Intelligent welding system

Abstract

The utility model discloses an intelligent welding system which comprises a welding platform (1), an electric box (2) and a welding machine (3). The six-axis collaborative robot is used for welding an assembly (4), a moving device (5) and a main control computer; the six-axis collaborative robot welding assembly (4) comprises a six-axis collaborative robot (41), a three-dimensional camera and laser combined device (42) and a welding gun (43), wherein the three-dimensional camera and laser combined device (42) and the welding gun (43) are installed on the six-axis collaborative robot (41). The main control computer controls the six-axis collaborative robot welding assembly (4) to move through the moving device (5) and instructs the six-axis collaborative robot (41) to act according to data fed back by the three-dimensional camera (422), and the main control computer sends out an instruction to control the welding machine (3) to automatically adjust welding parameters and control the welding gun (43) to conduct welding. According to the welding system, real-time three-dimensional modeling can be achieved, visibility, remote controllability and welding universality are achieved, and the welding system is more intelligent, safer and easy to control.

Description

Technical Field

[0001] This utility model relates to a welding device, specifically an intelligent welding system equipped with a six-axis collaborative robot. Background Technology

[0002] Existing welding methods rely on professional welding technicians, increasing welding requirements and labor costs. Welding materials of different thicknesses requires manual adjustment of welding machine parameters. Furthermore, welding large workpieces is difficult and dangerous, necessitating manual judgment of the welding sequence. Manual welding cannot be sustained continuously, resulting in low work efficiency. In addition, the welding environment is harmful to human health, including infrared radiation, ultraviolet radiation, and toxic gases. Current welding equipment on the market suffers from the following problems: 1. The workpiece placement and posture must be fixed; otherwise, accurate welding identification is impossible; 2. It cannot automatically adjust welding process parameters according to workpiece type and thickness; 3. Pre-programming is required before welding, and welding can only be performed according to the set program; 4. Only two-dimensional modeling can be achieved when scanning the workpiece. Utility Model Content

[0003] To address the aforementioned problems, this invention provides an intelligent welding system that features visibility and remote control capabilities, guided by real-time 3D modeling.

[0004] The technical solution adopted in this utility model is as follows:

[0005] An intelligent welding system includes: a welding platform, an electrical box, and a welding machine;

[0006] It also includes: a six-axis collaborative robot welding assembly, a moving device for moving the six-axis collaborative robot welding assembly, and a main control computer;

[0007] The six-axis collaborative robot welding assembly includes: a six-axis collaborative robot, a three-dimensional camera and laser combination device mounted on the six-axis collaborative robot, and a welding torch mounted on the three-dimensional camera and laser combination device;

[0008] The three-dimensional camera and laser combination device includes: a bracket, a three-dimensional camera, a laser mounting bracket, and at least two lasers; the three-dimensional camera is rotatably mounted on the bracket via a first multi-angle indexing table, the laser mounting bracket is rotatably mounted on the bracket via a second multi-angle indexing table, the lasers are rotatably mounted on the laser mounting bracket via a multi-angle rotating table, and the welding torch is mounted on the bracket;

[0009] The electrical box contains control components and a host computer, which are connected to the main control computer. The welding machine, the six-axis collaborative robot, the combination device of the three-dimensional camera and laser, and the mobile device are connected to the electrical box and thus controlled by the main control computer.

[0010] The main control computer controls the movement of the welding assembly of the six-axis collaborative robot through a mobile device, and instructs the six-axis collaborative robot to perform actions based on the data fed back by the three-dimensional camera. The main control computer issues instructions to control the welding machine to automatically adjust the welding parameters and controls the welding torch to perform welding through the welding machine.

[0011] The laser is provided in two parts, which are respectively installed on the left and right sides in front of the three-dimensional camera. One part is a line laser and the other part is a cross laser.

[0012] The bracket includes a vertical rod and a horizontal rod extending forward from the upper part of the vertical rod; the three-dimensional camera is installed at the bottom of the vertical rod, the laser mounting bracket is installed at the front end of the horizontal rod in the middle, and the line laser and the cross laser are respectively installed on the left and right sides of the laser mounting bracket.

[0013] The first and second multi-angle indexing tables can be adjusted up and down along the longitudinal plane containing the vertical and horizontal rods, and the multi-angle rotary table can be adjusted left and right along the horizontal plane perpendicular to the longitudinal plane.

[0014] The bracket is mounted on top of the terminal position of the six-axis collaborative robot.

[0015] A dimming lamp is installed on the laser mounting bracket.

[0016] The mobile device includes: longitudinal tracks installed on the left and right sides of the welding platform, a gantry frame, a first base plate fixed to the bottom of the gantry frame, a first motor installed on the first base plate, and a second motor installed on the six-axis collaborative robot welding assembly;

[0017] The longitudinal track is equipped with a first slide rail and a first rack arranged along the length of the first slide rail. The first base plate is slidably mounted on the first slide rail. The first motor is equipped with an encoder, and a first gear is mounted on its motor output shaft. The first gear meshes with the first rack.

[0018] The gantry frame includes two columns on the left and right, and a horizontal beam connected to the top of the two columns at both ends. A second slide rail and a second rack are provided on the horizontal beam along its length. The bottom of the columns is fixed to the first base plate. An encoder is installed on the second motor, and a second gear is installed on its motor output shaft. The second gear meshes with the second rack.

[0019] The electrical box and welding machine are respectively installed on the first base plate on the left and right sides. A vertical rod is installed on the first base plate, and a camera is installed on the vertical rod.

[0020] The six-axis collaborative robot welding assembly also includes a component mounting frame and a wire feeder; the component mounting frame is slidably mounted on the second slide rail, and the six-axis collaborative robot, the second motor, the wire feeder and the welding wire are mounted on the component mounting frame, and the welding wire reaches the welding torch through the wire feeder.

[0021] The intelligent welding system of this invention has the following advantages compared with the prior art:

[0022] 1. Once you arrive at the work area, you can perform immediate inspection using a combination of a 3D camera and a laser, and simultaneously send data back to the host computer and main control computer to build a 3D model.

[0023] 2. A combination of a 3D camera and a laser is installed at the end of a six-axis collaborative robot to give it visibility, enabling it to more accurately detect and calibrate objects and determine whether they are qualified. It can also use the 3D imaging function to feed the 3D image of the object back to the host computer, and display the real-time 3D image on the monitor of the main control computer connected to the host computer. Operators can remotely and intuitively control the six-axis collaborative robot.

[0024] 3. Due to its real-time detection, visibility, and remote control capabilities, the welding system of this invention can be integrated with artificial intelligence, enabling it to automatically and accurately collect multi-dimensional data information on different welding areas, plate thicknesses, and welding postures. Through in-depth analysis of this massive amount of data, a large and detailed database can be independently established. This database covers key information in various welding scenarios, allowing the welding system to gradually adapt to welding workpieces of various complex shapes and plate thicknesses.

[0025] The various postures involved in the welding process are universal. Based on this characteristic, the welding system of this utility model can be widely applied to various welding tasks. It can easily cope with both conventional welding operations and welding scenarios with special requirements.

[0026] Furthermore, artificial intelligence possesses powerful self-learning capabilities. It continuously learns and adjusts itself based on the welding effect detection results and various related parameters after each weld. In this process, AI automatically optimizes welding strategies and parameter settings, thereby continuously improving welding quality and efficiency, ensuring the welding system remains in optimal working condition at all times.

[0027] 4. Most six-axis collaborative robots on the market are pre-programmed, purely mechanical positioning modes. Even when equipped with lasers or 3D cameras, they can only perform 2D modeling, check for offsets, or provide guidance. This invention innovatively combines a 3D camera with a laser and integrates them into the machine, using 3D modeling to guide operation, thus improving the scope of application and the level of precision.

[0028] 5. During the workpiece welding process, no human intervention is required in the welding area except for the operators in the control room, which avoids the harm to the human body caused by infrared rays, ultraviolet rays, strong light, and spatter during the welding process, making it safe and reliable.

[0029] 6. It can weld both mass-produced standard parts and non-standard workpieces; it can weld both large and small workpieces. The welding torch can move at any position in three-dimensional space and can perform various welds such as fillet welds, flat welds, and vertical welds.

[0030] 7. No skilled professional welders are required for welding; ordinary workers can produce qualified workpieces after simple operation training. This system can continuously weld as long as the welding materials are placed correctly. Attached Figure Description

[0031] Figure 1 This is a perspective view of the intelligent welding system of this utility model;

[0032] Figure 2 This is a three-dimensional view of the gantry frame viewed from above;

[0033] Figure 3 This is a perspective view of the gantry frame viewed from below;

[0034] Figure 4 This is an elevation view of the first motor;

[0035] Figure 5 This is a three-dimensional view of the longitudinal track;

[0036] Figure 6 This is a perspective view of the welding assembly of the six-axis collaborative robot;

[0037] Figure 7 This is an elevation view of the second motor;

[0038] Figure 8 This is a stereoscopic view of the three-dimensional camera and laser combination device from the front.

[0039] Figure 9 This is a stereoscopic view of the three-dimensional camera and laser combination device from the rear.

[0040] Figure 10 This is a schematic diagram of the three-dimensional camera and laser combination device in operation. Detailed Implementation

[0041] The present invention will be further described in detail below with reference to the accompanying drawings and embodiments.

[0042] like Figure 1 As shown, the intelligent welding system of this utility model includes: a welding platform 1, an electrical box 2, a welding machine 3, a six-axis collaborative robot welding assembly 4, a moving device 5, and a main control computer. The welding platform 1 is used to place the workpiece to be welded, and the moving device 5 is used to drive the six-axis collaborative robot welding assembly 4 to move forward, backward, left, and right.

[0043] like Figure 1 As shown, the mobile device 5 includes: two longitudinal tracks 51 installed on the left and right sides of the welding platform 1, a gantry frame 52, a first base plate 53, a first motor 54, and a second motor 44.

[0044] like Figure 5 As shown, each longitudinal track 51 is equipped with two sets of first slide rails 511 and a first rack 512 arranged along the length of the first slide rail 511. A slidable first slider 513 is installed on the first slide rail 511.

[0045] like Figure 2 and Figure 3 As shown, the gantry frame 52 includes two columns 521 on the left and right and a horizontal beam 522 that is fixedly connected to the top of the two columns 521 at both ends. The horizontal beam 522 is provided with two second slide rails 55 and a second rack 56 along its length direction. Each second slide rail 55 is equipped with a slidable second slider 59.

[0046] The first base plate 53 has two pieces, which are fixedly connected to the bottom of the left and right side columns 521 respectively. The two first base plates 53 are respectively connected to the first sliders 513 on the left and right side first slide rails 511, so that the first base plate 53 and the gantry frame 52 on it can slide back and forth along the first slide rail 511.

[0047] Two first motors 54 are provided, respectively fixedly installed on the first base plates 53 on the left and right sides. Each first motor 54 is equipped with an encoder, such as... Figure 4 As shown, a first gear 541 is installed on the motor output shaft at the bottom of the first motor 54. The first gear 541 meshes with the first rack 512 on the longitudinal track 51. Since the first rack 512 is fixed, when the first motor 54 starts to rotate, the first gear 541 on the motor output shaft also rotates at the same time. Under the force of meshing with the first rack 512, it will drive the entire gantry frame 52 to move back and forth.

[0048] In this embodiment, the electrical box 2 and the welding machine 3 are respectively installed on the first base plate 53 on the left and right sides. The first base plate 53 is also equipped with a vertical rod 57, and a camera 58 is installed on the vertical rod 57 to monitor the real-time status of the welding platform 1.

[0049] like Figure 6 As shown, the six-axis collaborative robot welding assembly 4 includes: a six-axis collaborative robot 41, a three-dimensional camera and laser combination device 42, a welding torch 43, an assembly mounting frame 45, and a wire feeder 46. The assembly mounting frame 45 includes an upper base plate 451 and a lower base plate 452, which are fixedly connected together by a bracket. Welding wire 47, serving as the welding material, and the wire feeder 46 are mounted on the upper base plate 451. The six-axis collaborative robot 41 is mounted on the lower base plate 452, which is connected to a second slider 59 on a second slide rail 55.

[0050] The second motor 44 is mounted on the lower base plate 452, and an encoder is installed on the second motor 44, such as... Figure 7 As shown, a second gear 441 is mounted on the motor output shaft at the bottom of the second motor 44. The second gear 441 meshes with the second rack 56 on the horizontal beam 522 of the gantry frame 52. When the second motor 44 starts to rotate, the second gear 441 on the motor output shaft also rotates simultaneously. Under the force of meshing with the second rack 56, the second gear 441 drives the component mounting frame 45 and the six-axis collaborative robot 41, the three-dimensional camera and laser combination device 42, the welding torch 43 and other components or devices mounted on it to move left and right along the second slide rail 55 on the gantry frame 52.

[0051] The three-dimensional camera and laser combination device 42 is installed at the end position of the six-axis collaborative robot 41, such as... Figure 8 and Figure 9 As shown, the 3D camera and laser combination device 42 includes: a bracket 421, a 3D camera 422, a laser mounting bracket 423, and at least two lasers. The 3D camera 422 is rotatably mounted on the bracket 421 via a first multi-angle indexing stage 425, and can identify and measure the distance to the observed object and map a 3D image of the observed object. The laser mounting bracket 423 is rotatably mounted on the bracket 421 via a second multi-angle indexing stage 426, and the lasers are rotatably mounted on the laser mounting bracket 423 via a multi-angle rotating stage 427. Figure 10As shown, the host computer can adjust the light from all the lasers to converge at a point through the multi-angle rotating stage 427, adjust the three-dimensional camera 422 to the required angle through the first multi-angle indexing stage 425, and adjust the convergence point of all the lasers to be within the field of view of the three-dimensional camera 422 through the second multi-angle indexing stage 426.

[0052] In principle, three linear lasers are needed, emitting light from three directions not along the normal to the 3D camera 422. This ensures that the three laser lines intersect at a fixed height and angle; otherwise, they cannot converge into a single focal point. In this embodiment, two of the linear lasers are replaced with a cross laser, effectively simplifying the system from three lasers to two: one linear laser 4241 and the other a cross laser 4242, achieving the same effect. This not only achieves the optimal combination but also optimizes the structural design and minimizes costs.

[0053] In this embodiment, the bracket 421 includes a vertical rod 4211 and a horizontal rod 4212 fixedly installed on the upper part of the vertical rod 4211 and extending forward. The top of the vertical rod 4211 is bent and extends horizontally forward. The horizontal rod 4212 is located below the horizontal extension section at the top of the vertical rod 4211. The terminal of the six-axis collaborative robot 41 is fixedly installed on the horizontal extension section at the top of the vertical rod 4211. The three-dimensional camera 422 is installed at the bottom of the vertical rod 4211. The laser mounting bracket 423 is installed in the middle at the front end of the horizontal rod 4212. The linear laser 4241 and the cross laser 4242 are respectively installed on the left and right sides of the laser mounting bracket 423.

[0054] In this embodiment, the first multi-angle indexing stage 425 can adjust the angle of the three-dimensional camera 422 up and down along the longitudinal plane where the vertical rod 4211 and the horizontal rod 4212 are located, the second multi-angle indexing stage 426 can adjust the angle of the laser mounting bracket 423 up and down along the longitudinal plane, and the multi-angle rotating stage 427 can adjust the angle of the laser left and right along the horizontal plane perpendicular to the longitudinal plane.

[0055] In this embodiment, a dimming lamp 428 is also installed on the laser mounting bracket 423. When the ambient light cannot meet the visual requirements of the three-dimensional camera 422, the dimming lamp 428 will automatically turn on or off according to the settings of the programming program, and will automatically change the intensity of its own light according to the intensity of the ambient light.

[0056] like Figure 6As shown, the welding torch 43 is mounted on the bracket 421 of the three-dimensional camera and laser combination device 42. The welding wire 47 is finally delivered to the welding torch 43 by the wire feeder 46. The welding wire will extend a certain length beyond the end of the welding torch 43. The wire feeder 46 automatically feeds the welding wire to the welding torch 43 during the welding process.

[0057] In this embodiment, the electrical box 2 houses control components and a host computer, such as an industrial control computer or a PLC. The six-axis collaborative robot 41 and the 3D camera and laser combination device 42 are connected to the industrial control computer inside the electrical box 2. The first motor 54 and the second motor 44 of the moving device 5 are connected to the PLC inside the electrical box 2. The welding machine 3 provides a specific power supply for welding. The control components inside the welding machine 3 are connected to the host computer, such as an industrial control computer or a PLC, inside the electrical box 2. The welding machine 3 is matched with the wire feeder 46 and the welding torch 43. When the welding machine 3 receives a welding-related signal, the wire feeder 46 will start feeding wire to the welding torch 43.

[0058] The industrial control computer and the PLC are connected via network cables or communication cables. After the communication is aggregated, it is then connected to the main control computer via network cables or communication cables. When the main control computer issues a command, the corresponding signals are transmitted to the industrial control computer and the PLC, and then the industrial control computer and the PLC distribute the received command signals to their respective corresponding devices.

[0059] The main control computer controls the six-axis collaborative robot welding assembly 4 to move forward, backward, left, and right through the mobile device 5, and instructs the six-axis collaborative robot 41 to perform actions based on the data fed back by the three-dimensional camera 422. The main control computer issues instructions to control the welding machine 3 to automatically adjust the welding parameters and controls the welding torch 43 to perform welding through the welding machine 3.

[0060] The welding system of this invention can be combined with artificial intelligence to achieve intelligent welding. Its operation process is as follows:

[0061] 1. When using this system for the first time, first adjust the angular relationship between the 3D camera, the laser assembly 42, and the welding torch 43. The specific adjustment method is as follows:

[0062] a) The beams of the corresponding cross laser 4242 and line laser 4241 are crossed by the multi-angle rotating stage 427 at the two laser installation positions, wherein the beam of the line laser 4241 passes through the center of the beam of the cross laser 4242.

[0063] b) By adjusting the second multi-angle indexing table 426, the laser intersection point of the adjusted cross laser 4242 and the line laser 4241 is made to coincide with the end point of the welding wire 47 extending from the welding gun 43.

[0064] c) The normal of the three-dimensional camera 422 is aligned with the end point of the welding wire 47 extending from the welding gun 43 by the first multi-angle indexing table 425.

[0065] d) After the above adjustments are completed, the end point of the welding wire 47 extending from the welding torch 43, the point where the light rays of the two sets of lasers coincide, and the normal of the three-dimensional camera 422 all converge at a single focal point.

[0066] 2. After the above adjustments are completed, place the materials to be welded in the corresponding positions on welding platform 1 according to the designed welding sequence.

[0067] 3. The main control computer in the control room can read the position of the gantry 52 at any time based on the information from the encoder on the first motor 54. At the same time, the two sets of cameras 58 on the gantry 52 will also transmit the real-time images to the computer display screen in the control room.

[0068] 4. The operator in the control room issues a command on the main control computer, the first motor 54 starts and drives the gantry 52 to move to the welding area under the guidance of the first slide rail 511, and then the first motor 54 stops.

[0069] 5. After the first motor 54 stops, the three-dimensional camera and laser combination device 42 installed on the six-axis collaborative robot 41 begins to read the three-dimensional data of the required welding position, and then transmits the data to the main control computer in the control room. The main control computer analyzes the three-dimensional data and builds a real-time welding model. At the same time, the artificial intelligence system in the main control computer actively analyzes and learns all the above data.

[0070] 6. After the above is completed, the main control computer automatically issues an instruction to the three-dimensional stereo camera and laser combination device 42 to determine the position of the workpiece to be welded and to determine the start and end points of the weld seam of the workpiece.

[0071] 7. The artificial intelligence system intervenes and begins to simultaneously command and assign tasks to the main control computer and the industrial control computer in the electrical box 2. After analysis, the main control computer issues instructions to the welding machine 3. The main control components in the welding machine 3 automatically adjust to the required welding process parameters (current, voltage, pulse, etc.) according to the instructions.

[0072] 8. After the welding process parameters of welding machine 3 are adjusted, the operator confirms the information on the main control computer and starts the welding program. At this time, the six-axis collaborative robot 41 on the gantry 52 starts to move and drives the welding torch 43 to the starting point of the weld.

[0073] 9. When the welding torch 43 reaches the starting point of the weld, the cross laser 4242 and the line laser 4241 will be activated again. The laser points of the two sets of lasers will coincide with the starting point of the weld. The three-dimensional camera 422 will reconfirm the starting and ending point data of the weld and feed it back to the artificial intelligence system of the main control computer.

[0074] 10. Once the start and end points of the weld are confirmed to be accurate, the main control computer will issue a command to start the welding machine 3. At the same time, the wire feeder 46 will also start to deliver the welding wire 47 through the welding gun 43. When the end of the welding wire 47 contacts the welding material, the arc is ignited and welding begins.

[0075] 11. During the welding process, the six-axis collaborative robot 41 will automatically adjust its posture according to the weld seam and always keep the welding torch 43 at the set welding angle and welding speed until the weld seam is completed and the arc is successfully extinguished.

[0076] 12. After the first weld is completed, the six-axis collaborative robot 41 raises the welding torch 43 to the set safe position.

[0077] 13. Next, the system will automatically weld the second weld. If the second weld is within the working range of each joint of the six-axis collaborative robot 41, the first motor 54 and the second motor 44 do not need to be started. If the second weld is outside the working range of each joint of the six-axis collaborative robot 41 and the second weld is located far to the left or right of the first weld, the artificial intelligence system will automatically make a judgment and send a command from the main control computer to the industrial control computer in the electrical box 2. Then, the first motor 54 and the second motor 44 will be started simultaneously to move the gantry 52 and the six-axis collaborative robot 41 on the gantry 52 to the starting position of the second weld.

[0078] 14. Then, similar to the confirmation work before welding the first weld, after checking and confirming that the start and end data of the second weld are accurate, welding will begin.

[0079] 15. Weld the other welds in sequence. The selection and confirmation of the above welds do not require operator intervention. The artificial intelligence system in the main control computer will automatically allocate the welding sequence and actively learn.

[0080] 16. After all welds are completed, the first motor 54 is started, causing the gantry 52 to move to a safe position away from the welding area, which will not affect the hoisting and transfer of the welded parts; the second motor 44, at the same time as the first motor 54 is started, also causes the six-axis collaborative robot 41 and its corresponding devices to return to the initial position on the gantry 52.

[0081] The 3D camera and laser combination device 42 in the intelligent welding system of this utility model combines a 3D camera, a cross laser, and a line laser to more accurately detect or calibrate the required object. It's like having eyes that measure distance; as soon as it reaches the work area, it can perform immediate inspection and simultaneously feed back data to the host computer and main control computer to establish a real-time 3D welding model. Installing the aforementioned 3D camera and laser combination device 42 at the end of the six-axis collaborative robot 41 is equivalent to equipping the robot with eyes. It not only provides visibility but also allows for object detection or calibration, and the determination of object quality. Simultaneously, utilizing the 3D imaging function of the 3D camera, the 3D image of the object is fed back to the host computer, and a real-time 3D image is displayed on the monitor of the main control computer connected to the host computer. This allows operators to remotely and intuitively control the six-axis collaborative robot. Meanwhile, after receiving data from the combination of the 3D camera and laser and the six-axis collaborative robot, the host computer and main control computer can automatically analyze and compare the data, issue commands to control the welding machine to automatically adjust the welding parameters, and adjust the robot's movements to make the welding work fast and accurate. With 3D modeling to guide the operation, its application range and precision have been improved to a higher level, and it is technically superior.

[0082] The present invention has been described above with reference to preferred embodiments; however, these embodiments are merely exemplary and serve only an illustrative purpose. Based on this, various substitutions and improvements can be made to the present invention, all of which fall within the protection scope of the present invention.

Claims

1. An intelligent welding system comprising: The welding platform (1), the electric box (2), the welding machine (3); characterized in that, It also includes a six-axis collaborative robot welding assembly (4), a moving device (5) for moving the six-axis collaborative robot welding assembly (4), and a main control computer; The six-axis collaborative robot welding assembly (4) includes a six-axis collaborative robot (41), a three-dimensional stereo camera and laser combination device (42) installed on the six-axis collaborative robot (41), and a welding torch (43) installed on the three-dimensional stereo camera and laser combination device (42). The three-dimensional stereo camera and laser combination device (42) includes a bracket (421), a three-dimensional stereo camera (422), a laser mount (423), and at least two lasers; the three-dimensional stereo camera (422) is rotatably mounted on the bracket (421) through a first multi-angle indexing table (425), the laser mount (423) is rotatably mounted on the bracket (421) through a second multi-angle indexing table (426), and the laser is rotatably mounted on the laser mount (423) through a multi-angle rotating table (427); the welding torch (43) is installed on the bracket (421). The electric box (2) is installed with control components and an upper computer and is connected with the main control computer; the welding machine (3), the six-axis collaborative robot (41), the three-dimensional stereo camera and laser combination device (42), and the moving device (5) are connected with the electric box (2) and thus controlled by the main control computer. The main control computer controls the movement of the six-axis collaborative robot welding assembly (4) through the moving device (5) and instructs the six-axis collaborative robot (41) to act according to the data feedback by the three-dimensional stereo camera (422); the main control computer controls the welding machine (3) to automatically adjust the welding parameters and controls the welding torch (43) to weld through the welding machine (3).

2. The intelligent welding system of claim 1, wherein: The two lasers are installed on the left and right sides in front of the three-dimensional stereo camera (422), one of which is a linear laser (4241) and the other is a cross laser (4242).

3. The intelligent welding system of claim 2, wherein: The bracket (421) includes a vertical rod (4211) and a horizontal rod (4212) extending forward from the upper part of the vertical rod (4211); the three-dimensional stereo camera (422) is installed at the bottom of the vertical rod (4211), the laser mount (423) is installed at the front end of the horizontal rod (4212), and the linear laser (4241) and the cross laser (4242) are installed on the left and right sides of the laser mount (423), respectively.

4. The intelligent welding system of claim 3, wherein: The first multi-angle indexing table (425) and the second multi-angle indexing table (426) can adjust the angle up and down along the longitudinal plane where the vertical rod (4211) and the horizontal rod (4212) are located, and the multi-angle rotating table (427) can adjust the angle left and right along the transverse plane perpendicular to the longitudinal plane.

5. The intelligent welding system of claim 3, wherein: The top of the bracket (421) is installed at the terminal position of the six-axis collaborative robot (41).

6. The intelligent welding system of claim 1, wherein: The light adjusting lamp (428) is installed on the laser mounting frame (423).

7. The intelligent welding system of claim 1, wherein, The mobile device (5) comprises longitudinal rails (51) installed on the left and right sides of the welding platform (1), a gantry (52), a first bottom plate (53) fixed at the bottom of the gantry (52), a first motor (54) installed on the first bottom plate (53), and a second motor (44) installed on the six-axis collaborative robot welding assembly (4). The first slide rail (511) and the first rack (512) arranged along the length direction of the first slide rail (511) are installed on the longitudinal rail (51), and the first bottom plate (53) is slidingly installed on the first slide rail (511); the first motor (54) is provided with an encoder, and the motor output shaft is provided with a first gear (541) engaged with the first rack (512). The gantry (52) comprises two vertical columns (521) and a horizontal beam (522) connected to the top of the two vertical columns (521), the horizontal beam (522) is provided with a second slide rail (55) and a second rack (56) arranged along the length direction thereof, and the bottom of the vertical column (521) is fixed to the first bottom plate (53); the second motor (44) is provided with an encoder, and the motor output shaft is provided with a second gear (441) engaged with the second rack (56).

8. The intelligent welding system of claim 7, wherein: The electric box (2) and the welding machine (3) are installed on the first bottom plate (53) on the left and right sides, respectively, the first bottom plate (53) is provided with a vertical rod (57), and the vertical rod (57) is provided with a camera (58).

9. The intelligent welding system of claim 7, wherein, The six-axis collaborative robot welding assembly (4) further comprises an assembly mounting frame (45) and a wire feeder (46); the assembly mounting frame (45) is slidingly installed on the second slide rail (55), the six-axis collaborative robot (41), the second motor (44), the wire feeder (46) and the welding wire (47) are installed on the assembly mounting frame (45), and the welding wire (47) reaches the welding gun (43) through the wire feeder (46).

Images