CN111940870A

CN111940870A - Intelligent welding repair workstation and welding repair method thereof

Info

Publication number: CN111940870A
Application number: CN202010882308.9A
Authority: CN
Inventors: 孙伟; 赵以麟; 王永恩; 陈得润; 孙冠琳
Original assignee: Kocel Intelligent Foundry Industry Innovation Center Co Ltd
Current assignee: Kocel Intelligent Foundry Industry Innovation Center Co Ltd
Priority date: 2020-08-29
Filing date: 2020-08-29
Publication date: 2020-11-17

Abstract

An intelligent welding repair workstation and a welding repair method thereof are provided, wherein the workstation comprises: the device comprises a truss support, a welding repair mechanical arm, a three-dimensional scanning device, a logistics transfer trolley, a workbench and a control unit, wherein the welding repair mechanical arm is movably arranged on the truss support; the three-dimensional scanning device is arranged on the truss; the workbench is positioned below the welding repair manipulator; the logistics transfer trolley is positioned below the workbench and used for transferring castings; the control unit is electrically connected with the welding repair manipulator, the three-dimensional scanning device and the logistics carrying vehicle. The three-dimensional scanning device scans the welding repair defects, the scanned data are transmitted to the control unit, the control unit controls the welding repair manipulator to weld the casting defects one by one, and after all the defects are welded, the logistics transfer trolley transfers the casting on the workbench out, and then transfers the next casting to be welded. The whole process has no manual participation, the three-dimensional scanning position is accurate, the welding repair efficiency of the welding repair manipulator is high, and the welding repair quality is consistent.

Description

Intelligent welding repair workstation and welding repair method thereof

Technical Field

The invention relates to defect repair welding of large steel castings, in particular to intelligent repair welding of defects of large steel castings.

Background

The large-scale steel casting is a core basic part of a plurality of major technical equipment, various casting defects are easily generated due to the large control difficulty and the long production period of the casting process, particularly the defects of slag inclusion, shrinkage cavity, looseness and the like generated after casting pouring and cooling are required to be gouged out and then welded, the carbon arc gouging is performed by manual operation under the dual actions of arc melting and compressed air, the operation is complex and variable, the high-precision size of a groove processed by a machine cannot be achieved, and the defects are irregular.

Considering the irregular structure of the casting defects and different distribution positions on the casting body, the manual welding is adopted for the casting defect repair welding of large steel castings at home and abroad, and the manual welding qualification rate and the efficiency are low. In addition, in the defect repair welding process, in order to ensure the welding quality, the temperature of the casting is generally between 180 ℃ and 300 ℃, the operation environment is severe, the labor intensity is high, the problems of shortage of welding skill type talents and the like are increasingly serious, and the problems seriously restrict the green development of the manufacturing industry of large-scale steel castings.

At present, welding robots widely applied to the field of welding of structures such as pipes and metal plates perform repetitive spot welding or butt welding according to a pre-planned fixed regular welding path, and cannot recognize and automatically weld irregular defects of large steel castings. In addition, the blanking process of the large steel casting generally adopts a crown block, the hoisting and placing positions need to be adjusted in the adjusting and transporting process, the welding repair efficiency is influenced, the potential safety hazard to welding repair workers is also large in the adjusting and transporting process of the crown block, and the casting is damaged due to falling.

Disclosure of Invention

Based on this, it is necessary to solve the problems of high welding difficulty, low welding efficiency, severe danger of a manual working environment and the like existing in the current manual welding repair of large castings, and provide an intelligent welding repair workstation.

An intelligent weld repair workstation, said workstation comprising: the device comprises a truss support, a welding repair manipulator, a three-dimensional scanning device, a logistics transfer trolley, a workbench and a control unit, wherein the truss support comprises a plurality of stand columns, support beams and cross beams, the support beams are fixed at the top ends of the stand columns, and the cross beams are arranged on the support cross beams; the welding repair manipulator is arranged on the cross beam and slides along the cross beam; the three-dimensional scanning device is arranged on the cross beam; the workbench comprises a support and a tray, the tray is placed on the support, and the support is positioned below the welding manipulator; the logistics transfer trolley is used for transferring castings; the control unit is electrically connected with the welding repair manipulator, the three-dimensional scanning device and the logistics carrying vehicle.

The casting to be welded is transferred to the workbench through the logistics transfer trolley, the defect to be welded is scanned through the three-dimensional scanning device, then the scanned data are transmitted to the control unit, the control unit sends an instruction to the welding manipulator, and the welding manipulator welds the defects one by one through the instruction of the control unit. And after the repair welding of all the defects is finished, the casting on the workbench is transferred out by the logistics transfer trolley, and then the next casting to be repaired is transferred. The position of the defect to be welded can be determined by scanning the casting through the three-dimensional scanning device, a welding path can be planned through data calculation of the control unit, and automatic welding is achieved through the welding manipulator. The whole process does not need manual participation, the three-dimensional scanning position is accurate, the welding repair manipulator is high in welding repair efficiency, and the welding repair quality is consistent.

In one embodiment, the repair welding manipulator is a joint robot, a welding gun and a slag remover are arranged at an execution end of the joint robot, and the welding gun is used for defect repair welding; the slag remover is used for welding cleaning.

Through on the soldering manipulator integrated welder and scarfing cinder ware simultaneously, can realize welding limit scarfing cinder through the terminal conversion of manipulator in the soldering process, improve soldering efficiency and quality.

In one embodiment, the repair welding station further comprises a thermal insulation device, wherein the thermal insulation device is arranged on the supporting beam of the truss support and slides along the supporting beam.

When the great and defect interval of welding defect is far away foundry goods, the in-process of weld repair last defect, the defect temperature of treating weld repair can not reach the welding requirement, the heat preservation device can treat the defect of weld repair under the control unit's operation and heat the heat preservation this moment, make its temperature remain under the state of weld repair work all the time, improve weld repair efficiency on the one hand and save the time of making a round trip to transport the foundry goods, on the other hand heat preservation device slides along a supporting beam, can be swift through control unit's the arrival need heat on the heat retaining defect position.

In one embodiment, the repair welding station further comprises a defect detecting device, which is arranged on the support beam of the truss support and slides along the support beam.

Through set up defect detection device on a supporting beam, can directly carry out defect detection on the workstation after the soldering is accomplished, if detect unqualifiedly, three-dimensional scanning device continues to scan then the soldering manipulator continues to weld. The casting is prevented from being detected after being rolled out of the workbench, the flow is shortened, and the efficiency is improved.

In one embodiment, the heat preservation device comprises a sliding assembly, a base, a vertical arm, a horizontal arm and a heating head, wherein one end of the sliding assembly is fixed on the supporting beam, and the other end of the sliding assembly is fixedly connected with the base; one end of the vertical arm is hinged with the base, and the other end of the vertical arm is hinged with one end of the horizontal arm; the other end of the horizontal arm is connected with the heating head.

The heating head can rotate freely through the connection of the vertical arm and the horizontal arm, and further, the auxiliary arms are respectively nested in the vertical arm and the horizontal arm to form a telescopic ratio, so that the heating head can rotate around the connection point and can also be telescopic, and the heating head can be positioned at any position on the surface of a casting.

In one embodiment, the repair welding workstation further comprises a defect detection device, and the defect detection device is arranged at the execution end of the repair welding manipulator.

In some occasions, the defect detection device is also integrated on the execution end of the welding manipulator, so that the defect detection can be realized through the conversion of the execution end of the welding manipulator, the path is shortened, and the integration level is high.

In one embodiment, the logistics transfer vehicle is an AGV or an RGV or a forklift.

In one embodiment, the intelligent welding repair workstation comprises a truss support, a welding repair manipulator, a three-dimensional scanning device, a logistics transfer trolley, a workbench and a control unit, wherein the truss support comprises a plurality of upright columns, a support beam and a cross beam, the support beam is fixed at the top end of each upright column, and the cross beam is arranged on the support beam; the welding repair manipulator is arranged on the cross beam and slides along the cross beam; the three-dimensional scanning device is arranged at the execution end of the welding manipulator; the workbench comprises a support and a tray, the tray is placed on the support, and the support is positioned below the welding manipulator; the logistics transfer trolley is arranged below the bracket; the control unit is electrically connected with the welding repair manipulator, the three-dimensional scanning device and the logistics carrying vehicle.

The three-dimensional scanning device is also integrated on the execution end of the welding manipulator and is arranged in different directions with the welding gun and the slag remover, so that the welding can be directly carried out after the scanning is finished, the structure is simplified, the stroke is shortened, and the welding efficiency is favorably improved.

A welding repair method of an intelligent welding repair workstation comprises the following steps:

placing the casting to be welded on a workbench by a logistics transfer trolley;

the three-dimensional scanning device carries out defect scanning and transmits scanning data to the control unit;

the control unit carries out welding repair path planning through the scanning data;

the welding manipulator adopts a welding gun to weld and repair the defects of the casting layer by layer according to the planned path;

after the welding repair is finished, the welding repair manipulator is switched to a slag remover for removing slag;

the heat preservation device heats and preserves the heat of the next defect to be repaired to be heated according to the repair welding path planned by the control unit;

after the defects to be welded of the casting are completely welded, the defects are detected one by the defect detection device, detection data are transmitted to the control unit, and the control unit judges whether the welding is qualified or not;

if the workpieces are qualified, the workpieces of the workbench are transferred to a qualified area by the logistics transfer trolley for storage, then new castings to be welded and repaired are transferred to the workbench from the areas to be welded and repaired, and the process is repeated;

and if the three-dimensional scanning device is not qualified, the three-dimensional scanning device performs scanning again, and then the process is repeated.

In one embodiment, a temperature detection assembly is arranged in the heat preservation device and used for retrieving the temperature of the defect to be welded; when the temperature of the defects to be welded is lower than the temperature required by welding repair, the control unit gives an instruction, and the heat preservation device heats and preserves the temperature of the defects to be welded.

According to the technical scheme, the control unit carries out path planning through defect data scanned by the three-dimensional scanning device, issues an instruction to the welding repair manipulator, the slag remover carries out slag removal after the welding repair of the welding repair manipulator is finished, and the defect detection device carries out defect detection after the slag removal is finished. The whole process does not need manual participation, and the automation degree is high. The welding seams of the manipulator after welding are uniform, and the appearance is attractive; in addition, a heat preservation device is arranged in the welding process to heat and preserve heat of the defects to be welded, so that the welding quality is improved while the welding efficiency is improved.

Drawings

FIG. 1 is a schematic isometric view of a weld repair workstation according to an embodiment;

FIG. 2 is a partially enlarged view of the repair welding robot;

FIG. 3 is a schematic axial view of another embodiment weld repair station;

FIG. 4 is a schematic diagram of an AGV and a rack and tray;

in the drawings: 10-supporting truss, 20-welding repair mechanical arm, 30-three-dimensional scanning device, 40-logistics transfer vehicle, 50-workbench, 60-casting, 70-heat preservation device, 80-defect detection device, 11-upright post, 12-supporting beam, 13-cross beam, 14-auxiliary supporting beam, 21-welding gun, 22-slag remover, 41-jacking mechanism, 51-support, 52-tray, 71-base, 72-vertical arm, 73-horizontal arm and 74-heating head.

Detailed Description

To facilitate an understanding of the invention, the invention will now be described more fully with reference to the accompanying drawings. Preferred embodiments of the present invention are shown in the drawings. This invention may, however, be embodied in many different forms and should not be construed as limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete.

It will be understood that when an element is referred to as being "disposed on" another element, it can be directly on the other element or intervening elements may also be present. When an element is referred to as being "connected" to another element, it can be directly connected to the other element or intervening elements may also be present. As used herein, the terms "vertical," "horizontal," "left," "right," "top," "bottom," "top," and the like are for illustrative purposes only and do not represent the only embodiments.

Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. The terminology used herein in the description of the invention is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. As used herein, the term "and/or" includes any and all combinations of one or more of the associated listed items.

In one embodiment, an intelligent weld repair workstation, the workstation comprising: the device comprises a truss support, a welding repair manipulator, a three-dimensional scanning device, a logistics transfer trolley, a workbench and a control unit, wherein the truss support comprises a plurality of stand columns, support beams and cross beams, the support beams are fixed at the top ends of the stand columns, and the cross beams are arranged on the support cross beams; the welding repair manipulator is arranged on the cross beam and slides along the cross beam; the three-dimensional scanning device is arranged on the cross beam; the workbench comprises a support and a tray, the tray is placed on the support, and the support is positioned below the welding manipulator; the logistics transfer trolley is used for transferring castings; the control unit is electrically connected with the welding repair manipulator, the three-dimensional scanning device and the logistics carrying vehicle.

The intelligent weld repair workstation is described below with reference to specific embodiments to further understand the concept of the intelligent weld repair workstation. Referring to fig. 1, an intelligent welding repair workstation comprises: the device comprises a truss support 10, a welding manipulator 20, a three-dimensional scanning device 30, a logistics transfer trolley 40, a workbench 50, a control unit and a casting piece to be welded 60. Specifically, the truss support adopts a truss robot, and the truss robot comprises four upright posts 11, two supporting beams 12 and a cross beam 13, wherein the four upright posts are pairwise one, the two supporting beams are respectively fixed at the top ends of the two upright posts, and the cross beam is erected on the supporting cross beam. The cross beam can slide back and forth relative to the two supporting cross beams, a moving mechanism is arranged at the bottom of the cross beam, one end of the welding repair manipulator is fixed on the moving mechanism at the bottom of the cross beam, and the free end faces towards a casting to be welded for welding repair of defects of the casting. Further, a three-dimensional scanning device 30 is movably mounted on the side surface of the cross beam and used for scanning defects of the welding repair casting. The table 50 comprises a support 51 on which the casting 60 is placed and a tray 52 located below the repair-welding robot. The logistics transfer trolley adopts an AGV and is used for transferring and conveying castings, namely, the castings to be repaired are transferred to work from the regions to be repaired; and then transferring the qualified casting from the workbench to a welding repair workstation. The control unit (not shown) is electrically connected to the soldering robot, the three-dimensional scanning device and the AGV, and is used for storing three-dimensional scanning data, planning a path of the soldering robot, issuing an AGV action instruction, and the like. It should be noted that the logistics transfer vehicle can also adopt an RGV or a forklift.

In the above structure, the three-dimensional scanning device and the welding manipulator can slide left and right on the beam and can also slide back and forth on the support beam, and the defects at any position on the upper surface of the casting 60 on the tray can be positioned. Therefore, the three-dimensional scanning device can scan the upper surface of the casting in a full-disc manner, and omission does not occur; the welding manipulator can weld defects at any position of the upper surface of the casting.

Referring to fig. 2, in an embodiment, a welding robot 20 is a joint robot, which preferably includes six joints, a base of the joint robot is fixed on a moving mechanism at the bottom end of a cross beam, a converter is arranged at an execution end (free end), a welding gun 21 and a slag cleaner 22 are arranged on the converter, after a layer of welding is welded by the welding gun, the converter is converted to one end of the slag cleaner, and the slag cleaner is used for slag cleaning, so that the conversion time between welding and slag cleaning is mainly shortened, and the welding efficiency is improved. It is emphasized that the welding gun and the slag remover can be arranged adjacently or oppositely.

In an alternative embodiment, the three-dimensional scanning device 30, the welding gun and the slag remover are arranged on a conversion head at the execution end of the welding robot together, and the three are arranged in different directions, so that the three can not influence each other during conversion. It should be noted that the three-dimensional scanning device may also be a 3D area-array camera.

Referring to fig. 3, in one embodiment, to solve the problem that the casting cannot be welded due to the low surface temperature of the defect during the welding process, a heat preservation device 70 is further provided in the workstation of the present application, and comprises a sliding assembly, a base 71, a vertical arm 72, a horizontal arm 73 and a heating head 74. Specifically, an auxiliary supporting beam 14 parallel to the supporting beam 12 is arranged between the two columns, one end of the sliding assembly is fixed on one of the two supporting beams 12 or the auxiliary supporting beam 14, and the other end is fixedly connected with the base 71. One end of the vertical arm 72 is hinged to the base and the other end is hinged to one end of the horizontal arm 73. The other end of the horizontal arm is connected with the heating head. The vertical arm, the base and the horizontal arm are controlled by the control unit, and the rotary motion and the telescopic motion can be realized. Namely, the vertical arm can be lifted and rotate around the axis; the horizontal arm can be contracted and rotated around the axis; the heat preservation device integrally forms a five-axis structure, so that the heating head can be positioned at any position of the upper surface of the casting

It should be noted that the heat preservation device 70 may also be disposed on the cross beam 13 as long as it does not affect the operation of the welding manipulator during operation. And according to the quantity of use operating mode and foundry goods defect and the work load of weld repair, the heat preservation device can also set up the multiunit for improve the heat-retaining time of heating, avoid producing latency, improve weld repair efficiency. In some optional embodiments, the heat preservation device can be arranged on the welding manipulator, so that the structure can be simplified, and the cost is reduced.

In one embodiment, the weld repair station further includes a defect detection device 80 disposed on and sliding along the truss-supported support beams. Therefore, the defects after welding repair can be directly detected through the defect detection device, and the problem that the casting is unqualified in welding and then returns after being rolled out is avoided. It should be noted that the defect detection device may also be disposed on the beam 12 or on the execution end of the welding robot, and integrated with the welding gun and the slag remover on the conversion head of the execution end of the welding robot. Further, the defect detecting device may use ultrasonic detection or radiation detection.

The casting defects are welded and repaired through the intelligent welding and repairing workstation, and the welding and repairing method comprises the following processes. The process takes the example that the three-dimensional scanning device, the welding gun, the slag remover and the defect detection assembly are all integrated on the execution end of the welding and repairing manipulator, and the heat preservation device is arranged on the auxiliary supporting beam.

Preparation work: after the casting is boxed and taken out, the defects of slag inclusion, shrinkage cavity, looseness and the like on the casting are manually removed in a gouging mode, so that the defects meet the requirement of welding repair. And then marking the defects to be welded on the castings (the step is to avoid the scanning device from mistaking the structure of the castings as the defects), preheating, and transferring the manually pretreated castings to a welding work station by using a heavy-load AGV and a tray after the preheating temperature of the defects reaches the welding requirement. Specifically, referring to fig. 4, the top of the AGV is provided with a jacking mechanism 41, a tray 52 is placed at the bottom of each casting, when the castings need to be transferred, the control unit issues an instruction, the AGV runs into a support below the tray, the jacking mechanism is lifted to jack the tray and the castings, and then the trays and the castings are transferred into the workstation according to a path issued by the control unit. When the tray moves to the bracket 52 of the workbench, the tray and the casting fall on the bracket together under the jacking mechanism. It should be noted that, in the running process of the AGV, the jacking mechanism can jack up all the time; or the casting can be lowered to the original position after being loaded, and the casting can be lifted when reaching the workbench.

Scanning: after the casting is transferred to the welding repair workbench, the welding repair manipulator drives the three-dimensional scanning device to scan the whole casting, and positions of the defects marked before are confirmed so as to avoid pits of the casting. And then, sending the defect position data after integral scanning to a control unit, and automatically planning the repair welding path and the heat preservation sequence of the defects by combining the position relation among the defects by the control unit. Usually, in the current defect repair welding process, the control unit can combine the position information control heat preservation device of defect to keep warm to the defect that later will repair welding, avoids influencing follow-up repair welding efficiency because of the temperature reduction. After the preliminary scanning of the defect position is completed, the manipulator drives the three-dimensional scanning device to adjust the irradiation posture, close-range scanning is carried out on all defects one by one according to the determined defect position in advance in a certain sequence to obtain specific model data of each defect, detailed data corresponding to each defect are sent to the control unit one by one, the control unit plans a welding repair path one by one according to the model data, and the data are stored integrally. And after scanning all the defects, the welding repair manipulator carries out welding repair on the defects according to the welding repair path data issued by the control unit.

Welding repair work: and during welding repair, the working end of the manipulator is switched to a welding gun by a three-dimensional scanning device. The welding repair process is carried out in a mode of welding repair slag removal layer by layer. Namely, after each layer of defect is repaired, the manipulator is switched to be a slag remover, and the slag remover is adopted to automatically remove slag from the current repair welding layer, so that the quality of the welding layer is ensured to meet the requirement. The motion trail of the mechanical arm slag removal is still issued by the control unit. And after the slag removal is finished, the manipulator is switched to the welding gun tool to start the welding repair of the second layer, and after the welding is finished, the manipulator is switched to the slag remover to remove the slag, so that the circular operation is performed. And after the current defect is repaired, preparing the next defect for repair welding.

And (3) heat preservation: the heat preservation device can set up the multiunit and from taking temperature detect assembly, and multiunit heat preservation device cooperatees and treats that the welding is mended the defect and heat the heat preservation to follow-up needs heating. The switching of the primary heat preservation device at the heating time and the heating position is uniformly managed by the control unit, so that the defect temperature during welding repair can meet the welding repair requirement. Specifically, if the welding repair manipulator is welding repair on the defect A, the next defect to be welded is B. The control unit calculates the time required by completing the welding repair of the A defect and then monitors the temperature of the B defect according to the temperature detection assembly. If the temperature of the B defect is not reduced to the lowest temperature of the welding repair after the welding repair of the A defect is finished, the heat preservation device is moved to the next defect to be welded; and if the temperature of the B defect is lower than the lowest repair welding temperature after the repair welding of the A defect is finished, the heat preservation device heats and preserves the temperature of the B defect through the instruction of the control unit. The time and duration of heating and heat preservation are calculated and executed by the control system. In principle, when the welding repair of the A defect is finished, the B defect is just heated to the temperature required by the welding repair, so that the welding repair manipulator is prevented from waiting, and the welding repair efficiency is improved. After the current defect begins to be welded, the heat preservation device continues to cooperate with the heat preservation device to preserve heat of the subsequent defect.

Detection work: and switching the tail end of the welding repair manipulator into a defect detection device to detect the defects one by one after all the defects are welded and repaired according to the welding repair, slag removal and heat preservation processes, and automatically judging whether the welding repair is qualified or not by combining the detection data through the control unit. If the welding repair of the defect is unqualified, repeating the above processes for welding repair and detection of the defect until all the defects are qualified. After all defects of the casting are qualified in welding repair, calling the heavy-load AGV to integrally transfer the casting and the tray after welding repair to a qualified product area for storage, and then transferring the next pretreated casting to a welding repair workstation by the heavy-load AGV to wait for welding repair.

The technical features of the embodiments described above may be arbitrarily combined, and for the sake of brevity, all possible combinations of the technical features in the embodiments described above are not described, but should be considered as being within the scope of the present specification as long as there is no contradiction between the combinations of the technical features.

The above-mentioned embodiments only express several embodiments of the present invention, and the description thereof is more specific and detailed, but not construed as limiting the scope of the invention. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the inventive concept, which falls within the scope of the present invention. Therefore, the protection scope of the present patent shall be subject to the appended claims.

Claims

1. An intelligent welding repair workstation is characterized by comprising a truss support, a welding repair manipulator, a three-dimensional scanning device, a logistics transfer trolley, a workbench and a control unit, wherein the truss support comprises a plurality of stand columns, a support beam and a cross beam, the support beam is fixed at the top end of each stand column, and the cross beam is erected on the support beam; the welding repair manipulator is arranged on the cross beam and slides along the cross beam; the three-dimensional scanning device is arranged on the truss support; the workbench comprises a support and a tray, the tray is placed on the support, and the support is positioned below the welding manipulator; the logistics transfer trolley is arranged below the bracket; the control unit is electrically connected with the welding repair manipulator, the three-dimensional scanning device and the logistics carrying vehicle.

2. The intelligent repair welding workstation according to claim 1, wherein an execution end of the repair welding manipulator is provided with a welding gun and a slag remover, and the welding gun is used for defect repair welding; the slag remover is used for welding cleaning.

3. The intelligent repair welding workstation of claim 1 further comprising an insulation device disposed on and sliding along the truss-supported support beam.

4. The intelligent weld repair workstation of claim 3, wherein the heat preservation device comprises a sliding assembly, a base, a vertical arm, a horizontal arm and a heating head, wherein one end of the sliding assembly is fixed on the support beam, and the other end of the sliding assembly is fixedly connected with the base; one end of the vertical arm is hinged with the base, and the other end of the vertical arm is hinged with one end of the horizontal arm; the other end of the horizontal arm is connected with the heating head.

5. The intelligent welding repair workstation according to claim 3 or 4, wherein a temperature detection assembly is arranged in the heat preservation device and used for detecting the temperature of the defect to be welded; when the temperature of the defects to be welded is lower than the temperature required by welding repair, the control unit gives an instruction, and the heat preservation device heats and preserves the temperature of the defects to be welded.

6. The intelligent repair welding station of any one of claims 1-4, further comprising a defect detection device disposed on and sliding along the truss-supported support beam.

7. The intelligent weld repair station according to any one of claims 1 to 4, further comprising a defect detection device disposed on an execution end of the weld repair robot.

8. The intelligent weld repair workstation of claim 1, wherein the logistics transfer vehicle is an AGV or an RGV or a forklift.

9. An intelligent welding repair workstation is characterized by comprising a truss support, a welding repair manipulator, a three-dimensional scanning device, a logistics transfer trolley, a workbench and a control unit, wherein the truss support comprises a plurality of stand columns, a support beam and a cross beam, the support beam is fixed at the top end of each stand column, and the cross beam is erected on the support beam; the welding repair manipulator is arranged on the cross beam and slides along the cross beam; the three-dimensional scanning device is arranged at the execution end of the welding manipulator; the workbench comprises a support and a tray, the tray is placed on the support, and the support is positioned below the welding manipulator; the logistics transfer trolley is arranged below the bracket; the control unit is electrically connected with the welding repair manipulator, the three-dimensional scanning device and the logistics carrying vehicle.

10. A welding repair method of an intelligent welding repair workstation is characterized in that the intelligent welding repair workstation 1-9 is adopted for welding repair, and the method comprises the following steps:

if the workpieces are qualified, transferring the workpieces of the workbench to a qualified area by a logistics transfer vehicle for storage, transferring the next casting to be welded from the area to be welded to the workbench, and repeating the process;