides an automatic loading and unloading collaborative production system and control method for multiple welding workstations. By setting up a handling robot, multiple welding workstations, a displacement mechanism and a control system, the control system acquires the welding status, displacement status and loading and unloading status of each welding workstation in real time, dynamically determines the target welding station and handling task of the handling robot, and enables the handling robot to perform collaborative scheduling according to the operating status of each workstation, so as to realize continuous automatic loading and unloading of multiple welding workstations and improve overall production efficiency. 2. The present invention provides an automatic loading and unloading collaborative production system and control method for multiple welding workstations. By utilizing the time window formed by the welding device performing welding operations and the position switching mechanism performing workstation switching, the system controls the handling robot to simultaneously complete the loading and unloading of workpieces at other welding workstations or welding stations, enabling the handling robot to continuously perform handling tasks, effectively reducing the robot's idle waiting time, and improving the utilization rate of the handling robot and welding equipment. 3. The present invention provides an automatic loading and unloading collaborative production system and control method for multiple welding workstations. By setting up a workpiece posture detection unit and a workpiece positioning correction unit, the workpiece posture before and after being grasped is detected and corrected, thereby improving the workpiece loading and positioning accuracy, ensuring the consistency of welding position and welding quality, and enhancing the system's adaptability to random placement and handling errors of workpieces. 4. The present invention provides an automatic loading and unloading collaborative production system and control method for multiple welding workstations. The system coordinates the welding cycle of multiple welding workstations through the control system, so that the welding time of multiple welding workstations overlaps at least partially. This further optimizes the running path and task allocation of the handling robot, reduces the waiting time of each workstation, and improves the cycle continuity and production capacity of the entire production line. 5. The present invention provides an automatic loading and unloading collaborative production system and control method for multiple welding workstations. By establishing a closed-loop control process of grasping, posture correction, loading, repositioning, welding, unloading and reloading, and supporting automatic path adjustment and task replanning after adding a welding workstation, the system has good flexible expansion capability and can adapt to the collaborative production needs of welding production lines of different scales. Attached Figure Description

[0019] Figure 1 This is a schematic diagram of the overall structure of the present invention.

[0020] Figure 2 This is a cross-sectional structural diagram of a welding workstation.

[0021] Figure 3 For the appendix Figure 1Enlarged view of point A in the middle.

[0022] Figure 4 For the appendix Figure 1 Enlarged view of section B in the middle.

[0023] Figure 5 For the appendix Figure 1 Enlarged view of point C.

[0024] Figure 6 For the appendix Figure 1 Enlarged view of point D in the middle.

[0025] Figure 7 For the appendix Figure 2 Enlarged view of point E in the middle.

[0026] Figure 8 For the appendix Figure 2 Enlarged view of point F in the middle.

[0027] In the picture: 1-Welding workstation, 101-Positioning mechanism, 102-Welding station, 103-Baffle, 104-Rotary positioner, 201-Moving mechanism, 202-Transporting robot, 3-Mounting frame, 301-First vision inspection unit, 302-Second vision inspection unit, 4-Material basket, 5-Control system, 6-Workpiece. Detailed Implementation

[0028] The technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present invention. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments.

[0029] Reference Figures 1-8 This invention provides an automated loading and unloading collaborative production system for multiple welding workstations. Its core concept lies in utilizing a transport robot 202 in conjunction with multiple welding workstations 1. A unified control system 5 acquires the real-time operating status of each welding workstation 1. Based on the welding status, repositioning status, loading / unloading status, and the operating status of the transport robot 202, it dynamically generates transport tasks and target welding stations 102. Within the time window formed by welding or repositioning operations performed by any welding workstation 1, the transport robot 202 is controlled to simultaneously complete the loading and unloading of workpieces 6 at another welding station 102 or another welding workstation 1. This allows the transport robot 202, welding device, and repositioning mechanism 101 to continuously coordinate and operate, achieving continuous cyclical automated loading and unloading production for multiple welding workstations 1, reducing equipment waiting time, improving robot utilization, and increasing the overall production line efficiency.

[0030] Specifically, the present invention mainly includes a handling robot 202, a moving mechanism 201, multiple welding workstations 1, a workpiece 6 pose detection unit, a workpiece 6 positioning correction unit, and a control system 5.

[0031] The handling robot 202 serves as the actuator of the entire system, performing tasks such as gripping, transporting, loading, and unloading workpieces 6. Preferably, the handling robot 202 is an industrial robot with multi-degree-of-freedom motion capabilities. Its end effector is equipped with a gripping mechanism suitable for the workpieces 6 to be processed, capable of stable gripping using jaws, vacuum adsorption mechanisms, or electromagnetic adsorption mechanisms, depending on the different structural forms of the workpieces 6. The handling robot 202 can continuously move between multiple welding workstations 1 according to the handling tasks generated by the control system 5, and complete the transfer of workpieces 6 between different welding workstations 1.

[0032] The moving mechanism 201 is used to expand the working range of the handling robot 202, enabling a single handling robot 202 to cover multiple welding workstations 1. Preferably, the moving mechanism 201 is a linear moving mechanism 201, including a guide rail, a slide, and a drive device. The handling robot 202 is mounted on the slide and moves along the guide rail under the action of the drive device, allowing the handling robot 202 to reach each welding workstation 1 sequentially. When the control system 5 determines the target welding station 102, the moving mechanism 201 drives the handling robot 202 to move to the vicinity of the corresponding welding workstation 1 according to the target position. Then, the handling robot 202 completes the gripping, handling, or loading / unloading operations of the workpiece 6, thereby realizing a single robot serving multiple welding workstations 1.

[0033] A mounting frame 3 is provided above the moving mechanism 201. The mounting frame 3 serves as a mounting base for mounting the first vision detection unit 301 and the second vision detection unit 302, enabling the vision detection units to stably cover the workpiece 6 gripping area and transport path, providing reliable hardware support for workpiece 6 pose detection and positioning correction.

[0034] Multiple welding workstations 1 are arranged sequentially along the movement direction of the moving mechanism 201. Each welding workstation 1 includes a welding device and a positioning mechanism 101. The welding device is preferably a robotic welding system, but an automatic welding torch, laser welding device, or other automatic welding equipment can also be used to complete the welding process of the workpiece 6. The positioning mechanism 101 is used to carry the workpiece 6 and drive the workpiece 6 to switch between the welding position and the loading / unloading position, so that the welding device can always complete the welding operation in a suitable welding posture.

[0035] Specifically, the positioning mechanism 101 has at least two welding stations 102, each of which can alternate between welding and loading / unloading positions. When one welding station 102 is in the welding position, the welding device can perform welding processing on the workpiece 6; simultaneously, the other welding station 102 is in the loading / unloading position, and the handling robot 202 can simultaneously load or unload the workpiece 6. After welding is completed, the positioning mechanism 101 drives the two welding stations 102 to exchange positions, transferring the welded workpiece 6 to the loading / unloading position, while the newly loaded workpiece 6 is transferred to the welding position, thereby enabling welding and loading / unloading operations to be performed in parallel, effectively shortening the production cycle.

[0036] like Figures 6-8 As shown, in one embodiment, the displacement mechanism 101 is a disc-shaped structure, and a partition 103 is provided in the middle of the two welding stations 102 on it. The partition 103 is used to isolate the sparks, fumes and arc light generated during the welding process, and to prevent the welding operation from interfering with the workpiece 6 and loading and unloading operations of the other station, so as to ensure the safety and reliability of parallel operation.

[0037] The workpiece 6 pose detection unit is used to acquire the spatial pose information of the workpiece 6 to be processed. Preferably, the workpiece 6 pose detection unit includes an industrial camera, a 3D vision sensor, a laser scanner, or other vision inspection equipment, which is installed above the workpiece 6 gripping area to detect the position, posture, and orientation of the workpiece 6 to be processed, and to generate the workpiece 6 gripping pose based on the detection results. The workpiece 6 to be processed is placed in the basket 4, which is arranged on one side of the moving mechanism 201, so that the handling robot 202 can quickly reach the gripping position with the cooperation of the moving mechanism 201. The control system 5 controls the handling robot 202 to adjust the gripping posture according to the workpiece 6 pose detection results, thereby improving the robot's gripping success rate and adapting to the working conditions of random placement of the workpiece 6.

[0038] The workpiece 6 positioning correction unit is located in the transport path of the handling robot 202 or near the welding workstation 1. It is used to re-inspect the workpiece 6 after it has been grasped by the handling robot 202. Since the workpiece 6 may undergo slight posture changes during the grasping and transporting process, the workpiece 6 positioning correction unit can detect the actual posture of the workpiece 6 and calculate the deviation between the actual posture and the target posture. Then, the posture deviation information is sent to the control system 5, which controls the handling robot 202 to perform posture compensation, so that the workpiece 6 can be accurately loaded, improving the positioning accuracy of the workpiece 6 and the subsequent welding quality.

[0039] The control system 5, serving as the control center of the entire collaborative production system, is located next to the welding workstation 1 and is communicatively connected to the handling robot 202, the moving mechanism 201, the welding device, the position shifting mechanism 101, the workpiece 6 pose detection unit, and the workpiece 6 positioning correction unit. The control system 5 can collect real-time data on the current welding status, position shifting status, loading / unloading status of each welding workstation 1, as well as the current position, movement status, and task execution status of the handling robot 202. It then comprehensively analyzes the real-time working status of each welding workstation 1 and dynamically generates the target welding station 102 and handling tasks for the handling robot 202.

[0040] Specifically, when a welding workstation 1 completes its welding operation and prepares to enter the unloading stage, the control system 5 can determine that the welding workstation 1 is ready for unloading and add it to the tasks to be executed. If another welding workstation 1 completes the unloading of workpiece 6 and enters the loading state, the control system 5 can automatically select the target welding station 102 according to the priority of multiple tasks to be executed, and at the same time control the moving mechanism 201 to drive the handling robot 202 to move to the corresponding position to complete the loading or unloading of workpiece 6. When a time window is formed during the welding or repositioning process of any welding workstation 1, the control system 5 further dispatches the handling robot 202 to another welding workstation 1 to continue to perform the handling task, so that the handling robot 202 keeps running continuously, avoids the robot being idle while waiting for welding to be completed, and improves the overall equipment utilization rate.

[0041] Furthermore, to improve the overall cycle time consistency of the system, the control system 5 can also coordinate the entry times of multiple welding workstations 1 into the welding state based on the estimated welding completion time, estimated relocation completion time, and the current position of the handling robot 202, so that the welding times of at least two welding workstations 1 partially overlap. Since multiple welding workstations 1 enter the welding state simultaneously, the handling robot 202 can utilize this time to continuously complete the loading and unloading operations of other welding workstations 1, further reducing the waiting time of the handling robot 202 and improving the continuous production capacity of the entire production line.

[0042] To further improve the automation level of the system, the control system 5 establishes a closed-loop control mechanism based on the status signals fed back by the handling robot 202, the welding device, the positioning mechanism 101, and the workpiece 6 positioning correction unit. After the handling robot 202 completes the gripping, the control system 5 receives the gripping completion signal and starts the posture detection; after the posture correction is completed, the loading is started; after the loading is completed, the positioning mechanism 101 is controlled to perform the workstation switching; after the positioning is completed, the welding device is started to perform welding; after the welding is completed, the positioning mechanism 101 is controlled to restore the loading and unloading position, and the handling robot 202 is controlled to complete the unloading of the welded workpiece 6 and the loading of the next workpiece 6, thereby sequentially completing the gripping, posture correction, loading, positioning, welding, unloading, and reloading processes, realizing the closed-loop control of the entire automatic production process.

[0043] In addition, the present invention has good scalability. When a new welding workstation 1 is added to the production line, the new welding workstation 1 only needs to be connected to the control system 5. The control system 5 can automatically update the motion path of the handling robot 202, the selection strategy of the target welding station 102, and the loading and unloading sequence according to the operating status of the new welding workstation 1. Multiple welding workstations 1 can be expanded and coordinated for production without changing the original control process, thereby meeting the flexible manufacturing needs of automatic welding production lines of different scales.

[0044] The present invention discloses an automated loading and unloading collaborative production system for multiple welding workstations and its control method, the working principle of which is as follows: At the start of production, the workpiece 6 pose detection unit first acquires the spatial pose information of the workpiece 6 to be processed in the basket 4. The control system 5 controls the handling robot 202 to complete the gripping of the workpiece 6 based on the detection results. Subsequently, the handling robot 202 moves the workpiece 6 to the workpiece 6 positioning correction unit for pose re-inspection. The control system 5 controls the handling robot 202 to complete the posture compensation based on the pose deviation obtained by detection, so that the workpiece 6 reaches the predetermined loading posture.

[0045] After completing the pose correction, the control system 5 acquires the welding status, displacement status, and loading / unloading status of each welding workstation 1 in real time. Based on the current operating status of each welding station 102, it dynamically determines the target welding station 102 of the handling robot 202 and controls the moving mechanism 201 to drive the handling robot 202 to move to the target welding workstation 1 to complete the loading of the workpiece 6. After loading is completed, the control system 5 controls the corresponding displacement mechanism 101 to switch the welding station 102 to the welding position and simultaneously starts the welding device to perform welding processing. During the welding process, the partition 103 in the middle of the disc-shaped displacement mechanism 101 effectively isolates welding sparks and fumes, protecting the operational safety of the other station.

[0046] While welding workstation 1 is performing welding or repositioning operations, control system 5 utilizes the time window created by welding and repositioning to reacquire the real-time operating status of other welding workstations 1 and schedules transport robot 202 to continue to another welding station 102 or another welding workstation 1 to perform workpiece loading or unloading tasks, enabling transport robot 202 to continuously perform transport operations. Simultaneously, control system 5 coordinates the timing of multiple welding workstations 1 entering the welding state, ensuring that the welding times of multiple welding workstations 1 at least partially overlap, thereby further increasing the proportion of continuous working time for transport robot 202.

[0047] After welding is completed, the control system 5 controls the corresponding strain gauge mechanism 101 to switch the welding station 102 back to the loading and unloading position. The handling robot 202 unloads the welded workpiece 6 and then picks up a new workpiece 6 to be processed from the material basket 4 for pose detection, pose correction, and loading operations. The above processes are executed cyclically under the coordination of the control system 5, realizing continuous, stable, and efficient automatic loading and unloading collaborative production among multiple welding workstations 1. This effectively solves the problems of long waiting time of the handling robot 202, low collaborative efficiency of multiple workstations, discontinuous production cycle, and low equipment utilization rate in the existing technology.

[0048] The above description is only a preferred embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any equivalent substitutions or modifications made by those skilled in the art within the scope of the technology disclosed in the present invention, based on the technical solution and inventive concept of the present invention, should be covered within the scope of protection of the present invention.

[0049] In the description of this specification, the references to terms such as "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of the present invention. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples. Moreover, without contradiction, those skilled in the art can combine and integrate the different embodiments or examples described in this specification, as well as the features of different embodiments or examples.

Claims

1. A multi-welding workstation automated loading and unloading collaborative production system, characterized in that, Includes a handling robot (202), a moving mechanism (201), at least two welding workstations (1), a workpiece (6) positioning system, and a control system (5); The moving mechanism (201) is used to move the handling robot (202) between at least two of the welding workstations (1); Each of the welding workstations (1) includes a welding device and a positioning mechanism (101); the positioning mechanism (101) is provided with at least two welding stations (102) and can drive at least two of the welding stations (102) to alternately switch between the loading / unloading position and the welding position; The workpiece (6) positioning system is used to obtain the pose information of the workpiece (6) to be processed, and to perform pose re-inspection on the workpiece (6) after it is grasped by the handling robot (202) to generate pose correction information. The control system (5) is connected to the handling robot (202), the moving mechanism (201), the welding device, the displacement mechanism (101) and the workpiece (6) positioning system, and is configured to: dynamically determine the target station of the handling robot (202) according to the welding status, displacement status and loading / unloading status of each welding station (102); and schedule the handling robot (202) to perform loading or unloading operations of the workpiece (6) on another welding station (102) or another welding workstation (1) by utilizing the time window when any welding station (102) performs welding operations or when the displacement mechanism (101) performs displacement operations, so as to form a continuous cycle of automatic loading / unloading production process.

2. The automated loading and unloading collaborative production system for multiple welding workstations according to claim 1, characterized in that, The moving mechanism (201) is a linear moving mechanism (201), and the handling robot (202) is mounted on the linear moving mechanism (201) and can move sequentially along multiple welding workstations (1) to expand the working range of the handling robot (202).

3. The automated loading and unloading collaborative production system for multiple welding workstations according to claim 1, characterized in that, The displacement mechanism (101) includes a rotary positioner (104) which has two welding stations (102). The included angle between the centers of the two welding stations (102) is 180°, so that when one welding station (102) is in the welding position, the other welding station (102) is in the loading and unloading position, so as to realize the parallel operation of welding and loading and unloading operations.

4. The automated loading and unloading collaborative production system for multiple welding workstations according to claim 1, characterized in that, The workpiece (6) positioning system includes: The first vision detection unit (301) is used to acquire the initial spatial pose of the workpiece (6) to be processed and generate the grasping pose of the handling robot (202). The second vision detection unit (302) is used to detect the actual pose of the workpiece (6) during the handling process and compare it with the preset standard pose to obtain the pose deviation, which is used as the pose correction information.

5. The automated loading and unloading collaborative production system for multiple welding workstations according to claim 4, characterized in that, The first vision detection unit (301) is a 3D vision system used to identify the three-dimensional spatial pose of randomly stacked workpieces (6) to be processed; the second vision detection unit (302) is a 2D vision positioning system used to detect the deviation between the actual pose of the workpiece (6) and the preset standard pose during the handling process.

6. The automated loading and unloading collaborative production system for multiple welding workstations according to claim 1, characterized in that, The control system (5) is further configured to: after the material is loaded at any welding station (102), control the switching mechanism (101) to switch the welding station (102) that has completed the material loading to the welding position, and control the welding device to start the welding operation.

7. The automated loading and unloading collaborative production system for multiple welding workstations according to claim 6, characterized in that, The control system (5) is further configured to: use the time window formed by the displacement mechanism (101) performing displacement operation and the welding device performing welding operation to control the handling robot (202) to complete the loading or unloading of workpieces (6) of other welding stations (102) or welding workstations (1), so that the handling robot (202) can continuously perform handling tasks.

8. The automated loading and unloading collaborative production system for multiple welding workstations according to claim 7, characterized in that, The control system (5) is further configured to: coordinate the timing of the multiple welding workstations (1) entering the welding state according to the working status of the multiple welding workstations (1), so that the welding operation time of at least two welding workstations (1) overlaps at least partially, forming a dual-station or multi-station synchronous welding cycle.

9. The automated loading and unloading collaborative production system for multiple welding workstations according to claim 7, characterized in that, The control system (5) is further configured to: control the start of the next process by signal triggering based on the status signals fed back by the handling robot (202), the displacement mechanism (101) and the welding device, so that the workpiece (6) sequentially completes gripping, posture correction, loading, displacement, welding, unloading and reloading, and forms a closed-loop cycle control.

10. A control method for an automated loading and unloading collaborative production system for multiple welding workstations as described in any one of claims 1-9, characterized in that, Includes the following steps: S1. Obtain the pose information of the workpiece (6) to be processed, and control the handling robot (202) to complete the grasping of the workpiece (6); S2. Detect the pose of the workpiece (6) after it has been gripped, and correct the pose based on the detection results. S3. The control system (5) acquires the real-time working status of each welding station (102) of multiple welding workstations (1), and dynamically determines the target welding station (102) based on the welding status, displacement status, loading and unloading status and the current position of the handling robot (202). S4. Control the handling robot (202) to transport the corrected workpiece (6) to the target welding station (102) to complete the loading; S5. Control the strain gauge mechanism (101) to switch the welding station (102) that has completed the material loading to the welding position, and start the welding device to perform welding; S6. During the welding or relocation process at the target welding station (102), the control system (5) reacquires the real-time status of other welding workstations (1) and controls the handling robot (202) to load and / or unload the workpiece (6) at another welding station (102) or another welding workstation (1). S7. After welding is completed, control the displacement mechanism (101) to switch the welding station (102) to the loading and unloading position, control the handling robot (202) to unload the welded workpiece (6), and repeat steps S2 to S6 so that the handling robot (202) can continuously use the welding time window to complete the collaborative handling between multiple welding workstations (1) to achieve continuous cyclic production.

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