Welding locating system and welding device

Abstract

The welding locating system comprises a robot, a welding machine, a welding power source and a control system, the welding machine is arranged on the robot, the welding power source is electrically connected with the welding machine, and the control system is electrically connected with the robot, the welding machine and the welding power source in a communication mode. The welding machine is used for making contact with a workpiece in the moving process of the robot, and the control system controls the welding power source to output pulse voltage with the preset small pulse width to the welding machine when receiving a signal that the robot starts to work and controls the robot to act when receiving a signal that the welding machine makes contact with the workpiece. According to the utility model, the locating function of the welding robot is realized through the control system, and equipment specially used for locating does not need to be additionally arranged, so that the cost is reduced, the integration level is improved, and potential fault points are reduced.

Description

TECHNICAL FIELD

[0001] The utility model relates to electric welding machine technical field, especially a kind of welding location system and welding device. BACKGROUND

[0002] With the popularization of industrial robot, more and more robots are applied in the field of welding, and the control method of three-point location before welding is also popularized. The three-point location method determines the spatial difference between the workpiece coordinates and the robot coordinates by laser, pressure location and contact, and determines the method of robot welding trajectory. After successful location by these methods, the robot can be instructed to perform the next action.

[0003] Currently, arc welding robots with location function on the market are mostly realized by adding a high-voltage auxiliary power device to the standard welding power supply. The main reason is that when the welding power supply is in idle state, the output waveform is in full width state. At this time, the workpiece directly contacted by the welding wire will be burned due to excessive current. Therefore, a high-voltage and low-current auxiliary power supply is needed as a location device. High voltage is needed because the workpiece may not be in good contact due to oxidation or oil stains. Low current is needed to avoid burning the workpiece. The output end of the welding power supply is connected in parallel to detect the short circuit signal and feedback the location result. However, the use of high-voltage auxiliary power device will increase the cost and the degree of integration of the equipment, which is prone to failure. SUMMARY

[0004] The main purpose of the utility model is to provide a welding location system and welding device, which solves the problem of how to realize the location function without additional equipment for the welding robot.

[0005] To solve the above problems, the utility model provides a welding location system, which comprises a robot, a welding machine, a welding power supply and a control system. The welding machine is arranged on the robot, the welding power supply is electrically connected with the welding machine, and the control system is electrically connected and communicated with the robot, the welding machine and the welding power supply.

[0006] The welding machine is used to contact the workpiece during the movement of the robot, and the control system is used to control the welding power supply to output a preset small pulse width pulse voltage to the welding machine when receiving the signal of starting work of the robot, and control the robot to act when receiving the signal of the welding machine contacting the workpiece.

[0007] Optionally, the welding power supply comprises an auxiliary power voltage, and the auxiliary power voltage is used to power the welding machine.

[0008] The control system is also used to control the welding machine to stop working and control the auxiliary power voltage to power the welding machine when receiving the signal of the welding machine contacting the workpiece.

[0009] Optionally, the robot comprises a base, a motor and a mechanical arm, one end of the mechanical arm is hinged to the rotating base, and the other end is provided with a welding machine, the motor is in transmission connection with the mechanical arm, and the motor can drive the mechanical arm to act.

[0010] Optionally, the robot further comprises a wire feeder for providing welding wire for the welding machine and a welding wire reel for storing the welding wire, the wire feeder is arranged on the mechanical arm, and the wire feeder is connected with the welding wire wound on the welding wire reel.

[0011] Optionally, the welding power supply is electrically connected with the wire feeder, the wire feeder is used to feed the welding wire into the welding machine when driven by the welding power supply, and the welding machine is in contact with the workpiece through the welding wire.

[0012] Optionally, the control system comprises a controller and a control cabinet, the controller is arranged on the robot and electrically connected with the robot, the control cabinet is electrically connected with the welding power supply, and the controller is in communication connection with the control cabinet.

[0013] The utility model provides a kind of welding device, including workbench, gas cylinder and welding location system as described above.

[0014] Optionally, the control system is also used to control the robot, the welding machine, the welding power supply and the wire feeder to enter the welding state.

[0015] Optionally, the gas cylinder is connected with the wire feeder through the gas pipe, and the gas cylinder is used to provide inert gas.

[0016] Optionally, the workbench is arranged in front of the robot, the welding power supply is connected with the workbench through ground wire, and the workpiece is arranged on the workbench.

[0017] The utility model includes robot, welding machine, welding power supply and control system, welding machine is used to contact with workpiece in the process of robot movement, control system controls welding power supply to output preset small pulse width pulse voltage to welding machine when receiving the signal that robot starts work, and when receiving the signal that the welding machine contacts workpiece, the robot is controlled to act. The utility model realizes the location function of welding robot through control system, does not need to additionally add the equipment specially used for location, so as to reduce cost, improve integration and reduce potential fault point. BRIEF DESCRIPTION OF DRAWINGS

[0018] In order to more clearly illustrate the technical scheme in the embodiments of the utility model or prior art, the following will briefly introduce the drawings needed to be used in embodiment or prior art description, and obviously, the drawings in the following description are only some embodiments of the utility model, and for those skilled in the art, other drawings can be obtained from the structure shown in these drawings without creating labor.

[0019] Figure 1 A structure diagram of the welding location finding system of the utility model;

[0020] Figure 2 A control method flow chart of the welding location finding system of the utility model.

[0021] The figure reference: robot 01, welding machine 02, welding power supply 03, wire feeder 04.

[0022] The utility model discloses the realization, functional characteristics and advantages will be combined with embodiment, refer to the further description of the attached drawing. DETAILED DESCRIPTION

[0023] The technical scheme in the embodiments of the utility model will be described clearly and completely below in conjunction with the drawings of the embodiments of the utility model, and obviously, the described embodiments are only part of the embodiments of the utility model, not all the embodiments. Based on the embodiments in the utility model, all other embodiments obtained by the person skilled in the art without making creative labor belong to the protection scope of the utility model.

[0024] It should be noted that if the embodiments of the utility model involve directional indications (such as up, down, left, right, front, back, etc.), the directional indications are only used to explain the relative position relationship, movement condition, etc. between the components in a certain specific posture (as shown in the drawings), if the specific posture changes, the directional indications also change accordingly.

[0025] In addition, if the embodiments of the utility model involve the description of "first", "second", etc., the description of "first", "second", etc. is only for the purpose of description, and cannot be understood as indicating or implying the relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features limited by "first", "second" can explicitly or implicitly include at least one of the features. In addition, the meaning of "and / or" appearing throughout the text is that it includes three parallel schemes, taking "A and / or B" as an example, including A scheme, or B scheme, or A and B simultaneously meet the scheme. In addition, the technical solutions of each embodiment can be combined with each other, but it must be based on the realization of the person skilled in the art, when the combination of technical solutions appears contradictory or unachievable, it should be considered that the combination of technical solutions does not exist, also not within the protection scope required by the utility model.

[0026] The utility model provides a kind of welding location finding system, such as Figure 1As shown, including robot 01, welding machine 02, welding power supply 03 and control system, welding machine 02 is arranged on robot 01, welding power supply 03 and welding machine 02 are electrically connected, control system is respectively electrically connected with robot 01, welding machine 02, welding power supply 03 and communication connection;

[0027] Welding machine 02 is used to contact with workpiece during the movement of robot 01, and the control system is used to control the welding power supply 03 to output the pulse voltage with preset small pulse width to the welding machine 02 when receiving the signal of starting work of robot 01, and control the action of robot 01 when receiving the signal of welding machine 02 contacting with workpiece.

[0028] More specifically, welding robot 01 is an important equipment in the field of modern industrial automation, which can efficiently and accurately complete various welding tasks. Before welding, robot 01 measures the distance from the workpiece surface by adopting the control method of three-point positioning, so as to determine the position of the workpiece in space. At present, the arc welding machine 02 robot 01 with positioning function on the market is mostly realized by adding a high-voltage auxiliary power supply device to the standard welding power supply 03; the main reason is that when the welding power supply 03 is in no-load state, the output waveform is in full-width state, at this time, the workpiece will be burned by the arc due to the too large current when the welding wire directly contacts the workpiece, so a high-voltage small-current auxiliary power supply is needed as a positioning device.

[0029] However, connecting a high-voltage small-current auxiliary power supply as a positioning device will increase the cost and the degree of integration of the equipment is not high, which is easy to cause failure. Therefore, the utility model provides a kind of welding positioning system, including robot 01, welding machine 02, welding power supply 03 and control system, welding machine 02 is arranged on robot 01, welding power supply 03 and welding machine 02 are electrically connected, control system is respectively electrically connected with robot 01, welding machine 02, welding power supply 03 and communication connection;Robot 01 body is the core executive mechanism of automatic welding, which is responsible for accurately moving the welding gun to the specified welding position and performing welding operation according to the preset trajectory.

[0030] Robot 01 usually has the characteristics of multi-joint and high flexibility, which can adapt to the welding needs of various complex workpieces, and welding machine 02 is the key equipment for providing heat energy in the welding process, which uses electric energy to heat the welding wire and the workpiece to the molten state, so as to realize welding. Welding power supply 03 provides stable power input for welding machine 02 to ensure that welding machine 02 can continuously and stably perform welding operation. The selection of welding power supply 03 needs to be considered comprehensively according to welding process and workpiece material and other factors. The control system is the "brain" of the whole automatic welding system, which is responsible for receiving and processing welding instructions and controlling the cooperative work of robot 01, welding machine 02 and other equipment. The control system needs to have the characteristics of high precision, high reliability and real-time, so as to ensure the stability and accuracy of the welding process.

[0031] The application is a welding positioning system, which aims to measure the distance between the robot 01 and the workpiece surface, so as to determine the position of the workpiece in space. Since the welding positioning system of the application is used before the workpiece welding operation, the welding machine 02 is used to contact the workpiece during the movement of the robot 01, and the control system is used to control the welding power supply 03 to output a preset small pulse width pulse voltage to the welding machine 02 when receiving the signal of the robot 01 starting work, and control the robot 01 to act when receiving the signal of the welding machine 02 contacting the workpiece.

[0032] When receiving the signal of the robot 01 starting work, the control system will control the welding power supply 03 to output a preset small pulse width (minimum pulse width) pulse voltage to the welding machine 02, and the welding machine 02 will start to work with the minimum pulse width. At this time, the welding machine 02 has no load loop, and the voltage between the two ends of the welding machine 02 is about 80VDC. The actual welding machine 02 is a pulsating 80VDC output. Since the peak voltage exceeds 70V, it has fully reached the requirement of forming a short circuit loop by breaking through the rusted steel plate.

[0033] When the robot 01 moves to the end of the welding wire and touches the workpiece, the welding machine 02 recognizes that the welding wire is short-circuited, at which time the welding machine 02 stops working and the control system sends a positioning success instruction and point information to the robot 01. The minimum pulse width working mode can avoid the direct generation of current to melt the welding wire when the welding wire touches the workpiece. The current generated by the short circuit of the welding wire and the workpiece in the minimum pulse width condition is about 10A, which is far from melting the welding wire. At the same time, the welding machine 02 detects that the welding wire contacts the workpiece and immediately stops working, and the control system sends a positioning success instruction to the robot 01.

[0034] When the robot 01 receives the positioning success instruction and point information, it continues to obtain other point information and calculates the corrected path through the three-point positioning method, that is, the robot 01 searches for the workpiece according to the set path. When the welding wire contacts the workpiece, the robot 01 stops moving and corrects the path according to the deviation value between the current position and the set position, so as to obtain the real target path. At this time, the robot 01 performs an empty run according to the corrected path, and then enters the normal welding process. It ensures that the robot 01 can move according to the corrected path, and will not encounter any unexpected problems or obstacles.

[0035] The utility model discloses a welding robot system, including robot 01, welding machine 02, welding power supply 03 and control system, welding machine 02 is used to contact workpiece in the motion process of robot 01, and control system controls welding power supply 03 to export the pulse voltage of preset small pulse width to welding machine 02 when receiving the signal of robot 01 starting work, and when receiving the signal of welding machine 02 contact workpiece, control robot 01 action. The utility model discloses the function of the welding robot 01 of control system realizes the location, does not need to additionally add the equipment specially used for location, thereby reduces the cost, improves the integration, and reduces potential failure point.

[0036] In an embodiment, the welding power supply 03 includes an auxiliary power supply voltage for powering the welding machine 02.

[0037] The control system is further configured to control the welding machine 02 to stop working and control the auxiliary power supply voltage to power the welding machine 02 to maintain the working state of the welding machine 02 when receiving the signal of the welding machine 02 contacting the workpiece.

[0038] The main function of the auxiliary power supply is to provide power support to the welding machine 02 when the welding machine 02 immediately stops generating waves. As mentioned above, the application occurs before the welding operation starts. When the robot 01 receives the successful location instruction and the point information, it needs to continue to obtain other point information and calculate the corrected path through the three-point location method.

[0039] After detecting that the welding wire contacts the workpiece, the welding machine 02 immediately stops generating waves. After the welding wire leaves the workpiece, the auxiliary power supply voltage inside the welding power supply 03 quickly recovers to 15VDC. The control system judges that the voltage is greater than 8V in the non-welding state, which is in the non-circuit state. The welding machine 02 can generate waves according to the minimum pulse width, thereby obtaining the remaining point information.

[0040] In an embodiment, the robot 01 includes a base, a motor, and a mechanical arm. One end of the mechanical arm is hinged to a rotating seat, and the other end is provided with the welding machine 02. The motor is in driving connection with the mechanical arm, and the motor can drive the mechanical arm to act.

[0041] The base is the basic support structure of the robot 01, which ensures the stability and reliability of the robot 01 as a whole. The base is usually designed to be strong enough to withstand various forces and vibrations generated during the operation of the robot 01. The motor is the power source of the robot 01, which is responsible for providing the energy required to drive the mechanical arm to act. The motor is connected to the mechanical arm through a transmission device, which can accurately control the speed and direction of the movement of the mechanical arm.

[0042] The mechanical arm is the main actuator of the robot 01, usually composed of multiple joints and links to achieve flexible three-dimensional space movement. One end of the mechanical arm is hinged to the rotating seat, which allows the mechanical arm to rotate and swing within a certain range, thereby increasing its flexibility. The other end of the mechanical arm is provided with a welding machine 02, which is the core equipment of the welding operation. The welding machine 02 can accurately reach any position on the workpiece for welding through the precise movement of the mechanical arm.

[0043] After the robot 01 starts, the control system receives the instructions, determines the movement path and welding parameters of the welding machine 02. According to the instructions, the control system controls the motor to start, drives the mechanical arm to move through the transmission device, and the mechanical arm moves according to the preset path and speed under the drive of the motor, accurately sends the welding machine 02 to the welding position on the workpiece. When the welding wire contacts the workpiece, the welding machine 02 stops immediately, and when the control system receives the information of the welding machine 02, the robot 01 moves to make the welding machine 02 leave the workpiece.

[0044] In an embodiment, the robot 01 also includes a wire feeder 04 for providing welding wire to the welding machine 02 and a welding wire reel for storing welding wire. The wire feeder 04 is arranged on the mechanical arm, and the wire feeder 04 is connected to the welding wire wound on the welding wire reel.

[0045] The wire feeder 04 is responsible for continuously and stably feeding the welding wire into the welding torch of the welding machine 02, ensuring the continuity and quality of the welding process. The speed and wire feeding amount of the wire feeder 04 can be accurately adjusted according to the welding requirements. The welding wire reel is a device for storing welding wire, usually installed near the robot 01 or integrated into a certain component of the robot 01. The welding wire on the welding wire reel is connected to the welding machine 02 through the wire feeder 04, forming a complete welding system.

[0046] In an embodiment, the welding power source 03 is electrically connected to the wire feeder 04, and the wire feeder 04 is used to feed the welding wire into the welding machine 02 when driven by the welding power source 03, and the welding machine 02 contacts the workpiece through the welding wire.

[0047] The welding power source 03 not only provides power for the welding machine 02, but also drives the wire feeder 04 to work through electrical connection. When the welding power source 03 starts, it will send a signal to the wire feeder 04 at the same time to drive the wire feeder 04 to feed the welding wire into the welding machine 02. The wire feeder 04 is connected to the welding machine 02 through a specific connection device (such as a pipe, a hose, etc.), ensuring that the welding wire can be smoothly fed into the welding torch of the welding machine 02. The welding machine 02 detects the contact with the workpiece, which detects whether the end of the welding wire contacts the workpiece. In the case of the welding machine 02 with the minimum pulse width, the current generated in the short-circuiting moment of the welding wire and the workpiece is about 10A, which does not melt the welding wire while obtaining the point position information.

[0048] In an embodiment, the control system includes a controller and a control cabinet, the controller is installed on the robot 01 and electrically connected with the robot 01, the control cabinet is electrically connected with the welding power source 03, and the controller is in communication connection with the control cabinet.

[0049] The controller is responsible for receiving instructions from the outside and calculating the actions that the robot 01 and the welding power source 03 and other components should perform according to these instructions. The controller is usually installed on the robot 01 to make close electrical connection and communication with other parts of the robot 01, so that the controller can obtain real-time state information of the robot 01 and make quick and accurate control decisions based on these information.

[0050] The control cabinet is responsible for adjusting the working state of the welding machine 02 power source according to the instructions. The control cabinet is usually installed in a safe position near the welding machine 02 power source to make electrical connection and communication with the controller and the welding power source 03 and other components. The control cabinet is electrically connected with the welding power source 03 through a cable to ensure that the welding power source 03 can work accurately according to the instructions of the controller. The control cabinet is also in communication connection with the controller to receive control instructions from the controller and feed back the execution results to the controller. This communication connection enables the entire control system to form a closed-loop feedback system, thereby realizing accurate control of the welding process.

[0051] In combination with the above embodiment, as shown in Figure 2 the control process of the present application is as follows:

[0052] S1: Send a homing instruction to the welding machine 02 power source: When the work station of the robot 01 starts the welding wire, the control system will send a homing instruction to the welding machine 02 power source. This instruction usually contains the starting conditions of homing, target parameters and the type of information to be returned after homing (such as point coordinates, homing state, etc.).

[0053] S2: The welding machine 02 power source drives the welding machine 02 to emit waves with the smallest pulse width: After receiving the homing instruction, the welding machine 02 power source will drive the welding machine 02 to emit waves according to the preset parameters (especially the smallest pulse width). The welding machine 02 starts to work with the smallest pulse width. At this time, the welding machine 02 has no load circuit, and the voltage between the two ends of the welding machine 02 is about 80VDC. The actual welding machine 02 is a pulsed 80VDC output. Since the peak voltage exceeds 70V, it has completely met the requirement of forming a short circuit loop by breaking through the oil rust steel plate.

[0054] This wave emitting process is usually to produce a short circuit between the welding wire and the workpiece in order to detect whether the welding wire has contacted the workpiece. The smallest pulse width is used to avoid the welding wire melting directly after touching the workpiece and to improve the accuracy of homing.

[0055] S3: The welding machine 02 judges whether the welding wire contacts the workpiece: The welding machine 02 judges whether the welding wire contacts the workpiece by whether a short circuit occurs. If the welding wire contacts the workpiece to produce a short circuit, the current produced at the moment is about 10A, and the welding machine 02 can confirm the occurrence of contact according to the current signal.

[0056] S4: The welding machine 02 stops wave sending and sends a successful search instruction and a point position to the robot 01: When the robot 01 moves to the end of the welding wire and touches the workpiece, the welding machine 02 recognizes that the welding wire is short-circuited, at which time the welding machine 02 stops wave sending and the control system sends a successful search instruction and a point position to the robot 01. The minimum pulse width wave sending mode can avoid the welding wire from being directly melted by current after touching the workpiece, and the current produced at the moment of short circuit between the welding wire and the workpiece under the minimum pulse width condition is about 10A, which is far from melting the welding wire. At the same time, the welding machine 02 stops wave sending immediately after detecting that the welding wire contacts the workpiece, and the control system sends a successful search instruction to the robot 01.

[0057] S5: Search for other point positions: When the robot 01 receives the successful search instruction and the point position information, continue to obtain other point position information. After the welding machine 02 stops wave sending immediately and drives the welding wire away from the workpiece, the auxiliary power supply voltage inside the welding power supply 03 quickly recovers to 15VDC, the control system judges that the voltage is greater than 8V in the non-welding state, that is, in the non-circuit state, and the welding machine 02 can send waves according to the minimum pulse width, thereby obtaining the remaining point position information. Thus, the second and third point position information is obtained.

[0058] S6: The robot 01 calculates the corrected path and performs an empty run: According to the three point position information obtained by the three point search method, the corrected path is calculated, that is, the robot 01 searches for the workpiece according to the set path, when the welding wire contacts the workpiece, the robot 01 stops moving and corrects the path according to the deviation value between the current position and the set position, thereby obtaining the true target path, at this time, the robot 01 performs an empty run according to the corrected path, and then enters the normal welding process. It is ensured that the robot 01 can move according to the corrected path, and will not encounter any unexpected problems or obstacles. After that, the robot 01 enters the welding state.

[0059] The present application realizes a low-cost, safe anti-touch, oil-rust breaking, fast and high success rate search method by the cooperative control mode of the welding power supply 03 and the robot 01, which makes the power supply contact the workpiece with the minimum pulse width. At the same time, the accurate control of the welding power supply 03 also ensures that the welding wire will not burn the workpiece when it touches the workpiece.

[0060] The utility model provides a kind of welding device, including workbench, gas cylinder and the welding location system as above described.The welding location system includes robot 01, welding machine 02, welding power supply 03 and control system, welding machine 02 is used to contact workpiece in the movement process of robot 01, control system controls welding power supply 03 and exports the pulse voltage of preset small pulse width to welding machine 02 when receiving the signal of robot 01 starting work, and when receiving the signal that welding machine 02 contacts workpiece, control robot 01 action.The utility model realizes the location function of welding robot 01 by control system, does not need to additionally add the equipment specially used for location, to reduce cost, improve integration, and reduce potential fault point.

[0061] In an embodiment, the control system is further configured to control the robot 01, the welding machine 02, the welding power supply 03 and the wire feeder 04 to enter a welding state. After the welding location system completes the location work before welding, the welding device has completed accurate positioning and calibration of the welding position, and then the control system controls the robot 01, the welding machine 02, the welding power supply 03 and the wire feeder 04 to enter a welding state.

[0062] In an embodiment, the gas cylinder is connected to the wire feeder 04 through a gas pipe, and the gas cylinder is configured to provide inert gas. The gas pipe is configured to deliver the inert gas in the gas cylinder to the wire feeder 04, and further deliver the inert gas to the welding torch through the wire feeder 04. During welding, the inert gas is sprayed from the nozzle of the welding torch to form a protective gas curtain, which isolates the welding area from the air, thereby playing a protective role.

[0063] In an embodiment, the workbench is arranged in front of the robot 01, which facilitates the robot 01 to directly perform welding work on the workpiece on the workbench. The welding power supply 03 is connected to the workbench through a ground wire, which ensures that the current generated during welding can safely flow back to the welding power supply 03, thereby avoiding safety problems such as current leakage or short circuit. The workpiece is arranged on the workbench and is usually fixed by a clamp or other fixing device. Such an arrangement ensures that the workpiece remains stationary and stable during welding.

[0064] The above embodiments are only preferred embodiments of the utility model, and do not limit the patent scope of the utility model. Any equivalent structure or equivalent process conversion based on the content of the utility model specification and drawings, or direct or indirect application in other related technical fields, is also included in the patent protection scope of the utility model.

Claims

1. A welding locator system, characterized by, The welding system comprises a robot, a welding machine, a welding power supply and a control system, the welding machine is arranged on the robot, the welding power supply is electrically connected with the welding machine, and the control system is electrically connected with the robot, the welding machine and the welding power supply. The welding machine is used to contact the workpiece during the movement of the robot, the control system is used to control the welding power supply to output a pulse voltage with a preset small pulse width to the welding machine when a signal of starting work of the robot is received, and control the robot to move when a signal of the welding machine contacting the workpiece is received.

2. The welding finder system of claim 1, wherein, The welding power supply comprises an auxiliary power supply voltage, and the auxiliary power supply voltage is used to supply power to the welding machine. The control system is further used to control the welding machine to stop working and control the auxiliary power supply voltage to supply power to the welding machine when the signal of the welding machine contacting the workpiece is received.

3. The welding finder system of claim 2, wherein, The robot comprises a base, a motor and a mechanical arm, one end of the mechanical arm is hingedly connected with a rotating base, and the other end is provided with the welding machine, the motor is in transmission connection with the mechanical arm, and the motor can drive the mechanical arm to move.

4. The welding finder system of claim 3, wherein, The robot further comprises a wire feeder for providing welding wire for the welding machine and a welding wire reel for storing the welding wire, the wire feeder is arranged on the mechanical arm, and the wire feeder is connected with the welding wire wound on the welding wire reel.

5. The welding finder system of claim 4, wherein, The welding power supply is electrically connected with the wire feeder, the wire feeder is used to send the welding wire into the welding machine when driven by the welding power supply, and the welding machine contacts the workpiece through the welding wire.

6. The welding finder system of claim 2, wherein, The control system comprises a controller and a control cabinet, the controller is arranged on the robot and is electrically connected with the robot, the control cabinet is electrically connected with the welding power supply, and the controller is in communication connection with the control cabinet.

7. A welding device characterized by, The welding system comprises a workbench, a gas cylinder and the welding positioning system according to any one of claims 1-6.

8. The welding device of claim 7, wherein, The control system is further used to control the robot, the welding machine, the welding power supply and the wire feeder to enter a welding state.

9. The welding device of claim 7, wherein, The gas cylinder is connected with the wire feeder through a gas pipe, and the gas cylinder is used to provide inert gas.

10. The welding device of claim 7, wherein, The workbench is arranged in front of the robot, the welding power supply is connected with the workbench through a ground wire, and the workpiece is arranged on the workbench.

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