CN109434339B

CN109434339B - Welding control method for robot automatic welding carrier roller beam workstation

Info

Publication number: CN109434339B
Application number: CN201811553591.XA
Authority: CN
Inventors: 易军; 黄建伟; 胡俊林; 李巍; 沈阳; 吕刚; 尹玉明; 田中君; 涂集林; 李付琴
Original assignee: Zigong Innovation Center of Zhejiang University
Current assignee: Zigong Innovation Center of Zhejiang University
Priority date: 2018-12-19
Filing date: 2018-12-19
Publication date: 2020-10-27
Anticipated expiration: 2038-12-19
Also published as: CN109434339A

Abstract

The invention discloses a welding control method of a robot automatic welding carrier roller beam workstation, which comprises the following steps: s1, welding spare parts for preparation; s2, limiting the spot welding sliding groove; s3, feeding angle steel; s4, feeding and pasting materials of the flat steel and the middle support; s5, pressing and clamping; s6, spot welding; s7, shifting; s8, repositioning; s9, pressing and clamping; s10, full welding; s11, pushing out the workpiece; the workstation includes welding platform, angle steel feeding mechanism, band steel feeding mechanism, pillar pay-off stop gear, pillar compress tightly stop gear, spot welding robot, full welding robot and be used for right the controller of workstation control. The workstation control method provided by the invention can be used for completing the automatic production of the carrier roller cross beam, ensuring the welding positions of the flat steel, the middle strut and the side strut on the angle steel during welding, effectively improving the welding quality and efficiency and simultaneously improving the working conditions of workshop workers.

Description

Welding control method for robot automatic welding carrier roller beam workstation

Technical Field

The invention relates to a control method of a workstation, in particular to a welding control method of a robot automatic welding carrier roller beam workstation, and belongs to the technical field of robot welding.

Background

At present, transportation machinery and equipment are widely applied in the fields of ports, power plants, steel enterprises, grain and coal production, light industry and the like, wherein the requirement of a belt conveyor is particularly outstanding. A large number of welding parts exist in the production and manufacturing of the belt conveyor, wherein the carrier roller cross beam is a main component of the belt conveyor, a large number of carrier roller cross beams with the same size are needed on one conveying device, the welding of the existing cross beam generally adopts manual welding, and the problems of low production efficiency, severe production environment, unstable welding quality qualification rate and the like exist, so that the welding of the carrier roller cross beam becomes a bottleneck process of the production of the belt conveyor.

During welding, a manipulator is generally used for feeding. The length of angle steel of the components of the carrier roller beam is large, if a manipulator is used for clamping and feeding, the required clamp is complex in structure, the whole structure is overstaffed, the manipulator cost is high, and the production field is large; meanwhile, two flat steels of the carrier roller cross beam are arranged on two sides of the angle steel respectively, the distance between the two flat steels is large, and the relative position size is not easy to guarantee. In addition, the carrier roller cross beam has more parts of a middle pillar and side pillars, and often a plurality of mechanical arms are required to grab simultaneously, so that the mechanical arm cost is high; meanwhile, two side pillars of one carrier roller cross beam are positioned on two sides of the angle steel, two middle pillars are positioned in the middle of the angle steel, and the relative position size of the middle pillars and the side pillars is not well guaranteed.

Disclosure of Invention

In order to solve the problems, the invention aims to provide a welding control method for a robot automatic welding carrier roller beam workstation, which is used for completing the automatic production of a carrier roller beam, ensuring the welding positions of flat steel, a middle pillar and side pillars on angle steel during welding, effectively improving the welding quality and efficiency and improving the working conditions of workshop workers.

In order to achieve the above purpose, the invention adopts the technical scheme that:

a welding control method for a robot automatic welding carrier roller beam workstation comprises the following steps:

and S1, welding the spare parts for preparation. The angle steel used when the carrier roller cross beam is welded is stacked in the angle steel feeding mechanism, the flat steel is stacked in the flat steel feeding mechanism, and the middle support and the side support are stacked in the support feeding mechanism.

And S2, limiting the sliding groove by spot welding. And the limiting plate lifting cylinder pushes the angle steel limiting plate to lift.

And S3, feeding angle steel. The angle steel feeding mechanism pushes angle steel into the spot welding sliding groove, and after the angle steel arrives, the lifting plate cylinder pushes the angle steel lifting plate to lift.

S4, feeding and pasting the flat steel and the middle support column. The flat steel feeding mechanism pushes the flat steel to the lower side of the angle steel in the spot welding chute, and the lifting plate cylinder drives the angle steel lifting plate to descend until the angle steel presses the flat steel; the strut feeding mechanism conveys the middle strut and the side strut to the upper end of the spot welding chute, and conveys the middle strut and the side strut to the angle steel in the spot welding chute to be attached through the strut feeding limiting mechanism.

And S5, pressing and clamping. And the tool of the strut pressing and limiting mechanism at the upper end of the spot welding chute pushes the cylinder to push the roller rod tool to move downwards so as to press the middle strut and the side strut on the angle steel.

And S6, spot welding. And the spot welding robot performs spot welding on the workpiece in the spot welding chute.

S7, shifting. The tool at the upper end of the spot welding chute pushes the cylinder to drive the roller rod tool to move upwards, the limiting plate lifting cylinder drives the angle steel limiting plate to descend, the angle steel feeding mechanism pushes the next angle steel, and the workpiece subjected to spot welding is pushed into the full-welding chute.

And S8, repositioning. After the workpiece after spot welding is pushed into the full-welding chute, the corner cylinder pushes the workpiece to be tightly jacked in the opposite direction.

And S9, pressing and clamping. The tool of the strut pressing limiting mechanism at the upper end of the full-welding sliding groove pushes the cylinder to push the roller rod tool to move downwards, and the tool in the full-welding sliding groove is pressed.

And S10, full welding. And the full-welding robot performs full-welding on the workpieces in the full-welding sliding chute. And synchronously performing S3-S6 on the spot welding chute while performing the steps S7-S10.

And S11, pushing the workpiece out. After full welding, the corner cylinder acts, the angle steel feeding mechanism pushes the next angle steel again, the fully welded workpiece is pushed out of the slope from the workpiece at the tail end of the full-welding chute, and the welding operation of the carrier roller beam is completed.

Further, the workstation comprises a welding platform, an angle steel feeding mechanism, a flat steel feeding mechanism, a pillar feeding limiting mechanism, a pillar pressing limiting mechanism, a spot welding robot, a full-length welding robot and a controller for controlling the workstation.

Welding platform is including the spot welding spout and the full weld spout that communicate each other, angle steel feeding mechanism and band steel feeding mechanism all install welding platform is last, and is located spot welding spout next door.

The angle steel output end of the angle steel feeding mechanism is connected with the angle steel inlet end of the spot welding sliding groove, the flat steel feeding mechanism is provided with a plurality of flat steel output ends, and the flat steel output ends of the flat steel feeding mechanism are connected with the flat steel inlet end of the spot welding sliding groove.

The pillar output end of the pillar feeding mechanism is located above the pillar inlet end of the spot welding chute, the pillar feeding limiting mechanism is installed at the pillar inlet end of the spot welding chute, and the pillar compressing limiting mechanism is installed above the spot welding chute and the full-length welding chute.

And the spot welding robot and the full-welding robot are respectively arranged beside the spot welding chute and the full-welding chute.

The welding platform is a working platform welded by a carrier roller cross beam, angle steel, flat steel and a strut are respectively conveyed to a spot welding chute of the welding platform by an angle steel feeding mechanism, a flat steel feeding mechanism and a strut feeding mechanism, the strut feeding limiting mechanism and the strut pressing limiting mechanism limit and press the strut conveyed to the spot welding chute, and a spot welding robot performs spot welding on the angle steel, the flat steel and the strut in the spot welding chute and welds the angle steel, the flat steel and the strut into a whole; and then conveying the spot-welded angle steel, flat steel and strut into a full-welding chute, and performing full-welding on the spot-welded angle steel, flat steel and strut by a full-welding robot to weld the angle steel, flat steel and strut into a carrier roller cross beam of the belt conveyor.

Further, welded platform still includes a supporting bench, band steel guide way, angle steel lifter plate, angle steel limiting plate, lifter plate cylinder, limiting plate lift cylinder, corner cylinder and work piece release slope.

The spot welding sliding grooves, the full welding sliding grooves, the flat steel guide grooves, the angle steel lifting plates and the angle steel limiting plates are all arranged on the supporting table; the widths of the lower ends of the spot welding sliding grooves and the full welding sliding grooves are larger than the widths of the upper ends of the spot welding sliding grooves and the full welding sliding grooves, and the flat steel guide grooves are vertical and communicated with the spot welding sliding grooves; the angle steel lifting plate is arranged in the spot welding chute, and a telescopic rod of a lifting plate cylinder penetrates through the support table to be connected with the angle steel lifting plate; the angle steel limiting plate is arranged at the tail end of the spot welding chute and is connected with a telescopic rod of the limiting plate lifting cylinder; the corner cylinder is installed at the tail end of the full-welding sliding groove, and the tail end of the full-welding sliding groove is connected with the top end of the workpiece push-out slope.

The spot welding sliding groove is used for pushing in and pushing out angle steel and performing spot welding on the angle steel; the full-welding sliding chute is used for pushing in and pushing out the carrier roller beam after spot welding and performing full welding on the carrier roller beam; the flat steel guide groove is used for pushing the flat steel. The width of spot welding spout and full weld spout lower extreme all is greater than the width of upper end, is for band steel and angle steel welding back as an organic whole, and the band steel after the welding can follow the great spout of bottom width in the roll-off, gets into in the next station. The angle steel lifter plate in the spot welding chute is used for lifting up the angle steel after the angle steel enters the spot welding chute, so that the flat steel in the flat steel guide groove can conveniently enter the lower parts of the left end and the right end of the angle steel, and the spot welding robot is used for welding the flat steel at the left end and the right end of the angle steel. An angle steel limiting plate at the tail end of the spot welding chute is used for limiting the angle steel in the spot welding chute when welding is started, the angle steel limiting plate blocks the angle steel to prevent the angle steel from moving, the angle steel in the spot welding chute is limited forwards and backwards, and the spot welding robot is used for welding the angle steel and the flat steel; after spot welding, the angle steel limiting plate is driven by the limiting plate lifting cylinder to contract downwards, angle steel is not stopped, and the angle steel enters the full-welding sliding groove from the tail end of the spot welding sliding groove to be fully welded under the pushing of subsequent angle steel. The corner cylinder is used for repositioning the full-welding workpiece in the full-welding chute in the front and back direction; and the workpiece pushing slope at the tail end of the full-welding sliding chute is used for pushing the welding workpiece out of the operation area after full welding.

Further, angle steel feeding mechanism includes angle steel stack frame, angle steel propelling movement notch, angle steel propelling movement board and rodless cylinder.

The angle steel propelling movement notch sets up in the angle steel and stacks the frame bottom, and the angle steel input of the end-to-end connection spot welding spout of angle steel propelling movement notch, the bottom of angle steel propelling movement board sets up on the output slider of rodless cylinder, and the top of angle steel propelling movement board is the triangle-shaped structure, the triangle-shaped structure slides and sets up in angle steel propelling movement notch.

When the angle steel stacking frame works, under the action of the rodless cylinder, the output sliding block of the rodless cylinder drives the angle steel pushing plate on the angle steel stacking frame to move, the angle steel pushing plate slides in the angle steel pushing groove opening to push the angle steel in the angle steel pushing groove opening to move outwards, the angle steel is pushed into the spot welding sliding groove, and the angle steel is pushed simply and conveniently; the top end of the angle steel pushing plate is of a triangular structure, the shape of the angle steel pushing plate is matched with that of angle steel, single angle steel at the bottom end of the angle steel stacking frame can be conveniently pushed, and the angle steel pushing plate has no influence on the angle steel.

Further, the flat steel feeding mechanism comprises a flat steel stacking frame, a flat steel pushing notch, a flat steel pushing plate and a flat steel pushing cylinder.

The flat steel propelling movement notch sets up in the flat steel piling bin bottom, the flat steel input of the end-to-end connection flat steel guide way of flat steel propelling movement notch, the one end of flat steel propelling movement board slides and sets up in flat steel propelling movement notch, and the telescopic link of flat steel propelling movement cylinder is connected to the other end.

The band steel is put things in good order in the frame is stacked to the band steel, and the during operation, under the effect of band steel propelling movement cylinder, the telescopic link of band steel propelling movement cylinder drives the band steel push plate and removes, and the band steel push plate slides in the band steel propelling movement notch, promotes the outside removal of band steel in the band steel propelling movement notch, with the band steel propelling movement to the band steel guide way in, has carried out the propelling movement to the band steel simple and conveniently.

Further, the strut feeding mechanism comprises a conveying mounting frame, a middle strut conveying assembly and an edge strut conveying assembly, wherein the middle strut conveying assembly and the edge strut conveying assembly are both mounted on the conveying mounting frame, and the edge strut conveying assembly is positioned outside the middle strut conveying assembly; the middle support post conveying assembly is used for conveying the middle support post during welding, and the side support post conveying assembly is used for conveying the side support post during welding.

The middle support transmission assembly comprises a middle support transmission groove, a middle support pushing frame, a middle support transmission chain and a middle support transmission motor, the middle support pushing frame is fixedly arranged at the upper end of the middle support transmission chain, the end part of the middle support pushing frame is slidably arranged in the middle support transmission groove, and the middle support transmission chain is driven by the middle support transmission motor. The middle support is placed in the middle support conveying groove, the middle support conveying chain moves under the action of the middle support conveying motor to drive the middle support pushing frame at the upper end of the chain to move, the middle support in the middle support conveying groove is pushed to slide, the middle support slides to the welding platform to be welded, and the middle support of the carrier roller beam is simply and conveniently conveyed.

The limit pillar conveying assembly comprises a limit pillar conveying groove, a limit pillar pushing frame, a limit pillar conveying chain and a limit pillar conveying motor, the limit pillar pushing frame is fixedly installed at the upper end of the limit pillar conveying chain, the end part of the limit pillar pushing frame is slidably installed in the limit pillar conveying groove, and the limit pillar conveying chain is driven by the limit pillar conveying motor. The side pillar is placed in the side pillar conveying groove, and under the effect of the side pillar conveying motor, the side pillar conveying chain moves to drive the side pillar pushing frame at the upper end of the chain to move, so that the side pillar in the side pillar conveying groove is pushed to slide and is welded on the welding platform in a sliding mode, and the side pillar of the carrier roller beam is conveyed simply and conveniently.

Furthermore, the middle support post conveying grooves and the side support post conveying grooves are parallel to each other and are provided with two, the two middle support post conveying grooves are located in the middle and are parallel to each other, and the two side support post conveying grooves are located on the outer sides of the two middle support post conveying grooves respectively and are parallel to each other. The middle is two middle support post conveying grooves, the two sides are two side support post conveying grooves which are matched with the actual structure of the carrier roller cross beam, and the conveying grooves are arranged in parallel, so that the relative position sizes between the side support posts and the side support posts, between the side support posts and the middle support posts, and between the middle support posts and the support posts during welding are ensured after the support posts are conveyed out.

The tail ends of the middle strut conveying groove and the side strut conveying groove extend out of the conveying mounting frame; the conveying mounting frame is extended for a certain distance, so that the middle support and the side support pushed by the pushing plate are directly conveyed to the welding platform in front of the conveying groove after coming out of the conveying groove. The bottoms of the groove plates at the two ends of the side strut conveying groove are higher than the bottoms of the groove plates; the lower end groove plate is used for preventing the inner end groove plate from blocking the strut pressing limiting mechanism when the inner end groove plate is assembled with other components for welding; the height of the outer end slot plate is matched with that of the side support, and meanwhile, the outer end slot plate is used for preventing external objects from entering the interior of the support feeding mechanism from the left end and the right end.

Well pillar push away frame and limit pillar push away the frame and all include the connecting piece in the middle of and the slurcam that both ends set up downwards, connecting piece fixed mounting is on the conveying chain, slurcam slidable mounting is in the conveying groove. The connecting piece is fixed in the chain upper end, and the slurcam slides and sets up in the transfer tank, and the chain motion drives the connecting piece motion and then drives the slurcam and slide in the transfer tank, promotes the inside limit pillar or the middle support post of transfer tank and outwards slides, conveys welding platform and goes up the welding, has carried out the conveying to the limit pillar and the middle support post of bearing roller crossbeam simple and conveniently.

Further, pillar pay-off stop gear includes pillar locating rack, takes out from a horizontal shelf, locating rack promotion cylinder, horizontal shelf promotion cylinder and linear guide.

The strut positioning frame comprises a middle strut U-shaped groove and a side strut U-shaped groove which are arranged at the front end, the open ends of the middle strut U-shaped groove and the side strut U-shaped groove are respectively right opposite to the output ends of the middle strut conveying groove and the side strut conveying groove, and the strut positioning frame is positioned right above the spot welding sliding groove.

The drawing piece cross frame comprises a middle support piece and an edge support piece, wherein the front end of the middle support piece and the front end of the edge support piece cross frame respectively slide to shield the outlets of the bottom ends of the U-shaped groove of the middle support and the U-shaped groove of the edge support.

The positioning frame pushing cylinder is fixedly arranged on the supporting table, and a telescopic rod of the positioning frame pushing cylinder is connected with the strut positioning frame; the cross frame pushing cylinder is fixedly arranged on the lower surface of the pillar positioning frame, and a telescopic rod of the cross frame pushing cylinder is connected with the drawing-off piece cross frame; the track of linear guide is fixed mounting in on the brace table, linear guide's slider upper end is connected the pillar locating rack.

The strut feeding limiting mechanism is used for feeding the middle strut and the side strut into the spot welding sliding groove from the strut feeding mechanism. The strut positioning frame slides in the length direction of the spot welding sliding groove perpendicular to the positioning frame under the action of the positioning frame pushing cylinder and the linear guide rail, so that the distances between the middle strut U-shaped groove and the side strut U-shaped groove and the output end of the strut feeding mechanism are conveniently controlled, the middle strut and the side strut enter the middle strut U-shaped groove and the side strut U-shaped groove respectively, and the middle strut blocking piece and the side strut blocking piece at the lower end of the U-shaped groove support the middle strut and the side strut. The drawing-off piece cross frame slides in the length direction of the spot welding sliding groove perpendicular to the cross frame under the action of the cross frame pushing cylinder, the middle supporting column retaining pieces and the side supporting column retaining pieces slide at the lower ends of the U-shaped groove of the middle supporting column and the U-shaped groove of the side supporting column, the middle supporting column and the side supporting column in the U-shaped groove of the middle supporting column and the U-shaped groove of the side supporting column directly fall into the spot welding sliding groove at the lower end, and the middle supporting column and the side supporting column are simply and conveniently controlled.

Further, the pillar pressing and limiting mechanism comprises a cylinder installation portal frame, a roller rod tool and a tool pushing cylinder.

The tool pushing cylinder is installed on the cylinder installation portal frame, the two roller rod tools are respectively located above the spot welding sliding groove and the full-welding sliding groove, and the top ends of the roller rod tools are connected with the telescopic rods of the tool pushing cylinder. Under the effect of frock pushing cylinder, the roller pole frock is removed in vertical direction, and the well pillar and the limit post to the bearing roller crossbeam carry on spacingly and compress tightly, and then be convenient for spot welding robot and full weld robot weld the welding piece to the bearing roller crossbeam.

The roller rod tool comprises a connecting rod at the upper end, a compression limiting rod at the lower end and a connecting plate for connecting the connecting rod and the middle part of the compression limiting rod; two ends of the compression limiting rod are bent upwards respectively, and the left end and the right end of the connecting rod are connected with the left end and the right end of the compression limiting rod, which are bent upwards respectively; the lower end of the middle part of the compression limiting rod is provided with a middle strut compression limiting block, and the lower ends of the bent parts at the two ends are provided with side struts compression limiting blocks.

The roller rod tool is driven by the tool pushing cylinder to move downwards, and a middle pillar and an edge pillar of the carrier roller beam are limited and compressed; the middle support column compresses the upper end notch of the middle support column clamped by the limiting block, the side support column compresses the upper end notch of the side support column clamped by the limiting block, the middle support column and the side support column are convenient to press downwards, and the middle support column and the side support column are limited when being compressed, so that the spot welding robot and the full-length welding robot can weld workpieces conveniently. The two ends of the pressing limiting rod are bent upwards respectively, so that the specific structure of the carrier roller cross beam is considered, and the centering strut and the side strut are convenient to press and limit simultaneously.

Further, the lower extreme of spot welding robot and full-length welding robot all installs the robot and places the bench, and spot welding robot is located spot welding spout the place ahead, full-length welding robot is provided with two, arranges in respectively full-length welding spout two sides around. The spot welding robots perform initial spot welding on the workpieces in the spot welding chutes, then work is pushed into the full-welding chutes, the two full-welding robots perform full-welding on the workpieces, and fusion welding is performed on all contact places of the welded workpieces, so that the welded workpieces are welded into a whole. Totally three welding robots weld the work piece, and two full weldings are welded in a spot welding, make the welding robot divide the work clearly, have improved the efficiency of welding the welding work piece.

The invention has the beneficial effects that:

the invention provides a welding control method of a robot automatic welding carrier roller beam workstation, which controls each cylinder, each motor and each welding robot to work in a coordinated and matched mode through a controller; the angle steel feeding mechanism, the flat steel feeding mechanism and the strut feeding mechanism respectively convey angle steel, flat steel and struts to spot welding chutes of the welding platform, the strut feeding limiting mechanism and the strut pressing limiting mechanism limit and press the struts conveyed to the spot welding chutes, and the spot welding robot performs spot welding on the angle steel, the flat steel and the struts in the spot welding chutes and welds the angle steel, the flat steel and the struts into a whole; then conveying the spot-welded angle steel, flat steel and strut into a full-welding chute, performing full-welding on the spot-welded angle steel, flat steel and strut by a full-welding robot, pushing the angle steel, flat steel and strut out of a slope from a workpiece after full-welding, and pushing the angle steel, flat steel and strut out of an operation area to finish automatic production of the carrier roller beam; guarantee the welding position of band steel, well pillar and limit pillar on the angle steel when the welding, more traditional manual welding mode can effectively improve welding quality and efficiency, improves workshop workman's operating condition simultaneously.

Drawings

FIG. 1 is a flow chart of the present invention;

FIG. 2 is a schematic view of a workstation configuration of the present invention;

FIG. 3 is a top view of the workstation of the present invention;

FIG. 4 is a schematic view of the structure of the support table and the workpiece ejecting ramp according to the present invention;

FIG. 5 is a schematic view of the welding platform of the present invention with the support platform and the workpiece ejection ramp removed;

FIG. 6 is a schematic structural view of an angle steel feeding mechanism of the present invention;

FIG. 7 is a schematic view of the left side structure of the angle steel feeding mechanism of the present invention;

FIG. 8 is a schematic structural view of a flat steel feeding mechanism according to the present invention;

FIG. 9 is a schematic structural view of a post feed mechanism of the present invention;

FIG. 10 is a schematic view of the construction of the post transport assembly and the side post transport assembly of the present invention;

FIG. 11 is a schematic view showing the structure of a post transport groove according to the present invention;

FIG. 12 is a schematic view of the construction of an edge support transfer slot according to the present invention;

FIG. 13 is a schematic view of a structure of a pillar pushing frame according to the present invention;

FIG. 14 is a schematic structural view of a side post pushing frame according to the present invention;

FIG. 15 is a schematic structural view of a post feeding limiting mechanism according to the present invention;

FIG. 16 is a bottom view of the post feed limit mechanism of the present invention;

FIG. 17 is a schematic view of a post spacer of the present invention;

FIG. 18 is a schematic structural view of a pull-off piece cross frame according to the present invention;

FIG. 19 is a schematic structural view of a strut compression limiting mechanism according to the present invention;

FIG. 20 is a schematic view of the roll bar tooling of the present invention;

fig. 21 is a schematic structural view of a welded idler beam of the present invention;

in the figure: 1. welding a platform; 10. a support table; 11. spot welding the chute; 12. fully welding the sliding chute; 13. a flat steel guide groove; 14. an angle steel lifting plate; 15. a limiting plate of angle steel; 16. a lifter plate cylinder; 17. a limiting plate lifting cylinder; 18. a corner cylinder; 19. pushing the workpiece out of the slope; 2. an angle steel feeding mechanism; 21. an angle steel stacking frame; 22. the angle steel pushing notch; 23. an angle steel push plate; 24. a rodless cylinder; 3. a flat steel feeding mechanism; 31. a flat steel stacking frame; 32. a flat steel pushing notch; 33. a flat steel push plate; 34. a flat steel pushing cylinder; 4. a strut feeding mechanism; 41. a transport mounting; 42. a middle support transmission component; 421. a strut transfer slot; 422. a middle pillar pushing frame; 423. a middle support transmission chain; 424. a middle support transmission motor; 43. a side post transport assembly; 431. a side pillar transfer slot; 432. a side pillar pushing frame; 433. an edge support transmission chain; 434. a side pillar transfer motor; 44. a connecting member; 45. a push plate; 5. a strut feeding limiting mechanism; 51. a pillar positioning frame; 511. a U-shaped groove of the middle support; 512. a U-shaped groove of the side pillar; 52. a horizontal frame for drawing off the slices; 521. a middle strut stop piece; 522. an edge support fence; 53. the positioning frame pushes the air cylinder; 54. the cross frame pushes the air cylinder; 55. a linear guide rail; 6. the strut compresses the stop gear; 61. the air cylinder is provided with a portal frame; 62. a roll rod tool; 621. a connecting rod; 622. compressing the limiting rod; 623. a connecting plate; 624. the middle support compresses the limiting block; 625. the side strut compresses the limited block; 63. the tool pushes the cylinder; 7. a spot welding robot; 8. a full-length welding robot; 9. a carrier roller cross beam; 91. angle steel; 92. flat steel; 93. a middle pillar; 94. side struts.

Detailed Description

In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is further described with reference to the accompanying drawings. In the description of the present invention, it is to be understood that the terms "upper", "lower", "front", "rear", "left", "right", "top", "bottom", "inner", "outer", and the like, indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, are merely for convenience in describing the present invention and simplifying the description, and do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus, should not be construed as limiting the present invention.

A welding control method for a robot automatic welding carrier roller beam workstation is shown in figure 1 and comprises the following steps:

and S1, welding the spare parts for preparation. Angle steel 91 used for welding the carrier roller cross beam 9 is stacked in the angle steel feeding mechanism 2, flat steel 92 is stacked in the flat steel feeding mechanism 3, and a middle support 93 and an edge support 94 are stacked in the support feeding mechanism 4.

And S2, limiting the sliding groove by spot welding. And the limiting plate lifting cylinder 17 pushes the angle steel limiting plate 15 to ascend.

And S3, feeding angle steel. The angle steel feeding mechanism 2 pushes the angle steel 91 into the spot welding chute 11, and after the angle steel arrives, the lifting plate cylinder 16 pushes the angle steel lifting plate 14 to lift.

S4, feeding and pasting the flat steel and the middle support column. The flat steel feeding mechanism 3 pushes the flat steel 92 to the lower side of the angle steel in the spot welding chute 11, and the lifting plate cylinder 16 drives the angle steel lifting plate 14 to descend until the angle steel 91 presses the flat steel 92; the strut feeding mechanism 4 conveys the middle strut 93 and the side strut 94 to the upper end of the spot welding chute 11, and conveys the middle strut 93 and the side strut 94 to the angle steel 91 in the spot welding chute 11 through the strut feeding limiting mechanism 5 for attaching.

And S5, pressing and clamping. The tool pushing cylinder 63 of the strut pressing and limiting mechanism 6 at the upper end of the spot welding chute 11 pushes the roller rod tool 62 to move downwards, and a middle strut 93 and an edge strut 94 on the angle iron 91 are pressed.

And S6, spot welding. The spot welding robot 7 spot-welds the workpiece in the spot welding chute 11.

S7, shifting. The tool pushing cylinder 63 at the upper end of the spot welding chute 11 drives the roller rod tool 62 to move upwards, the limiting plate lifting cylinder 17 drives the angle steel limiting plate 15 to descend, the angle steel feeding mechanism 2 pushes the next angle steel 91, and the workpiece subjected to spot welding is pushed into the full-welding chute 12.

And S8, repositioning. After the workpiece after spot welding is pushed into the full-welding chute 12, the corner cylinder 18 pushes the workpiece in the opposite direction to jack the workpiece tightly.

And S9, pressing and clamping. The tool of the strut pressing and limiting mechanism 6 at the upper end of the full-welding sliding chute 12 pushes the cylinder 63 to push the roller rod tool 62 to move downwards, so that the tool in the full-welding sliding chute 12 is pressed.

And S10, full welding. The full-welding robot 8 performs full-welding on the workpieces in the full-welding chute 12. The steps S3 to S6 are performed in synchronization with the spot welding chute 11 while the steps S7 to S10 are performed.

And S11, pushing the workpiece out. After full welding, the corner cylinder 18 acts, the angle steel feeding mechanism 2 pushes the next angle steel 91 again, and the fully welded workpiece is pushed out of the operation area from the workpiece push-out slope 19 at the tail end of the full-welding chute 12, so that the welding operation of the carrier roller beam is completed.

As an optimized scheme of the invention, as shown in fig. 2 and 3, the welding platform comprises a welding platform 1, an angle steel feeding mechanism 2, a flat steel feeding mechanism 3, a pillar feeding mechanism 4, a pillar feeding limiting mechanism 5, a pillar pressing limiting mechanism 6, a spot welding robot 7, a full-length welding robot 8 and a controller for controlling a workstation;

the welding platform 1 comprises a spot welding chute 11 and a full-welding chute 12 which are communicated with each other, and the angle steel feeding mechanism 2 and the flat steel feeding mechanism 3 are both arranged on the welding platform 1 and are positioned beside the spot welding chute 11;

the angle steel output end of the angle steel feeding mechanism 2 is connected with the angle steel inlet end of the spot welding chute 11, a plurality of flat steel feeding mechanisms 3 are arranged, and the flat steel output end of each flat steel feeding mechanism 3 is connected with the flat steel inlet end of the spot welding chute 11;

the pillar output end of the pillar feeding mechanism 4 is positioned above the pillar inlet end of the spot welding chute 11, the pillar feeding limiting mechanism 5 is installed at the pillar inlet end of the spot welding chute 11, and the pillar pressing limiting mechanism 6 is installed above the spot welding chute 11 and the full-welding chute 12;

the spot welding robot 7 and the full-welding robot 8 are respectively installed beside the spot welding runner 11 and the full-welding runner 12.

In this embodiment, the controller is a PLC of siemens 6ES 72881 SR 600 AA0 type; the spot welding robot 7 and the full-length welding robot 8 are both of M-20iA02x01 type.

As an optimized scheme of the invention, as shown in fig. 4 and 5, the welding platform 1 further comprises a support table 10, a flat steel guide groove 13, an angle steel lifting plate 14, an angle steel limiting plate 15, a lifting plate cylinder 16, a limiting plate lifting cylinder 17, a corner cylinder 18 and a workpiece pushing slope 19; in the embodiment, the lifting plate cylinder 16 and the limiting plate lifting cylinder 17 are cylinders of SE32x25 type; the corner cylinder 18 is an ACKL50x90 cylinder.

The spot welding chutes 11, the full welding chutes 12, the flat steel guide grooves 13, the angle steel lifting plates 14 and the angle steel limiting plates 15 are all arranged on the support table 10; the widths of the lower ends of the spot welding chutes 11 and the full welding chutes 12 are larger than the widths of the upper ends, and the flat steel guide grooves 13 are vertical and communicated with the spot welding chutes 11; the angle steel lifting plate 14 is arranged in the spot welding chute 11, and a telescopic rod of a lifting plate cylinder 16 penetrates through the support platform 10 to be connected with the angle steel lifting plate 14; the angle steel limiting plate 15 is arranged at the tail end of the spot welding chute 11, and the angle steel limiting plate 15 is connected with a telescopic rod of a limiting plate lifting cylinder 17; the corner cylinder 18 is arranged at the tail end of the full-welding sliding chute 12, and the tail end of the full-welding sliding chute 12 is connected with the top end of the workpiece push-out slope 19.

As an optimized scheme of the invention, as shown in fig. 6 and 7, the angle steel feeding mechanism 2 comprises an angle steel stacking frame 21, an angle steel pushing notch 22, an angle steel pushing plate 23 and a rodless cylinder 24; in this embodiment, the rodless cylinder 24 is a cylinder with model number 1312505_ DGC-K-63-1850-PPV-A-GK.

The angle steel propelling movement notch 22 sets up and stacks the frame 21 bottom at the angle steel, and the angle steel input of the end-to-end connection spot welding spout 11 of angle steel propelling movement notch 22, the bottom setting of angle steel propelling movement board 23 are on the output slider of rodless cylinder 24, and the top of angle steel propelling movement board 23 is the triangle-shaped structure, and the triangle-shaped structure slides and sets up in angle steel propelling movement notch 22.

As an optimized scheme of the invention, as shown in fig. 8, the flat steel feeding mechanism 3 comprises a flat steel stacking frame 31, a flat steel pushing notch 32, a flat steel pushing plate 33 and a flat steel pushing cylinder 34; in this embodiment, the flat steel pushing cylinder 34 is an air cylinder of type SE50x 500.

The band steel propelling movement notch 32 sets up in the band steel piling up frame 31 bottom, and the end-to-end connection band steel input of band steel guide way 13 of band steel propelling movement notch 32, and the one end of band steel propelling movement board 33 slides and sets up in band steel propelling movement notch 32, and the telescopic link of band steel propelling movement cylinder 34 is connected to the other end.

As a preferable aspect of the present invention, as shown in fig. 9 to 14, the strut feeding mechanism 4 includes a conveying mounting frame 41, a middle strut conveyor assembly 42 and an edge strut conveyor assembly 43, the middle strut conveyor assembly 42 and the edge strut conveyor assembly 43 being mounted on the conveying mounting frame 41, the edge strut conveyor assembly 43 being located outside the middle strut conveyor assembly 42;

the middle support transmission assembly 42 comprises a middle support transmission groove 421, a middle support pushing frame 422, a middle support transmission chain 423 and a middle support transmission motor 424, wherein the middle support pushing frame 422 is fixedly arranged at the upper end of the middle support transmission chain 423, the end part of the middle support pushing frame 422 is slidably arranged in the middle support transmission groove 421, and the middle support transmission chain 423 is driven by the middle support transmission motor 424;

the side post transport unit 43 includes a side post transport groove 431, a side post pushing frame 432, a side post transport chain 433, and a side post transport motor 434, the side post pushing frame 432 is fixedly installed at an upper end of the side post transport chain 433, an end portion of the side post pushing frame 432 is slidably installed in the side post transport groove 431, and the side post transport chain 433 is driven by the side post transport motor 434. In this embodiment, the middle post transfer motor 424 and the side post transfer motor 434 are both motors of the type SHSTM 110-1.2-S-171.

As an optimized solution of the present invention, as shown in fig. 9-14, the middle pillar transferring groove 421 and the side pillar transferring groove 431 are parallel to each other and are provided in two numbers, the two middle pillar transferring grooves 421 are located at the middle position and are parallel to each other, the two side pillar transferring grooves 431 are respectively located at the outer sides of the two middle pillar transferring grooves 421 and are parallel to each other, the ends of the middle pillar transferring groove 421 and the side pillar transferring grooves 431 both extend out of the transferring mounting frame 41, and the bottoms at both ends of the side pillar transferring grooves 431 are higher than the bottoms in the groove plates;

the middle support pushing frame 422 and the side support pushing frame 432 both comprise a connecting piece 44 in the middle and pushing plates 45 with two ends arranged downwards, the connecting piece 44 is fixedly arranged on the conveying chain, and the pushing plates 45 are slidably arranged in the conveying groove.

As an optimized solution of the present invention, as shown in fig. 15 to 18, the pillar feeding limiting mechanism 5 includes a pillar positioning frame 51, a pull-off piece cross frame 52, a positioning frame pushing cylinder 53, a cross frame pushing cylinder 54, and a linear guide rail 55. In this embodiment, the positioning frame pushing cylinder 53 is an air cylinder of model SE50x 100; the cross frame pushing cylinder 54 is an SE32x100 cylinder; the linear guide 55 is a SHS25LC2QZSS guide.

The strut positioning frame 51 comprises a middle strut U-shaped groove 511 and a side strut U-shaped groove 512 at the front end, the open ends of the middle strut U-shaped groove 511 and the side strut U-shaped groove 512 are respectively aligned with the output tail ends of the middle strut conveying groove 421 and the side strut conveying groove 431 and are positioned right above the spot welding sliding groove 11;

the drawing piece cross frame 52 comprises a middle strut baffle 521 and an edge strut baffle 522, the front ends of which respectively slide and shield the outlets at the bottom ends of the middle strut U-shaped groove 511 and the edge strut U-shaped groove 512;

a positioning frame pushing cylinder 53 is fixedly arranged on the support table 10, and an expansion link of the positioning frame pushing cylinder 53 is connected with the support positioning frame 51; a cross frame pushing cylinder 54 is fixedly arranged on the lower surface of the pillar positioning frame 51, and an expansion rod of the cross frame pushing cylinder 54 is connected with the drawing-off piece cross frame 52; the track of the linear guide 55 is fixedly installed on the support table 10, and the upper end of the slide block of the linear guide 55 is connected with the pillar positioning frame 51.

As an optimized scheme of the invention, as shown in fig. 19, the pillar pressing and limiting mechanism 6 comprises a cylinder mounting portal frame 61, a roller rod tool 62 and a tool pushing cylinder 63; in this embodiment, the tool pushing cylinder 63 is an SE50x100 cylinder.

Frock push cylinder 63 installs on cylinder installation portal frame 61, and roller bar frock 62 is provided with two, is located spot welding spout 11 and full weld spout 12 top respectively, and the telescopic link of frock push cylinder 63 is connected on the top of roller bar frock 62.

As an optimized scheme of the present invention, as shown in fig. 20, the roller rod tooling 62 includes a connecting rod 621 at the upper end, a pressing limit rod 622 at the lower end, a connecting rod 621, and a connecting plate 623 connecting the middle of the pressing limit rod 622;

two ends of the pressing limiting rod 622 are bent upwards respectively, and the left end and the right end of the connecting rod 621 are connected with the left end and the right end of the pressing limiting rod 622 which are bent upwards respectively; the lower end of the middle part of the pressing limiting rod 622 is provided with a middle strut pressing limiting block 624, and the lower ends of the bent parts at the two ends are provided with side strut pressing limiting blocks 625.

As an optimized scheme of the present invention, as shown in fig. 2 and 3, the lower ends of the spot welding robot 7 and the full-length welding robot 8 are both mounted on the robot placing table, the spot welding robot 7 is located in front of the spot welding chute 11, and the full-length welding robot 8 is provided with two sets which are respectively placed in front of and behind the full-length welding chute 12.

In the invention, the carrier roller cross beam 9 to be welded is shown in fig. 21 and comprises an angle steel 91, two flat steels 92, two middle pillars 93 and two side pillars 94, and the purpose of the workstation of the invention is to weld the angle steel 91, the two flat steels 92, the two middle pillars 93 and the two side pillars 94 into the carrier roller cross beam shown in fig. 20.

For a better understanding of the present invention, the following is a complete description of the working principle of the present invention:

in the step S1, the angle steel 91 is stacked in the angle steel stacking frame 21 of the angle steel feeding mechanism 2; the flat steel 92 is stacked in the flat steel stacking frames 31 of the two flat steel feeding mechanisms 3; the middle support posts 93 are stacked in the two middle support post conveying grooves 421 of the support post feeding mechanism 4; the side stays 94 are stacked in the two side stay transfer grooves 431 of the stay feeding mechanism 4.

The control method comprises the following steps:

and S1, welding the spare parts for preparation. Angle steel 91 used for welding the carrier roller cross beam 9 is stacked in the angle steel feeding mechanism 2, flat steel 92 is stacked in the flat steel feeding mechanism 3, and a middle support 93 and an edge support 94 are stacked in the support feeding mechanism 4. Specifically, the angle steel 91 is stacked in the angle steel stacking frame 21 of the angle steel feeding mechanism 2; the flat steel 92 is stacked in the flat steel stacking frames 31 of the two flat steel feeding mechanisms 3; the middle support posts 93 are stacked in the two middle support post conveying grooves 421 of the support post feeding mechanism 4; the side stays 94 are stacked in the two side stay transfer grooves 431 of the stay feeding mechanism 4.

And S2, limiting the sliding groove by spot welding. The limiting plate lifting cylinder 17 pushes the angle steel limiting plate 15 to ascend, and the angle steel 91 in the butt-welding chute 11 is limited forwards and backwards.

And S3, feeding angle steel. Under the action of the rodless cylinder 24, the output slide block of the rodless cylinder 24 drives the angle steel pushing plate 23 on the rodless cylinder to move, the angle steel pushing plate 23 slides in the angle steel pushing notch 22, the angle steel 91 in the angle steel pushing notch 22 is pushed to move outwards, and the angle steel 91 is pushed into the spot welding chute 11; after the angle steel arrives, the lifting plate cylinder 16 pushes the angle steel lifting plate 14 to lift for a certain distance.

S4, feeding and pasting the flat steel and the middle support column.

S41, the flat steel pushing cylinder 34 works, the telescopic rod of the flat steel pushing cylinder 34 drives the flat steel pushing plate 33 to move, the flat steel pushing plate 33 slides in the flat steel pushing notch 32 to push the flat steel 92 in the flat steel pushing notch 32 to move outwards, the flat steel 92 is pushed into the flat steel guide groove 13, and then the flat steel 92 is further pushed into the lower sides of the left end and the right end of the angle steel in the spot welding chute 11; then the lifting plate cylinder 16 drives the angle steel lifting plate 14 to descend until the angle steel 91 presses the flat steel 92.

S42, the middle support transmission motor 424 and the side support transmission motor 434 rotate to drive the two middle support transmission chains 423 and the two side support transmission chains 433 to move rightwards synchronously, further drive the middle support pushing frame 422 and the side support pushing frame 432 to move rightwards, the pushing plates 45 at the two ends of the pushing frame move rightwards in the middle support transmission groove 421 and the side support transmission groove 431, push the middle support 93 of the middle support transmission groove 421 and the side support 94 of the side support transmission groove 431 to move rightwards synchronously, and transmit the two middle supports 93 and the two side supports 94 to the support feeding limiting mechanism 5 from the tail end of the transmission groove.

S43, the middle strut U-shaped groove 511 and the side strut U-shaped groove 512 are conveyed to the middle strut 93 and the side strut 94 conveyed from the tail end of the conveying groove, then under the pushing of the cross frame pushing cylinder 54, the middle strut baffle plate 521 and the side strut baffle plate 522 slide and are pulled away from the lower ends of the middle strut U-shaped groove 511 and the side strut U-shaped groove 512, and the middle strut 93 and the side strut 94 in the middle strut U-shaped groove 511 and the side strut U-shaped groove 512 fall on the angle steel 91 in the spot welding sliding groove 11 to be jointed.

And S5, pressing and clamping. A tool pushing cylinder 63 of the strut pressing and limiting mechanism 6 at the upper end of the spot welding chute 11 pushes the roller rod tool 62 to move downwards, and a middle strut 93 and an edge strut 94 on the angle iron 91 are pressed; the middle support pressing limiting block 624 clamps the upper end notch of the middle support 93, the side support pressing limiting block 625 clamps the upper end notch of the side support 94, and the middle support 93 and the side support 94 are pressed and limited at the same time.

S7, shifting. The tool pushing cylinder 63 at the upper end of the spot welding chute 11 drives the roller rod tool 62 to move upwards, the limiting plate lifting cylinder 17 drives the angle steel limiting plate 15 to descend, and the roller rod tool 62 and the angle steel limiting plate 15 do not limit the position of the strut 93 and the side strut 94 any more; then the angle steel feeding mechanism 2 pushes the next angle steel 91, and pushes the spot-welded workpiece into the full-welding chute 12. The angle steel limiting plate 15 only plays a limiting role when the angle steel is pushed in for the first time, and the angle steel limiting plate 15 is always located at the lowest position and does not need to limit the angle steel in the spot welding chute 11 any more.

And S8, repositioning. After the spot-welded workpiece is pushed into the full-welding chute 12, the corner cylinder 18 pushes and supports the workpiece in the opposite direction, so that the position of the pushing direction is prevented from deviating, and the position of the pushing direction is ensured to be accurate.

And S9, pressing and clamping. A tool pushing cylinder 63 of the strut pressing and limiting mechanism 6 at the upper end of the full-welding sliding chute 12 pushes a roller rod tool 62 to move downwards to press the tool in the full-welding sliding chute 12 tightly; the middle support pressing limiting block 624 clamps the upper end notch of the middle support 93, the side support pressing limiting block 625 clamps the upper end notch of the side support 94, and the middle support 93 and the side support 94 which are subjected to spot welding are pressed and limited at the same time.

And S11, pushing the workpiece out. After full welding, the corner cylinder 18 acts, the workpiece in the full-welding chute 12 is not limited any more, the angle steel feeding mechanism 2 pushes the next angle steel 91 again, and the fully-welded workpiece is pushed out of the operation area from the workpiece push-out slope 19 at the tail end of the full-welding chute 12, so that the welding operation of the carrier roller beam is completed.

In the steps, the operation of each cylinder, each motor and each welding robot is controlled by the controller, and the cylinders, the motors and the welding robots are coordinated and matched to complete the welding work of the carrier roller beam workstation on the carrier roller beam.

The foregoing shows and describes the general principles, essential features, and advantages of the invention. It will be understood by those skilled in the art that the present invention is not limited to the embodiments described above, which are described in the specification and illustrated only to illustrate the principle of the present invention, but that various changes and modifications may be made therein without departing from the spirit and scope of the present invention, which fall within the scope of the invention as claimed. The scope of the invention is defined by the appended claims and equivalents thereof.

Claims

1. A welding control method for a robot automatic welding carrier roller beam workstation is characterized by comprising the following steps:

s1, welding spare parts for preparation: angle steel (91) used when the carrier roller cross beam (9) is welded is stacked in the angle steel feeding mechanism (2), flat steel (92) is stacked in the flat steel feeding mechanism (3), and a middle pillar (93) and an edge pillar (94) are stacked in the pillar feeding mechanism (4);

s2, limiting a spot welding sliding groove: the limiting plate lifting cylinder (17) pushes the angle steel limiting plate (15) to ascend;

s3, feeding angle steel: the angle steel feeding mechanism (2) pushes angle steel (91) into the spot welding chute (11), and after the angle steel arrives, the lifting plate cylinder (16) pushes the angle steel lifting plate (14) to lift;

s4, feeding and pasting of flat steel and middle support columns: the flat steel feeding mechanism (3) pushes the flat steel (92) to the lower side of the angle steel in the spot welding chute (11), and the lifting plate cylinder (16) drives the angle steel lifting plate (14) to descend until the angle steel (91) presses the flat steel (92); the strut feeding mechanism (4) conveys the middle strut (93) and the side strut (94) to the upper end of the spot welding chute (11), and conveys the middle strut (93) and the side strut (94) to angle steel (91) in the spot welding chute (11) for attaching through the strut feeding limiting mechanism (5);

s5, pressing and clamping: a tool pushing cylinder (63) of a strut pressing and limiting mechanism (6) at the upper end of the spot welding chute (11) pushes a roller rod tool (62) to move downwards, and a middle strut (93) and an edge strut (94) on the angle iron (91) are pressed;

s6, spot welding: the spot welding robot (7) performs spot welding on the workpiece in the spot welding chute (11);

s7, shift: a tool pushing cylinder (63) at the upper end of the spot welding chute (11) drives a roller rod tool (62) to move upwards, a limiting plate lifting cylinder (17) drives an angle steel limiting plate (15) to descend, an angle steel feeding mechanism (2) pushes the next angle steel (91), and a workpiece subjected to spot welding is pushed into a full-welding chute (12);

s8, repositioning: after the spot-welded workpiece is pushed into the full-welding chute (12), the corner cylinder (18) pushes the workpiece to be tightly pressed in the opposite direction;

s9, pressing and clamping: a tool pushing cylinder (63) of the strut pressing and limiting mechanism (6) at the upper end of the full-welding sliding chute (12) pushes a roller rod tool (62) to move downwards to press the tool in the full-welding sliding chute (12);

s10, full welding: the full-welding robot (8) performs full welding on the workpieces in the full-welding chute (12), and performs S7-S10 steps and synchronously performs S3-S6 steps on the spot-welding chute (11);

s11, workpiece pushing: after full welding, the corner cylinder (18) acts, the angle steel feeding mechanism (2) pushes the next angle steel (91) again, and the fully welded workpiece is pushed out of the operation area from the workpiece push-out slope (19) at the tail end of the full-welding chute (12) to complete the welding operation of the carrier roller beam;

the working station comprises a welding platform (1), the welding platform (1) comprises a spot welding chute (11) and a full-welding chute (12) which are communicated with each other, and the angle steel feeding mechanism (2) and the flat steel feeding mechanism (3) are both arranged on the welding platform (1) and are positioned beside the spot welding chute (11);

the welding platform (1) further comprises a support table (10), a flat steel guide groove (13), an angle steel lifting plate (14), an angle steel limiting plate (15), a lifting plate cylinder (16), a limiting plate lifting cylinder (17), a corner cylinder (18) and a workpiece pushing slope (19);

the spot welding sliding grooves (11), the full-welding sliding grooves (12), the flat steel guide grooves (13), the angle steel lifting plates (14) and the angle steel limiting plates (15) are all arranged on the supporting platform (10); the widths of the lower ends of the spot welding sliding grooves (11) and the full-welding sliding grooves (12) are larger than the widths of the upper ends of the spot welding sliding grooves and the full-welding sliding grooves, and the flat steel guide grooves (13) are vertical and communicated with the spot welding sliding grooves (11); the angle steel lifting plate (14) is arranged in the spot welding chute (11), and a telescopic rod of a lifting plate cylinder (16) penetrates through the support table (10) to be connected with the angle steel lifting plate (14); the angle steel limiting plate (15) is arranged at the tail end of the spot welding chute (11), and the angle steel limiting plate (15) is connected with a lifting and contracting rod of the limiting plate lifting cylinder (17); the corner cylinder (18) is installed at the tail end of the full-welding sliding chute (12), and the tail end of the full-welding sliding chute (12) is connected with the top end of the workpiece push-out slope (19).

2. The welding control method of a robotic automated welding idler beam workstation of claim 1, wherein: the workstation further comprises an angle steel feeding mechanism (2), a flat steel feeding mechanism (3), a strut feeding mechanism (4), a strut feeding limiting mechanism (5), a strut pressing limiting mechanism (6), a spot welding robot (7), a full-length welding robot (8) and a controller for controlling the workstation;

the angle steel output end of the angle steel feeding mechanism (2) is connected with the angle steel inlet end of the spot welding chute (11), a plurality of flat steel feeding mechanisms (3) are arranged, and the flat steel output end of each flat steel feeding mechanism (3) is connected with the flat steel inlet end of the spot welding chute (11);

the strut output end of the strut feeding mechanism (4) is positioned above the strut inlet end of the spot welding chute (11), the strut feeding limiting mechanism (5) is installed at the strut inlet end of the spot welding chute (11), and the strut pressing limiting mechanism (6) is installed above the spot welding chute (11) and the full welding chute (12);

and the spot welding robot (7) and the full-welding robot (8) are respectively arranged beside the spot welding chute (11) and the full-welding chute (12).

3. The welding control method of a robotic automated welding idler beam workstation of claim 2, wherein: the angle steel feeding mechanism (2) comprises an angle steel stacking frame (21), an angle steel pushing notch (22), an angle steel pushing plate (23) and a rodless cylinder (24);

frame (21) bottom is stacked at the angle steel in angle steel propelling movement notch (22), the angle steel input of end-to-end connection spot welding spout (11) of angle steel propelling movement notch (22), the bottom setting of angle steel pushing plate (23) is on the output slider of rodless cylinder (24), and the top of angle steel pushing plate (23) is the triangle-shaped structure, the triangle-shaped structure slides and sets up in angle steel propelling movement notch (22).

4. The welding control method of a robotic automated welding idler beam workstation of claim 3, wherein: the flat steel feeding mechanism (3) comprises a flat steel stacking frame (31), a flat steel pushing notch (32), a flat steel pushing plate (33) and a flat steel pushing cylinder (34);

frame (31) bottom is stacked at the band steel in band steel propelling movement notch (32), the band steel input of the end-to-end connection band steel guide way (13) of band steel propelling movement notch (32), the one end of band steel propelling movement board (33) slides and sets up in band steel propelling movement notch (32), and the telescopic link of band steel propelling movement cylinder (34) is connected to the other end.

5. The welding control method of a robotic automated welding idler beam workstation of claim 4, wherein: the strut feeding mechanism (4) comprises a conveying mounting frame (41), a middle strut conveying assembly (42) and a side strut conveying assembly (43), wherein the middle strut conveying assembly (42) and the side strut conveying assembly (43) are both mounted on the conveying mounting frame (41), and the side strut conveying assembly (43) is located on the outer side of the middle strut conveying assembly (42);

the middle support transmission assembly (42) comprises a middle support transmission groove (421), a middle support pushing frame (422), a middle support transmission chain (423) and a middle support transmission motor (424), the middle support pushing frame (422) is fixedly arranged at the upper end of the middle support transmission chain (423), the end part of the middle support pushing frame (422) is slidably arranged in the middle support transmission groove (421), and the middle support transmission chain (423) is driven by the middle support transmission motor (424);

side pillar conveying subassembly (43) include side pillar transfer groove (431), side pillar push away frame (432), side pillar conveying chain (433) and side pillar conveying motor (434), side pillar push away frame (432) fixed mounting is in side pillar conveying chain (433) upper end, and the tip slidable mounting of side pillar push away frame (432) is in side pillar transfer groove (431), side pillar conveying chain (433) are by side pillar conveying motor (434) drive.

6. The welding control method of a robotic automated welding idler beam workstation of claim 5, wherein: the middle strut conveying grooves (421) and the side strut conveying grooves (431) are parallel to each other and are provided with two, the two middle strut conveying grooves (421) are positioned in the middle and are parallel to each other, the two side strut conveying grooves (431) are respectively positioned at the outer sides of the two middle strut conveying grooves (421) and are parallel to each other, the tail ends of the middle strut conveying grooves (421) and the side strut conveying grooves (431) extend out of the conveying mounting frame (41), and the groove plates at the two ends of the side strut conveying grooves (431) are low in inside and high in outside;

well pillar pushing frame (422) and limit pillar pushing frame (432) all include connecting piece (44) in the middle of and catch plate (45) that both ends set up downwards, connecting piece (44) fixed mounting is on the conveying chain, catch plate (45) slidable mounting is in the conveying groove.

7. The welding control method of a robotic automated welding idler beam workstation of claim 6, wherein: the strut feeding limiting mechanism (5) comprises a strut positioning frame (51), a drawing-off piece transverse frame (52), a positioning frame pushing cylinder (53), a transverse frame pushing cylinder (54) and a linear guide rail (55);

the strut positioning frame (51) comprises a middle strut U-shaped groove (511) and a side strut U-shaped groove (512) which are arranged at the front ends, and the open ends of the middle strut U-shaped groove (511) and the side strut U-shaped groove (512) are respectively over against the output tail ends of the middle strut conveying groove (421) and the side strut conveying groove (431) and are positioned right above the spot welding sliding groove (11);

the drawing and separating piece transverse frame (52) comprises a middle strut blocking piece (521) and an edge strut blocking piece (522), the front ends of which respectively slide and block the outlets at the bottom ends of the middle strut U-shaped groove (511) and the edge strut U-shaped groove (512);

the positioning frame pushing cylinder (53) is fixedly arranged on the supporting table (10), and a telescopic rod of the positioning frame pushing cylinder (53) is connected with the strut positioning frame (51); the cross frame pushing cylinder (54) is fixedly arranged on the lower surface of the strut positioning frame (51), and a telescopic rod of the cross frame pushing cylinder (54) is connected with the drawing-off piece cross frame (52); the track of the linear guide rail (55) is fixedly arranged on the support table (10), and the upper end of the sliding block of the linear guide rail (55) is connected with the strut positioning frame (51).

8. The welding control method of a robotic automated welding idler beam workstation of claim 7, wherein: the strut pressing and limiting mechanism (6) comprises a cylinder mounting portal frame (61), a roller rod tool (62) and a tool pushing cylinder (63);

the tool pushing cylinders (63) are mounted on the cylinder mounting portal frame (61), two roller rod tools (62) are arranged and are respectively positioned above the spot welding sliding grooves (11) and the full-welding sliding grooves (12), and the top ends of the roller rod tools (62) are connected with telescopic rods of the tool pushing cylinders (63);

the roller rod tool (62) comprises a connecting rod (621) at the upper end, a pressing limiting rod (622) at the lower end and a connecting plate (623) for connecting the connecting rod (621) and the middle part of the pressing limiting rod (622);

two ends of the compressing and limiting rod (622) are bent upwards respectively, and the left end and the right end of the connecting rod (621) are connected with the left end and the right end of the compressing and limiting rod (622) which are bent upwards respectively; the lower extreme that compresses tightly gag lever post (622) middle part is provided with well pillar and compresses tightly stopper (624), and the lower extreme of both ends bending part is provided with limit pillar and compresses tightly stopper (625).

9. The welding control method of a robotic automated welding idler beam workstation of claim 8, wherein: the lower extreme of spot welding robot (7) and full-length welding robot (8) all installs and places the bench at the robot, and spot welding robot (7) are located spot welding spout (11) the place ahead, full-length welding robot (8) are provided with two, arrange in respectively the front and back two sides of full-length welding spout (12).