An automatic welding robot station

Abstract

The utility model relates to building structure processing technical field discloses an automatic tailor -welding robot workstation, include: operation area, industrial robot includes feeding and discharging assembly robot and welding robot, feeding and discharging assembly robot and welding robot cooperate operation, magnetic attraction assembly component and industrial robot cooperate setting, be suitable for the positioning magnetic attraction of workpiece to be processed, visual inspection component loading vision system and correction vision system, be suitable for the visual inspection of workpiece to be processed of industrial robot processing. Through setting feeding and discharging assembly robot and welding robot cooperation operation, effectively promote the operation efficiency of steel structure node processing, magnetic attraction assembly component can be accurate positioning magnetic attraction to workpiece to be processed, guarantee the consistency of different workpiece assembly, the visual inspection component that loading vision system and correction vision system constitute, timely discover positioning deviation or welding defect, further ensure the machining precision and welding quality of steel structure node.

Description

Technical Field

[0001] This utility model relates to the field of building structure processing technology, specifically to an automatic welding robot workstation. Background Technology

[0002] Modular housing units, as a building form, have been applied to the construction of urban public spaces in recent years. For example, they can be combined and assembled to form temporary commercial areas, cultural activity venues, and other facilities, providing citizens with leisure and entertainment spaces such as open-air concert halls and trendy cafes, effectively improving the utilization efficiency and vitality of urban spaces.

[0003] In terms of structural composition, modular housing units mainly rely on a top frame, bottom frame, connectors, and welded joints to form a whole. Among these, the steel structural joints, as core load-bearing components, directly affect the safety and durability of the overall structure through their welding quality and processing precision. However, in related technologies, the assembly of corner pieces and other components primarily relies on manual positioning and clamping. Each part requires individual marking, alignment, and adjustment, and the clamping scheme and welding sequence must be reset when changing component types. This entire process is highly dependent on manual experience, leading not only to low assembly efficiency and difficulty in ensuring consistency, but also the potential for human error to affect the welding quality of joints, thereby limiting the reliability and service life of the overall structure. Utility Model Content

[0004] In view of this, the present invention provides an automatic welding robot workstation to solve the problems of high reliance on manual labor and low work efficiency in the prior art.

[0005] This utility model provides an automatic welding robot workstation, including:

[0006] Work area;

[0007] Industrial robots are installed in the work area, including loading and unloading assembly robots and welding robots, which work together.

[0008] Magnetic assembly components are set up in the work area and are used in conjunction with industrial robots. They are suitable for positioning and magnetically attracting workpieces to be processed.

[0009] The vision inspection components are set up in the work area, including a loading vision system and a calibration vision system, which are suitable for visual inspection of workpieces to be processed by industrial robots.

[0010] Beneficial effects: By setting up loading and unloading assembly robots and welding robots to work together, the traditional manual assembly and welding processes are replaced, reducing reliance on human experience and effectively improving the efficiency of steel structure node processing; the magnetic assembly component can accurately position and magnetically attract the workpiece to be processed, avoiding errors that are easily caused by manual marking and alignment, and ensuring the consistency of assembly of different workpieces; the vision inspection component composed of the loading vision system and the correction vision system can monitor the workpiece processing process in real time, promptly detect positioning deviations or welding defects, and further ensure the processing accuracy and welding quality of steel structure nodes.

[0011] In one alternative implementation, the material carrying assembly includes:

[0012] The loading tray is suitable for storing workpieces to be processed. The loading and unloading assembly robot works with the loading tray to load workpieces.

[0013] The secondary positioning bracket is used to position the workpiece to be processed by the loading and unloading assembly robot.

[0014] A material unloading tray is suitable for storing finished workpieces.

[0015] Beneficial effects: The loading pallet provides a centralized storage space for workpieces to be processed, facilitating orderly material handling by the loading and unloading assembly robot and avoiding delays caused by cluttered workpieces. It also reduces the workload of manual workpiece handling. The secondary positioning bracket can perform a second precise calibration of the workpieces to be processed, compensating for possible positioning deviations during the loading process and ensuring the quality of subsequent welding. The unloading pallet can neatly store the processed workpieces, facilitating subsequent unified transfer and improving the continuity and overall efficiency of workstation operations.

[0016] In one optional embodiment, the end of the loading and unloading assembly robot near the workpiece to be processed includes a first electro-permanent magnet and a second electro-permanent magnet, which are symmetrically connected to one end of the loading and unloading assembly robot via connectors.

[0017] Beneficial effects: The first and second electro-permanent magnets are symmetrically connected at the end of the loading and unloading assembly robot, which enables the workpiece to be subjected to uniform adsorption force, avoiding workpiece tilting or falling off caused by a single adsorption point, and improving the stability of the gripping process; the permanent magnet adsorption method does not require the complex operation of traditional mechanical clamping, and can quickly realize the adsorption and release of workpieces, shorten the gripping time, and will not cause clamping damage to the workpiece surface. While ensuring the appearance and structural integrity of the workpiece, it further improves the efficiency and safety of loading and unloading operations.

[0018] In one alternative embodiment, the magnetic assembly assembly includes a positioner and a magnetic fixture, the magnetic fixture being fixed to the turntable of the positioner; the magnetic fixture includes a third electro-permanent magnet, which is horizontally mounted on the top of the magnetic fixture.

[0019] Beneficial effects: The third electro-permanent magnet in the magnetic fixture can be flexibly controlled to attract and release the workpiece by switching the power on and off. Compared with traditional permanent magnets, it is more convenient to operate and more controllable. The third electro-permanent magnet is horizontally installed on the top of the magnetic fixture, which can make the workpiece stably attracted to the surface of the fixture, ensuring the levelness and positional accuracy of the workpiece after attraction, and avoiding assembly deviations caused by improper attraction position. The magnetic fixture is fixed to the positioner turntable, which lays the foundation for subsequent adjustment of the workpiece posture and adaptation to welding requirements by the positioner, improves the flexibility of welding robot operation, and helps to ensure the welding quality of complex welding positions.

[0020] In one optional implementation, the positioner has a dual-axis rotating structure, which can be rotated and adjusted around the horizontal and vertical axes, and the center of the positioner's turntable is coaxial with the center of the magnetic tooling.

[0021] Beneficial effects: The dual-axis rotating positioner can rotate at multiple angles around the horizontal and vertical axes. It can flexibly adjust the posture of the workpiece on the magnetic fixture according to the operation requirements of the welding robot, so that the welding robot can perform welding on different welding surfaces of the workpiece without dead angles, avoiding the inefficiency and safety hazards caused by manual workpiece flipping. The center of the positioner turntable and the center of the magnetic fixture are set coaxially to ensure that the workpiece always rotates around its own center during the rotation of the positioner, without positional deviation. This effectively ensures the positioning accuracy of the workpiece during the welding process and further improves the consistency and welding quality of the welded joint.

[0022] In one alternative implementation, the calibration vision system is equipped with a calibrator, which is installed at one end of the loading and unloading assembly robot near the workpiece to be processed; the loading vision system is installed above the loading pallet, and the detection range vertically covers the entire loading pallet area.

[0023] Beneficial effects: The calibrator is installed at the end of the loading and unloading assembly robot closest to the workpiece. It can detect the relative position of the workpiece and the robot end effector in real time when the robot is gripping or assembling the workpiece, and correct the action deviation in time to ensure the accuracy of workpiece gripping and assembly. The loading vision system is installed above the loading pallet and its detection range fully covers the pallet area. It can comprehensively identify the number and placement of workpieces in the pallet, provide the robot with accurate material picking information, avoid material picking failure or workpiece collision caused by blind picking, and improve the efficiency and reliability of the loading process.

[0024] In one optional embodiment, the welding assembly includes: a torch cleaner, which is fixedly installed within the working radius of the welding robot, and the torch cleaning nozzle height of the torch cleaner is adapted to the initial height of the welding robot's end effector; and a welding power source, which is electrically connected to the welding robot.

[0025] Beneficial effects: The torch cleaner is fixed within the working radius of the welding robot, and the height of the torch cleaning nozzle is adapted to the initial height of the robot's end effector. This allows the robot to quickly clean the torch during welding intervals, promptly removing welding slag and preventing it from affecting the arc stability and weld quality of subsequent welding. It also eliminates the need for manual torch cleaning, reducing human intervention. The welding power supply is electrically connected to the welding robot, providing stable current and voltage for the welding process. This avoids weld defects such as porosity and incomplete penetration caused by unstable power supply, further ensuring the welding strength and durability of steel structure nodes.

[0026] In one optional implementation, the secondary positioning bracket is a frame structure, and the surface of the secondary positioning bracket is provided with a positioning groove that matches the shape of the workpiece to be processed. The secondary positioning bracket is within the working radius of the loading and unloading assembly robot.

[0027] Beneficial effects: The secondary positioning bracket adopts a frame structure with positioning grooves on the surface that are adapted to the shape of the workpiece, which enables the workpiece to be quickly embedded and positioned, avoiding workpiece slippage or displacement, and improving the accuracy and efficiency of secondary positioning; the bracket is within the working radius of the loading and unloading assembly robot, so that the robot can complete the workpiece gripping and secondary positioning operation without long-distance movement, shortening the action path and further improving the overall operation efficiency.

[0028] In one optional implementation, the loading and unloading assembly robot further includes:

[0029] A protective shell is disposed on the outside of the first electro-permanent magnet, the second electro-permanent magnet, and the connector;

[0030] A floating spring is installed inside the protective shell. One end of the floating spring corresponds to the installation position of the first electro-permanent magnet and the second electro-permanent magnet, respectively, and the other end abuts against the protective shell.

[0031] The proximity switch is located on the outer wall of the protective housing, with its detection end facing the direction of the extension and retraction of the floating spring, making it suitable for detecting the degree of extension and retraction of the floating spring.

[0032] The distance sensor is installed at the end of the loading and unloading assembly robot that is close to the workpiece to be processed. It is suitable for detecting whether the loading and unloading assembly robot has attracted the workpiece to be processed.

[0033] Beneficial effects: The protective shell encases the magnet and connectors, preventing damage to components from external debris or welding spatter, extending their service life, and avoiding the risk of accidental adsorption caused by exposed magnets; the floating spring provides cushioning when the robot adsorbs workpieces, preventing damage to the workpiece or magnet due to rigid contact, and protecting the workpiece surface and robot parts; the proximity switch detects the degree of spring extension to determine whether the workpiece is tightly adsorbed, ensuring adsorption reliability; the distance sensor can detect whether the workpiece has been successfully adsorbed in real time, avoiding empty gripping or missed gripping, reducing operation interruptions, and improving the stability and reliability of loading and unloading processes.

[0034] In one alternative embodiment, the magnetic suction fixture further includes: an insulating pad laid between the third electro-permanent magnet and the positioner turntable; and a floating contact sandwiched between adjacent insulating pads, with one end of the floating contact extending to the side where the third electro-permanent magnet attracts the workpiece.

[0035] Beneficial effects: The insulating pad, laid between the electro-permanent magnet and the positioner turntable, can block the current conduction between the two, prevent circuit failure or damage to positioner components, and ensure electrical safety; the floating contact can adaptively expand and contract according to the workpiece fit, which can not only help detect whether the workpiece is completely fitted to the electro-permanent magnet, but also avoid the rigid contact scratching the workpiece surface. At the same time, it can realize the conductive connection between the workpiece and the tooling when needed, improving the functionality and practicality of the magnetic tooling. Attached Figure Description

[0036] To more clearly illustrate the specific embodiments of this utility model or the technical solutions in the prior art, the drawings used in the description of the specific embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of this utility model. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0037] Figure 1 This is a schematic diagram of the automatic welding robot workstation of this utility model;

[0038] Figure 2 This is a partial disassembly diagram of the magnetic assembly component of this utility model;

[0039] Figure 3 This is a schematic diagram of the automatic welding robot workstation for material loading and adsorption according to this utility model.

[0040] Figure 4 The first workpiece is visually identified by the automatic welding robot workstation of this utility model;

[0041] Figure 5 The automatic welding robot workstation of this utility model is used to grasp workpieces;

[0042] Figure 6The secondary positioning frame is used for the automatic welding robot workstation of this utility model.

[0043] Figure 7 This utility model relates to the dimensional inspection of the automatic welding robot workstation.

[0044] Figure 8 The automatic welding robot workstation of this utility model uses magnetic positioning.

[0045] Figure 9 This is the second assembly spot welding of the automatic welding robot workstation of this utility model;

[0046] Figure 10 The third part of the automatic welding robot workstation of this utility model is assembled and welded.

[0047] Figure 11 The welding of the automatic welding robot workstation of this utility model is completed;

[0048] Figure 12 This utility model relates to an automatic welding robot workstation for automatic material unloading.

[0049] Explanation of reference numerals in the attached figures:

[0050] 01. Robot control cabinet; 02. Workstation electrical cabinet; 03. Welding robot; 04. Gun cleaner; 05. Pallet; 06. Magnetic assembly assembly assembly; 07. Unloading pallet; 08. Loading and unloading assembly robot; 09. Calibration vision system; 10. Loading pallet; 11. Safety fence; 12. Loading vision system; 13. Secondary positioning bracket; 14. Welding power supply;

[0051] 601. Third electro-permanent magnet; 602. Insulating pad; 603. Floating contact; 604. Two-axis positioner; 801. First electro-permanent magnet; 802. Protective shell; 803. Proximity switch; 804. Floating spring; 805. Second electro-permanent magnet; 806. Distance sensor; 807. Calibrator; 808. Robot body. Detailed Implementation

[0052] To make the objectives, technical solutions, and advantages of the embodiments of this utility model clearer, the technical solutions of the embodiments of this utility model will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this utility model, not all embodiments. Based on the embodiments of this utility model, all other embodiments obtained by those skilled in the art without creative effort are within the protection scope of this utility model.

[0053] In the description of this utility model, it should be noted that the terms "center," "upper," "lower," "left," "right," "vertical," "horizontal," "inner," and "outer," etc., indicating the orientation or positional relationship, are based on the orientation or positional relationship shown in the accompanying drawings and are only for the convenience of describing this utility model and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this utility model. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and should not be construed as indicating or implying relative importance.

[0054] In the description of this utility model, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "joining" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this utility model according to the specific circumstances.

[0055] Furthermore, the technical features involved in the different embodiments of this utility model described below can be combined with each other as long as they do not conflict with each other.

[0056] The following is combined Figures 1 to 12 The following describes embodiments of the present invention.

[0057] According to an embodiment of this utility model, an automatic welding robot workstation is provided, comprising: a work area; an industrial robot disposed in the work area, including a loading / unloading assembly robot 08 and a welding robot 03, the loading / unloading assembly robot 08 and the welding robot 03 cooperating in operation; a magnetic assembly component 06, disposed in the work area and cooperating with the industrial robot, suitable for positioning and magnetically attracting the workpiece to be processed; and a vision inspection component disposed in the work area, including a loading vision system 12 and a correction vision system 09, suitable for visually inspecting the workpiece to be processed by the industrial robot.

[0058] The work area is the core operating space of the entire workstation. It can be designed as a closed or semi-closed structure according to actual processing needs. For example, an aluminum alloy frame combined with transparent acrylic panels can be used to form a closed area. On the one hand, this can prevent welding slag from splashing during the welding process from affecting the external environment, and on the other hand, it can facilitate the operator to observe the internal working status. The size of the work area can be flexibly set according to the working radius of the industrial robot and the maximum size of the workpiece to be processed. For example, when the workpiece to be processed is a large metal component, the length of the work area can be set to 8-12m and the width to 5-8m to ensure that the industrial robot has enough operating space.

[0059] Industrial robots are fixedly installed in the work area, specifically including a loading / unloading assembly robot 08 and a welding robot 03. The two robots work together in coordination through preset program instructions. The loading / unloading assembly robot 08 can be a six-axis industrial robot with a load capacity of 50-100kg, and it is mainly responsible for loading, transferring, and assembling the workpieces to be processed. The welding robot 03 can be a dedicated welding robot 03, with a welding torch at its end effector to complete the welding operation of the workpieces to be processed.

[0060] The magnetic assembly component 06 is also located within the work area and is adapted to the working path of the industrial robot. Its core function is to quickly position and stably magnetically fix the workpiece to be processed, ensuring that the workpiece does not shift during the welding process. The magnetic attraction force of the magnetic assembly component 06 can be adjusted according to the weight of the workpiece. For example, for a workpiece weighing 20-30kg, the magnetic attraction force can be set to 50-80kg to ensure that the workpiece is firmly attracted. In addition, the installation position of the magnetic assembly component 06 can be finely adjusted by adjusting the bracket to adapt to the positioning requirements of workpieces of different sizes.

[0061] The visual inspection components are integrated within the work area, specifically including a loading vision system 12 and a calibration vision system 09. Together, they constitute the workstation's visual perception module, used for full-process visual inspection of the workpieces being processed by the industrial robot. The loading vision system 12 primarily detects the initial state of the workpieces, while the calibration vision system 09 detects positional deviations after assembly and the appearance quality after welding. Real-time detection by the visual inspection components allows for timely detection of abnormal loading or processing defects, preventing defective workpieces from entering the next process and significantly improving the product qualification rate. The system also includes a robot control cabinet 01 and a workstation electrical cabinet 02. The workstation is equipped with a safety fence 11, with the robot control cabinet 01 and workstation electrical cabinet 02 located outside the safety fence 11.

[0062] In some embodiments, combined with Figure 1 As shown, the material carrying component includes: a loading tray 10, which is suitable for storing workpieces to be processed, and a loading / unloading assembly robot 08 cooperates with the loading tray 10 to load the workpieces; a secondary positioning bracket 13, which is used by the loading / unloading assembly robot 08 to move the workpieces to be processed to the secondary positioning bracket 13 for positioning; and a unloading tray 07, which is suitable for storing the processed workpieces.

[0063] The loading tray 10 provides a centralized storage space for the workpieces to be processed, which facilitates the orderly picking up of the loading and unloading assembly robot 08, avoids the delay in picking up the workpieces caused by messy stacking, and reduces the workload of manual handling of the workpieces; the secondary positioning bracket 13 can perform secondary precise calibration of the workpieces to be processed, make up for the positioning deviation that may occur in the loading process, and provide a guarantee for the subsequent welding quality; the unloading tray 07 can neatly store the processed workpieces, which facilitates the subsequent unified transfer and improves the continuity and overall efficiency of the workstation operation.

[0064] Furthermore, the secondary positioning bracket 13 is a frame structure, and the surface of the secondary positioning bracket 13 is provided with a positioning groove that matches the shape of the workpiece to be processed. The secondary positioning bracket 13 is within the working radius of the loading and unloading assembly robot 08.

[0065] The secondary positioning bracket 13 adopts a frame structure, and the positioning grooves on the surface are adapted to the shape of the workpiece, which enables the workpiece to be quickly embedded and positioned, avoiding workpiece slippage or displacement, and improving the accuracy and efficiency of secondary positioning. The bracket is within the working radius of the loading and unloading assembly robot 08, so that the robot can complete the workpiece gripping and secondary positioning operation without long-distance movement, shortening the action path and further improving the overall operation efficiency.

[0066] In some embodiments, combined with Figure 2 As shown, the end of the loading and unloading assembly robot 08 near the workpiece to be processed includes a first electro-permanent magnet 801 and a second electro-permanent magnet 805. The first electro-permanent magnet 801 and the second electro-permanent magnet 805 are symmetrically connected to one end of the loading and unloading assembly robot 08 through a connector.

[0067] The first electro-permanent magnet 801 and the second electro-permanent magnet 805 are symmetrically connected to the end of the loading and unloading assembly robot 08, which enables the workpiece to be subjected to uniform adsorption force, avoiding workpiece tilting or falling off caused by a single adsorption point, and improving the stability of the gripping process. The permanent magnet adsorption method does not require the complex operation of traditional mechanical clamping, and can quickly realize the adsorption and release of the workpiece, shorten the gripping time, and will not cause clamping damage to the workpiece surface. While ensuring the appearance and structural integrity of the workpiece, it further improves the efficiency and safety of loading and unloading operations.

[0068] In some embodiments, combined with Figure 2 As shown, the magnetic assembly assembly 06 includes a positioner and a magnetic fixture. The magnetic fixture is fixed to the turntable of the positioner. The magnetic fixture includes a third electro-permanent magnet 601, which is horizontally mounted on the top of the magnetic fixture.

[0069] The magnetic fixture is mounted on the robot body 808. The third electro-permanent magnet 601 can be flexibly controlled to attract and release the workpiece by switching the power on and off. Compared with traditional permanent magnets, it is more convenient to operate and more controllable. The third electro-permanent magnet 601 is horizontally mounted on the top of the magnetic fixture, which allows the workpiece to be stably attracted to the surface of the fixture, ensuring the horizontality and positional accuracy of the workpiece after attraction and avoiding assembly deviations caused by improper attraction position. The magnetic fixture is fixed to the positioner turntable, laying the foundation for subsequent adjustment of the workpiece posture and adaptation to welding requirements through the positioner, improving the flexibility of the welding robot 03 operation, and helping to ensure the welding quality of complex welding positions.

[0070] Furthermore, the positioner has a dual-axis rotating structure, which can be rotated and adjusted around the horizontal and vertical axes. The center of the positioner's turntable is coaxial with the center of the magnetic tooling.

[0071] The dual-axis rotating positioner can rotate at multiple angles around the horizontal and vertical axes. It can flexibly adjust the posture of the workpiece on the magnetic fixture according to the operation requirements of the welding robot 03, so that the welding robot 03 can perform welding on different welding surfaces of the workpiece without dead angles, avoiding the inefficiency and safety hazards caused by manual workpiece flipping. The center of the positioner turntable and the center of the magnetic fixture are set coaxially to ensure that the workpiece always rotates around its own center during the rotation of the positioner, without positional deviation. This effectively ensures the positioning accuracy of the workpiece during the welding process and further improves the consistency and welding quality of the welded joint.

[0072] Furthermore, the magnetic suction fixture also includes: an insulating pad 602, laid between the third electro-permanent magnet 601 and the positioner turntable; and a floating contact 603 sandwiched between adjacent insulating pads 602, with one end of the floating contact 603 extending to the side of the workpiece adsorbed by the third electro-permanent magnet 601.

[0073] The insulating pad 602 is laid between the electro-permanent magnet and the positioner turntable to block the current conduction between the two, prevent circuit failure or damage to the positioner components, and ensure electrical safety. The floating contact 603 can adaptively expand and contract according to the workpiece fit, which can not only help detect whether the workpiece is completely fitted to the electro-permanent magnet, but also avoid the rigid contact scratching the workpiece surface. At the same time, it can realize the conductive connection between the workpiece and the tooling when needed, improving the functionality and practicality of the magnetic tooling.

[0074] In some embodiments, combined with Figure 2 As shown, the calibration vision system 09 is equipped with a calibrator 807, which is installed on the end of the loading and unloading assembly robot 08 near the workpiece to be processed; the loading vision system 12 is installed on the loading pallet 10 above it, and the detection range vertically covers the entire area of ​​the loading pallet 10.

[0075] The calibrator 807 is installed at the end of the loading / unloading assembly robot 08 near the workpiece. It can detect the relative position of the workpiece and the robot end in real time when the robot is gripping or assembling the workpiece, and correct the action deviation in time to ensure the accuracy of workpiece gripping and assembly. The loading vision system 12 is installed above the loading pallet 10 and its detection range fully covers the pallet 05 area. It can fully identify the number and placement of workpieces in the pallet 05, provide the robot with accurate material picking information, avoid material picking failure or workpiece collision caused by blind material picking, and improve the efficiency and reliability of the loading process.

[0076] In some embodiments, combined with Figure 2 As shown, the welding accessories include: a torch cleaner 04, which is fixedly installed within the working radius of the welding robot 03, and the torch cleaning nozzle height of the torch cleaner 04 is adapted to the initial height of the end of the welding robot 03; and a welding power supply 14, which is electrically connected to the welding robot 03.

[0077] The torch cleaner 04 is fixed within the working radius of the welding robot 03, and the height of the torch cleaner nozzle is adapted to the initial height of the robot's end effector. This allows the robot to quickly clean the welding torch during welding intervals, promptly removing welding slag and preventing it from affecting the arc stability and weld quality of subsequent welding. It also eliminates the need for manual torch cleaning, reducing human intervention. The welding power supply 14 is electrically connected to the welding robot 03, providing stable current and voltage for the welding process. This prevents weld defects such as porosity and incomplete penetration caused by unstable power supply, further ensuring the welding strength and durability of the steel structure nodes.

[0078] In some embodiments, combined with Figure 2 As shown, the loading / unloading assembly robot 08 also includes: a protective shell 802, which is disposed on the outside of the first electro-permanent magnet 801, the second electro-permanent magnet 805, and the connector; a floating spring 804, which is disposed inside the protective shell 802, with one end of the floating spring 804 corresponding to the installation position of the first electro-permanent magnet 801 and the second electro-permanent magnet 805 respectively, and the other end abutting against the protective shell 802; a proximity switch 803, which is disposed on the outer wall of the protective shell 802, with the detection end of the proximity switch 803 facing the extension and retraction direction of the floating spring 804, suitable for detecting the degree of extension and retraction of the floating spring 804; and a distance sensor 806, which is disposed at the end of the loading / unloading assembly robot 08 close to the workpiece to be processed, suitable for detecting whether the loading / unloading assembly robot 08 has attracted the workpiece to be processed.

[0079] Specifically, combined Figure 3As shown, when picking up a workpiece, the first electro-permanent magnet 801 is generally used for loading, and the second electro-permanent magnet 805 is used for unloading. The control logic of the loading / unloading assembly robot 08 is as follows: First, after the system completes visual recognition of the workpiece, the robot receives suggested position coordinates C2 calculated by the software based on the workpiece's position and thickness. The robot calculates a safe upward position coordinate C1. The end of the first electro-permanent magnet 801 moves from the origin to C1, then to C2. At this time, the system automatically activates the distance sensor 806. The sensor is set to a distance of 35mm from D1. When the distance is less than this value, the sensor outputs a signal. The robot moves downward from C2 until it receives the signal and pauses. At this point, the end of the electro-permanent magnet is at position C3, and the distance from the end to the top of the workpiece to be picked up is 10mm from D2. The robot then moves downward by 12mm to position C4, at which point the adsorption function of the first electromagnet is activated, and the workpiece is adsorbed. The robot returns to position C2, and a signal is used to check whether the workpiece has been successfully adsorbed. Throughout the process, there are also signals from proximity sensors to check whether the floating spring 804 is excessively compressed, providing an electrical limit function.

[0080] The specific work process is as follows: Figures 4 to 12 As shown, by Figures 4 to 12 The workpiece to be processed is a corner box assembly. The operation steps are as follows:

[0081] S1: Workers place the corner box components to be processed one by one on the loading tray 10 to ensure that the components are evenly distributed and do not overlap, which facilitates visual recognition and subsequent robot operation.

[0082] S2: The system uses visual recognition technology to identify the components on the loading pallet 10, generate a detailed steel structure node assembly sequence, and simulate the assembly spot welding process to ensure the accuracy of the assembly.

[0083] S3: After confirming that the assembly sequence and simulation process generated by the system are correct, the worker starts the robot and begins the automated assembly process;

[0084] S4: The loading and unloading assembly robot 08 uses the attraction force of the electro-permanent magnet to accurately pick up the workpiece from the loading tray 10 and place it on the secondary positioning bracket 13 for precise secondary positioning.

[0085] S5: After the secondary positioning is completed, the robot uses an electro-permanent magnet to pick up the workpiece again and transports it to the vision system for inspection. After ensuring that the workpiece size meets the requirements, it is placed on the magnetic fixture on the positioner.

[0086] S6: The magnetic fixture uses electromagnetic force to attract the workpiece, ensuring that the workpiece is fixed in position during the welding process and avoiding displacement;

[0087] S7: After completing the secondary positioning of the workpiece, the electro-permanent magnet on the robot end automatically releases the workpiece and picks up the next component to be processed from the loading tray 10 to perform a new round of secondary positioning.

[0088] S8: The system intelligently determines whether the attitude of the two-axis positioner 604 needs to be adjusted based on the current assembly situation in order to adapt to different assembly requirements.

[0089] S9: The loading and unloading assembly robot 08 repeatedly performs the process of picking up workpieces, inspecting, and positioning, while the welding robot 03 performs multi-angle and multi-position spot welding to fix the components to the previous components, ensuring the stability and strength of the welding.

[0090] S10: Steps 7 to 9 above are repeated until all steel structure nodes are assembled and a stable structure is formed;

[0091] S11: After assembly, the loading and unloading assembly robot 08 picks up the welded workpiece, the tooling magnet releases its attraction, and the robot accurately places the completed workpiece onto the unloading tray 07, ready for unloading.

[0092] S12: The worker takes the completed workpiece from the unloading pallet 07 and places the new components to be processed on the loading pallet 10 according to the process requirements, in preparation for the next batch of automated assembly.

[0093] Obviously, the above embodiments are merely examples for clear illustration and are not intended to limit the implementation. Although embodiments of the present invention have been described in conjunction with the accompanying drawings, those skilled in the art can make various modifications and variations without departing from the spirit and scope of the present invention, and all such modifications and variations fall within the scope defined by the present invention.

Claims

1. An automatic welding robot workstation, characterized in that, include: Work area; An industrial robot, which is set in the work area, includes a loading and unloading assembly robot (08) and a welding robot (03), which work together; A magnetic assembly assembly (06) is provided in the work area and is configured in conjunction with the industrial robot. It is suitable for positioning and magnetically attracting the workpiece to be processed. A visual inspection component, which is set in the work area, includes a loading vision system (12) and a calibration vision system (09), and is suitable for visually inspecting the workpiece to be processed by the industrial robot.

2. The automatic welding robot workstation according to claim 1, characterized in that, It also includes a material carrying assembly, which includes: A loading tray (10) is used to store workpieces to be processed. The loading and unloading assembly robot (08) works in conjunction with the loading tray (10) to load the workpieces. Secondary positioning bracket (13), the workpiece to be processed is moved to the secondary positioning bracket (13) by the loading and unloading assembly robot (08) for positioning; The unloading tray (07) is suitable for storing the processed workpieces.

3. The automatic welding robot workstation according to claim 1, characterized in that, The loading and unloading assembly robot (08) includes a first electro-permanent magnet (801) and a second electro-permanent magnet (805) at the end near the workpiece to be processed. The first electro-permanent magnet (801) and the second electro-permanent magnet (805) are symmetrically connected to one end of the loading and unloading assembly robot (08) through a connector.

4. The automatic welding robot workstation according to claim 3, characterized in that, The magnetic assembly assembly (06) includes a positioner and a magnetic fixture, the magnetic fixture being fixed to the turntable of the positioner; the magnetic fixture includes a third electro-permanent magnet (601), the third electro-permanent magnet (601) being horizontally mounted on the top of the magnetic fixture.

5. The automatic welding robot workstation according to claim 4, characterized in that, The positioner has a dual-axis rotating structure, which can be rotated and adjusted around the horizontal and vertical axes. The center of the positioner's turntable is coaxial with the center of the magnetic tooling.

6. The automatic welding robot workstation according to claim 2, characterized in that, The calibration vision system (09) is equipped with a calibrator (807), which is installed at one end of the loading and unloading assembly robot (08) near the workpiece to be processed; the loading vision system (12) is installed above the loading tray (10), and its detection range vertically covers the entire area of ​​the loading tray (10).

7. The automatic welding robot workstation according to claim 1, characterized in that, It also includes welding accessories, including: a gun cleaner (04), which is fixedly installed within the working radius of the welding robot (03), and the height of the gun cleaner (04) is adapted to the initial height of the end of the welding robot (03); and a welding power source (14), which is electrically connected to the welding robot (03).

8. The automatic welding robot workstation according to claim 2, characterized in that, The secondary positioning bracket (13) is a frame structure. The surface of the secondary positioning bracket (13) is provided with a positioning groove that matches the shape of the workpiece to be processed. The secondary positioning bracket (13) is within the working radius of the loading and unloading assembly robot (08).

9. The automatic welding robot workstation according to claim 5, characterized in that, The loading and unloading assembly robot (08) also includes: A protective shell (802) is disposed on the outside of the first electro-permanent magnet (801), the second electro-permanent magnet (805), and the connector; A floating spring (804) is disposed inside the protective shell (802). One end of the floating spring (804) corresponds to the installation position of the first electro-permanent magnet (801) and the second electro-permanent magnet (805), respectively, and the other end abuts against the protective shell (802). A proximity switch (803) is disposed on the outer wall of the protective shell (802), and the detection end of the proximity switch (803) faces the extension and retraction direction of the floating spring (804), which is suitable for detecting the extension and retraction degree of the floating spring (804); A distance sensor (806) is disposed at one end of the loading and unloading assembly robot (08) near the workpiece to be processed, and is suitable for detecting whether the loading and unloading assembly robot (08) has attracted the workpiece to be processed.

10. The automatic welding robot workstation according to claim 9, characterized in that, The magnetic suction fixture further includes: an insulating pad (602) laid between the third electro-permanent magnet (601) and the positioner turntable; and a floating contact (603) sandwiched between adjacent insulating pads (602), one end of which extends to the side of the workpiece attracted by the third electro-permanent magnet (601).

Images