CN116871725A

CN116871725A - Manipulator welding equipment

Info

Publication number: CN116871725A
Application number: CN202310626401.7A
Authority: CN
Inventors: 方立锋; 徐培华; 王欢
Original assignee: Xuanjia Intelligent Technology Co ltd
Current assignee: Xuanjia Intelligent Technology Co ltd
Priority date: 2023-05-31
Filing date: 2023-05-31
Publication date: 2023-10-13

Abstract

The invention belongs to the field of mechanical arm welding, and provides mechanical arm welding equipment, which comprises: a frame; the first clamping station and the second clamping station are distributed at intervals, the first clamping station and the second clamping station are detachably connected in the frame, the first clamping station is used for fixing a first workpiece to be welded, and the second clamping station is used for fixing a second workpiece to be welded; the welding head is movably arranged in the frame and positioned between the first clamping station and the second clamping station, and has a first working state for welding a first workpiece when the welding head is positioned on the first clamping station. Compared with the prior art, the welding machine has the advantages that the first workpiece and the second workpiece to be welded are respectively fixed by arranging the first clamping station and the second clamping station on the frame, the welding heads are used for circularly switching between the first working state and the second working state, so that welding of different workpieces is realized, the time of welding beat intervals is shortened, and the working efficiency is improved.

Description

Manipulator welding equipment

Technical Field

The invention belongs to the field of mechanical arm welding, and particularly relates to mechanical arm welding equipment.

Background

With the rapid development of machinery, people pay more attention to the development of automation, so that more fields rely on manipulators to realize automatic processing.

In the welding process in the prior art, only a single welding process is often performed on a certain workpiece, namely when the welding processes of different workpieces are faced, the welding process is often performed on another workpiece after all the workpieces are required to be completely welded, and in the welding process of a single workpiece, the time consumed for installing the workpiece and disassembling the workpiece after the welding is completed is increased when the welding process is performed on the single workpiece, so that the welding beat interval time is prolonged, the whole welding process consumes longer time, and the whole working efficiency of the welding process is seriously influenced.

Disclosure of Invention

Aiming at the defects existing in the prior art, the technical problems to be solved by the invention are as follows: according to the manipulator welding equipment, the first workpiece and the second workpiece to be welded are respectively fixed by arranging the first clamping station and the second clamping station on the frame, the welding heads are used for circularly switching between the first working state and the second working state, welding of different workpieces is achieved, meanwhile, the time of welding beat intervals is shortened, and the working efficiency is improved.

The technical scheme adopted by the invention for solving the technical problems is that the invention provides manipulator welding equipment, which comprises: a frame;

the first clamping station and the second clamping station are distributed at intervals, the first clamping station and the second clamping station are detachably connected in the frame, the first clamping station is used for fixing a first workpiece to be welded, and the second clamping station is used for fixing a second workpiece to be welded;

the welding head is movably arranged in the frame and is positioned between the first clamping station and the second clamping station, the welding head is provided with a first working state for welding the first workpiece when being positioned on the first clamping station and a second working state for welding the second workpiece when being positioned on the second clamping station, the welding head can be circularly switched between the first working state and the second working state, and gaps among the first clamping station, the second clamping station and the welding head are used for preventing the welding head from generating position interference with the clamping station when being switched.

In the mechanical arm welding device, a first limiting block is arranged on the first clamping station along the vertical direction, a supporting block extends out of the frame and is used for limiting the mounting position of the first workpiece on the frame, and the first workpiece is limited to move along the horizontal direction by extending into and abutting against the inner wall of the first workpiece through the supporting block.

In the mechanical arm welding equipment, a plurality of supporting seats and second limiting blocks are distributed on the second clamping station, an arc-shaped abutting surface is formed on one side of the first supporting seat, and the arc-shaped abutting surface and the second limiting blocks are used for limiting the second workpiece on the supporting seat.

In the above-mentioned manipulator welding apparatus, the first clamping station and the second clamping station each include:

the tool bottom plate is detachably connected to the frame, and the first limiting block, the supporting seat and the second limiting block are arranged on the tool bottom plate;

the movable pressing part is arranged, a pressing block is arranged at the end part of the pressing part and used for pressing the first workpiece on the first limiting block and pressing the second workpiece on the supporting seat, and the first workpiece or the second workpiece is limited to move relative to the tool bottom plate.

In the above-described robot welding apparatus, the pressing portion includes:

the mounting plate is arranged on the tool bottom plate;

the first driving piece is connected to the mounting plate, and the output end of the first driving piece is connected with a rack;

the connecting rod, the one end of connecting rod with the compact heap is connected, the other end of connecting rod is provided with the gear, the gear with the rack engagement, just the connecting rod is close to the one end of gear articulates on the mounting panel.

In the mechanical arm welding device, a profiling block is further arranged on the pressing block on the first clamping station, an abutting surface and a locking surface are formed on the profiling block, the locking surface and the abutting surface are arranged at an included angle, an installation cavity is formed between the abutting surface and the locking surface, the installation cavity is used for placing a first workpiece to be welded, and the movement of the first workpiece is limited by the locking surface.

In the mechanical arm welding device, an in-place detector is further arranged on the tool bottom plate and used for detecting the workpiece to be welded on the first limiting block or the supporting seat.

In the above mechanical arm welding device, the top end of the frame is further provided with a mechanical arm, the mechanical arm is provided with a second driving piece, the welding head is connected to the output end of the second driving piece, and the second driving piece is used for driving the welding head to approach or depart along the direction of the workpiece when moving.

In the mechanical arm welding equipment, the tool bottom plate is provided with the positioning block, the positioning block is provided with the V-shaped groove with the opening facing outwards, the frame is provided with the positioning column, and the positioning column is movably clamped in the V-shaped groove.

In the mechanical arm welding equipment, the mechanical arm is further provided with a cooling spray pipe and a displacement sensor, the second driving piece is provided with a connecting plate, the cooling spray pipe and the welding head are both installed on the connecting plate, the displacement sensor is connected to the second driving piece, and the displacement sensor is used for detecting the moving distance of the welding head.

Compared with the prior art, the invention has the following beneficial effects:

(1) According to the manipulator welding equipment, the first clamping stations and the second clamping stations are distributed on the frame at intervals, the first workpiece on the first clamping stations is welded when the welding heads are in the first working state, the second workpiece on the second clamping stations is welded when the welding heads are in the second working state, the two clamping stations distributed at intervals can clamp the workpiece to be welded in the process of switching the welding heads between the first working state and the second working state, so that the welding heads can be circularly switched between the two stations to perform the welding process, namely, the time for installing the workpiece and disassembling the workpiece after the welding is completed can be synchronously performed when the other station is welded through the welding heads, the time for welding beat intervals is shortened, the continuous uninterrupted welding process is performed on the two different workpieces, the working efficiency of the welding is improved, meanwhile, the gaps among the first clamping stations, the second clamping stations and the welding heads are favorable for avoiding damage to the workpiece and any one welding head in the working state switching process, and the stability of the welding equipment is ensured.

(2) The clamping block on the first clamping station is provided with the profiling block, the profiling block is provided with the abutting surface and the locking surface, and the locking surface and the abutting surface are arranged at an included angle, so that when the workpiece is pressed on the first limiting block by the clamping block, the profiling block is positioned above the workpiece, the workpiece to be welded is placed in the profiling block, the locking surface and the abutting surface are simultaneously abutted against the side wall of the workpiece to be welded, two workpieces which are to be welded and formed into a whole are ensured to maintain stability, and the phenomenon that the welding quality is influenced due to the deviation of the work is avoided.

(3) The in-place detector on the tool bottom plate is used for detecting whether a workpiece to be welded is positioned on the first limiting block or the supporting seat, and then signals are transmitted to the manipulator, so that the welding head is prevented from working under the condition that no workpiece exists, and the stability of the welding equipment is ensured.

Drawings

Fig. 1 is a perspective view of the present robot welding apparatus;

FIG. 2 is a view of the mounting structure of the first and second workpieces at the first and second clamping stations, respectively;

FIG. 3 is a view of the mounting structure of the first clamping station on the frame with the first workpiece uninstalled;

FIG. 4 is a view of the mounting structure of the second clamping station on the frame with the second workpiece uninstalled;

FIG. 5 is a view of the mounting structure of the hold-down section, hold-down block and profiling block;

FIG. 6 is an enlarged view of a portion of FIG. 2 at A;

fig. 7 is a view of the mounting structure of the second driver with the horn and the cooling nozzle.

In the figure, 1, a first workpiece; 2. a second workpiece; 3. a frame; 4. a first clamping station; 5. a second clamping station; 6. welding head; 7. a first limiting block; 8. a support block; 9. a support base; 10. a second limiting block; 11. an arc-shaped abutting surface; 12. a tool bottom plate; 13. a pressing part; 14. a compaction block; 15. a mounting plate; 16. a first driving member; 17. a rack; 18. a connecting rod; 19. a gear; 20. profiling blocks; 21. an abutment surface; 22. a locking surface; 23. an Zhuangrong chambers; 24. an in-situ detector; 25. a positioning block; 26. a V-shaped groove; 27. positioning columns; 28. a manipulator; 29. a second driving member; 30. Cooling the spray pipe; 31. a displacement sensor; 32. and (5) connecting a plate.

Detailed Description

The following are specific embodiments of the present invention and the technical solutions of the present invention will be further described with reference to the accompanying drawings, but the present invention is not limited to these embodiments.

As shown in fig. 1 to 7, a robot 28 welding apparatus of the present invention includes: a frame 3; the first clamping station 4 and the second clamping station 5 are distributed at intervals, the first clamping station 4 and the second clamping station 5 are detachably connected in the frame 3, the first clamping station 4 is used for fixing a first workpiece 1 to be welded, and the second clamping station 5 is used for fixing a second workpiece 2 to be welded; the welding head 6 is movably arranged in the frame 3 and is positioned between the first clamping station 4 and the second clamping station 5, the welding head 6 has a first working state for welding the first workpiece 1 when being positioned on the first clamping station 4 and a second working state for welding the second workpiece 2 when being positioned on the second clamping station 5, the welding head 6 can be circularly switched between the first working state and the second working state, and gaps among the first clamping station 4, the second clamping station 5 and the welding head 6 are used for preventing the welding head 6 from generating position interference with the clamping stations when being switched.

The welding head 6 can carry out a welding process on a workpiece on the other clamping station in the process of workpiece installation or disassembly of one clamping station by workers, the phenomenon that the welding head 6 stops working and the welding beat interval time is prolonged due to the fact that the time of workpiece installation and disassembly is avoided, the welding head 6 has a first working state and a second working state, namely, when the welding head 6 is in the first working state, the worker can place the second workpiece 2 to be welded on the second clamping station 5, after the welding head 6 finishes welding the first workpiece 1 on the first clamping station 4, the welding head 6 can move to the upper side of the second clamping station 5, and the welding process is carried out on the second workpiece 2, namely, when the welding head 6 is in the second working state, the worker can carry out the welding process on the first workpiece 1 on the first clamping station 4, the welding head 6 can be rapidly switched to the first working state, namely, the welding head 6 is rapidly switched to the first working state, and the working state is greatly shortened, and the working cycle is shortened.

Furthermore, the first workpiece 1 and the second workpiece 2 are two workpieces to be welded into a whole, and the two workpieces are different, and the first workpiece 1 and the second workpiece 2 are also different, so that two different first clamping stations 4 and second clamping stations 5 are needed to fix the first workpiece 1 and the second workpiece 2 respectively, gaps among the first clamping stations 4, the second clamping stations 5 and the welding head 6 are beneficial to ensuring that the welding head 6 does not generate position interference between the welding head 6 and the clamping stations in the switching process of the first working state and the second working state, ensuring that the welding head 6 is smoothly switched to a required welding position, and improving the stability of the welding equipment.

Preferably, the work piece in this scheme is the working piece, and welding head 6 can adopt ultrasonic welding's mode to accomplish the welding process to the work piece, ultrasonic welding is through last weldment transmission ultrasonic energy to the welded zone, because the welded zone is two welded interface department acoustic impedance big, consequently can produce local high temperature, again because plastics heat conductivity is poor, can not in time distribute yet, gather in the welded zone, cause the contact surface of two plastics to melt rapidly, after adding certain pressure, make it fuse into an organic whole, and ultrasonic welding has energy-concerving and environment-protective, work efficiency is high, advantage with low costs.

As shown in fig. 2 to 3, a first limiting block 7 is arranged on the first clamping station 4 along the vertical direction, a supporting block 8 extends out of the frame 3 along the first limiting block 7, the first limiting block 7 is used for limiting the installation position of the first workpiece 1 on the frame 3, and the first workpiece 1 is limited to move along the horizontal direction by extending into and abutting against the inner wall of the first workpiece 1 through the supporting block 8.

For the clamping and fixing of the workpieces, as the structure of each workpiece is different, the clamping and fixing mode is different, specifically, the first limiting block 7 is arranged in the vertical direction, the supporting block 8 extends along the direction of the outer side of the frame 3, when the first workpiece 1 is installed, a worker can directly place the first workpiece 1 to be welded on the supporting block 8, the first workpiece 1 moves in the frame 3, when the first workpiece 1 abuts against the first limiting block 7, the first workpiece 1 is located at the position to be welded, the installation mode is simple to operate, the workers can conveniently install the first workpiece 1 and quickly detach the first workpiece 1 after the welding of the first workpiece 1 is finished, the welding takt time is not influenced, and the work efficiency is improved.

As shown in fig. 2 and fig. 4, a plurality of supporting seats 9 and second limiting blocks 10 are distributed on the second clamping station 5, an arc-shaped abutting surface 1121 is formed on one side of the first supporting seat 9, and the arc-shaped abutting surface 1121 and the second limiting blocks 10 are used for limiting the second workpiece 2 on the supporting seat 9.

For the fixation of the second workpiece 2, because the welding position of the second workpiece 2 is at its upper surface, a plurality of supporting seats 9 are provided, the arc-shaped supporting surface 1121 formed on the supporting seats 9 is used to support against the side wall of the second workpiece 2 in the length direction, and similarly, the second limiting block 10 is placed at the position of the second workpiece 2 close to the end of the second workpiece in the length direction, and the second limiting block 10 is used to limit the movement of the second workpiece 2, preferably, the second limiting block 10 is placed at the position close to the frame 3, i.e. the workpiece to be welded can be directly pushed to the supporting seats 9 in the frame 3 by a worker from outside the frame 3, meanwhile, the function of quick disassembly can be realized after the welding is completed, and the design of the supporting seats 9 and the second limiting block 10 also ensures the stability of the second workpiece 2 in the welding process, so that the welding quality is not affected.

The first clamping station 4 and the second clamping station 5 each comprise: the tool bottom plate 12 is detachably connected to the frame 3, and the first limiting block 7, the supporting seat 9 and the second limiting block 10 are arranged on the tool bottom plate 12; the movable pressing part 13 is provided with a pressing block 14 at the end part of the pressing part 13, and the pressing block 14 is used for pressing the first workpiece 1 on the first limiting block 7 and pressing the second workpiece 2 on the supporting seat 9 to limit the movement of the first workpiece 1 or the second workpiece 2 relative to the tool bottom plate 12.

After the first workpiece 1 and the second workpiece 2 are respectively installed on the first limiting block 7 and the supporting seat 9, the workpiece can be pressed at this time, so that the stability of the workpiece is further ensured, specifically, the pressing block 14 connected with the end of the pressing part 13 is utilized, the pressing block 14 is driven by the pressing part 13 to approach or separate from the workpiece along the direction of the workpiece, and further, the workpiece is pressed or loosened, and it is required to say that the position where the pressing part 13 is placed should be ensured not to interfere with the surface where the first limiting block 7 or the supporting seat 9 is installed as much as possible, and the effect of being beneficial to disassembling and taking out the workpiece when the pressing part 13 drives the pressing block 14 to separate from the workpiece is satisfied.

As shown in fig. 5, the pressing portion 13 includes: the mounting plate 15 is arranged on the tool bottom plate 12; the first driving piece 16 is connected to the mounting plate 15, and the output end of the first driving piece 16 is connected with a rack 17; the connecting rod 18, the one end of connecting rod 18 is connected with compact heap 14, and the other end of connecting rod 18 is provided with gear 19, and gear 19 and rack 17 meshing, and the one end that the connecting rod 18 is close to gear 19 articulates on mounting panel 15.

Specifically, in this scheme, to the compaction of compact heap 14 to the work piece with loosen, utilize first driving piece 16 drive rack 17 to follow its rectilinear direction motion, because the connecting rod 18 who is connected with compact heap 14 articulates on mounting panel 15, and the gear 19 and the rack 17 meshing of connecting rod 18 tip, therefore the rectilinear movement of rack 17 drives gear 19 rotation, and then drive connecting rod 18 pivoted simultaneously, make compact heap 14 of connecting rod 18 tip be close to or keep away from along the direction of work piece, compare the mode that a plurality of articulated departments of utilization commonly used in the tradition make compact heap 14 keep away from or be close to the work piece, the meshing of gear 19 and rack 17 in this scheme has the steady motion, the accurate advantage of transmission ratio, make and keep stability to the work piece in the compact process, simultaneously the noise is less in the operation of gear 19 rack 17, high transmission efficiency, and be favorable to prolonging the life of this welding equipment.

The compacting block 14 on the first clamping station 4 is also provided with a profiling block 20, an abutting surface 21 and a locking surface 22 are formed on the profiling block 20, the locking surface 22 and the abutting surface 21 form an included angle, the abutting surface 21 and the locking surface 22 are provided with a mounting cavity 23, and the mounting cavity 23 is used for placing a first workpiece 1 to be welded and limiting the movement of the first workpiece 1 through the locking surface 22.

Further, because the welding workpieces of the first clamping station 4 and the second clamping station 5 are different, the compacting block 14 of the first clamping station 4 is further provided with the profiling block 20, the locking surface 22 formed on the profiling block 20 is arranged at an included angle with the abutting surface 21, when one part on the first workpiece 1 is placed on the first limiting block 7, at the moment, the other part to be welded on the first workpiece 1 can be placed in the mounting cavity 23 and abutted against the abutting surface 21, and meanwhile, the locking surface 22 and the side wall of the part to be welded have abutting force, so that the part is fixed in the profiling block 20, two workpieces on the first workpiece 1 are further ensured to be positioned at the position to be welded, and the two parts abut against each other, so that the welding quality and the stability during welding are ensured.

Preferably, the design of the profiling block 20 is not limited to one of the embodiments, and the profiling block 20 is connected to the pressing block 14, so that after the pressing block 14 presses the workpiece on the first limiting block 7, the position of the profiling block 20 can fix another welded workpiece, thereby avoiding the design of other pressing tools to press the workpiece independently, saving the resource consumption, and improving the efficiency of installing the workpiece to be welded.

The tooling bottom plate 12 is also provided with an in-situ detector 24, and the in-situ detector 24 is used for detecting a workpiece to be welded on the first limiting block 7 or the supporting seat 9.

In order to ensure the stability of the first clamping station 4 and the second clamping station 5 during welding, an in-situ detector 24 is arranged on the tool bottom plate 12, and the in-situ detector 24 is used for detecting whether a workpiece to be welded is arranged on the first limiting block 7 or the supporting seat 9 or not, namely, when the workpiece to be welded is not placed on any one clamping station, at the moment, the in-situ detector 24 gives a signal to the welding head 6 to prevent the welding head 6 from performing a welding process on the clamping station where the workpiece to be welded is not placed, so that the welding head 6 can be specified to perform welding only when the workpiece to be welded is placed on the specified clamping station by virtue of the in-situ detector 24, and the stability of the welding equipment during working is ensured.

Preferably, in addition to the above-mentioned in-situ detector 24 for detecting the workpiece, other devices having a position detecting function, such as a position sensor, a laser sensor, etc., may be used.

As shown in fig. 6, a positioning block 25 is arranged on the tooling bottom plate 12, a V-shaped groove 26 with an outward opening is formed on the positioning block 25, a positioning column 27 is arranged on the frame 3, and the positioning column 27 is movably clamped in the V-shaped groove 26.

Because spare part on first clamp station 4 and the second clamp station 5 all set up on frock bottom plate 12, and connect frock bottom plate 12 can dismantle in this scheme on frame 3, be favorable to according to other frock equipment of actual demand quick replacement, specifically, locating piece 25 on the frock bottom plate 12 is formed with the V type groove 26 of opening outwards, at the in-process of installing frock bottom plate 12, can aim at the reference column 27 on the frame 3 with V type groove 26 for reference column 27 joint and support on the lateral wall in V type groove 26, and then realize the spacing to frock bottom plate 12, in order to further guarantee the stability of frock bottom plate 12, can set up the locating pin (not shown in the figure) on frame 3, rely on locating pin and in the above-mentioned reference column 27 joint V type groove 26 to carry out spacing fixedly to frock bottom plate 12, avoid it to produce the displacement for frame 3, ensure that the equipment that sets up on frock bottom plate 12 has better stability in the course of working.

The top end of the frame 3 is also provided with a manipulator 28, the manipulator 28 is provided with a second driving piece 29, the welding head 6 is connected with the output end of the second driving piece 29, and the second driving piece 29 is used for driving the welding head 6 to approach or depart along the direction of a workpiece when moving.

For the control of the welding head 6, the second driving piece 29 is driven by the manipulator 28, and the welding implementation direction is adjusted, the manipulator 28 in the scheme adopts a six-axis manipulator 28, so that the second driving piece 29 and the welding head 6 can be driven to realize multi-directional adjustment, when the manipulator 28 drives the welding head 6 to overturn to the upper part of a required welding position, the welding head 6 is driven by the second driving piece 29 to quickly approach the position to be welded, and then the welding head 6 is driven by the second driving piece 29 to slowly approach the welding position of the first workpiece 1 or the second workpiece 2 to carry out the welding process, the manipulator 28 is utilized to realize the cyclic reciprocating welding process of the first clamping station 4 and the second clamping station 5, so that the smoothness of the connection of the welding process is ensured, and the working efficiency is also improved.

As shown in fig. 7, the manipulator 28 is further provided with a cooling nozzle 30 and a displacement sensor 31, the second driving member 29 is provided with a connecting plate 32, the cooling nozzle 30 and the welding head 6 are both mounted on the connecting plate 32, the displacement sensor 31 is connected to the second driving member 29, and the displacement sensor 31 is used for detecting the moving distance of the welding head 6.

The welding process often generates more heat to influence the welding quality, so that the cooling spray pipe 30 is arranged on one side of the welding head 6, the wire drawing phenomenon is prevented from occurring in the welding process by utilizing the cooling spray pipe 30, the welding strength is improved, the design of the displacement sensor 31 is used for detecting the welding depth of the welding head 6 driven by the second driving piece 29, the welding strength of a product is ensured, and the phenomenon that the welding quality is influenced due to serious welding marks on the surface of a workpiece caused by larger welding depth is avoided.

Preferably, for the replacement of the welding heads 6, a welding head replacement seat may be provided on the side wall of the frame 3, so as to ensure a quick replacement of the welding heads 6 by the welding device according to the different workpieces being welded.

It should be noted that the first driving member 16 and the second driving member 29 may be any other driving device such as hydraulic driving, air cylinder driving, etc.

It should be noted that all directional indicators (such as up, down, left, right, front, and rear … …) in the embodiments of the present invention are merely used to explain the relative positional relationship, movement, etc. between the components in a particular posture (as shown in the drawings), and if the particular posture is changed, the directional indicator is changed accordingly.

Furthermore, descriptions such as those referred to herein as "first," "second," "a," and the like are provided for descriptive purposes only and are not to be construed as indicating or implying a relative importance or an implicit indication of the number of features being indicated. Thus, a feature defining "a first" or "a second" may explicitly or implicitly include at least one such feature. In the description of the present invention, the meaning of "plurality" means at least two, for example, two, three, etc., unless specifically defined otherwise.

In the present invention, unless specifically stated and limited otherwise, the terms "connected," "affixed," and the like are to be construed broadly, and for example, "affixed" may be a fixed connection, a removable connection, or an integral body; can be mechanically or electrically connected; either directly or indirectly, through intermediaries, or both, may be in communication with each other or in interaction with each other, unless expressly defined otherwise. The specific meaning of the above terms in the present invention can be understood by those of ordinary skill in the art according to the specific circumstances.

In addition, the technical solutions of the embodiments of the present invention may be combined with each other, but it is necessary to be based on the fact that those skilled in the art can implement the technical solutions, and when the technical solutions are contradictory or cannot be implemented, the combination of the technical solutions should be considered as not existing, and not falling within the scope of protection claimed by the present invention.

Claims

1. A robot welding apparatus, comprising:

a frame;

2. The mechanical arm welding device according to claim 1, wherein a first limiting block is arranged on the first clamping station along the vertical direction, a supporting block extends out of the frame and is used for limiting the installation position of the first workpiece on the frame, and the first workpiece is limited to move along the horizontal direction by extending into and abutting against the inner wall of the first workpiece through the supporting block.

3. The welding device according to claim 2, wherein a plurality of supporting seats and second limiting blocks are distributed on the second clamping station, an arc-shaped abutting surface is formed on one side of the first supporting seat, and the arc-shaped abutting surface and the second limiting blocks are used for limiting the second workpiece on the supporting seat.

4. A robot welding apparatus as claimed in claim 3, wherein the first clamping station and the second clamping station each comprise:

5. The robot welding device according to claim 4, wherein the pressing portion includes:

the mounting plate is arranged on the tool bottom plate;

6. The welding device according to claim 4, wherein a profiling block is further arranged on the pressing block on the first clamping station, an abutting surface and a locking surface are formed on the profiling block, an included angle is formed between the locking surface and the abutting surface, a mounting cavity is formed between the abutting surface and the locking surface, and the mounting cavity is used for placing a first workpiece to be welded and limiting the movement of the first workpiece through the locking surface.

7. The mechanical arm welding device according to claim 4, wherein an in-situ detector is further arranged on the tool bottom plate and is used for detecting workpieces to be welded on the first limiting block or the supporting seat.

8. The mechanical arm welding device according to claim 6, wherein the top end of the frame is further provided with a mechanical arm, the mechanical arm is provided with a second driving member, the welding head is connected to an output end of the second driving member, and the second driving member is used for driving the welding head to approach or separate from the workpiece in a direction along which the workpiece moves.

9. The mechanical arm welding device according to claim 4, wherein a positioning block is arranged on the tool bottom plate, a V-shaped groove with an outward opening is formed in the positioning block, a positioning column is arranged on the frame, and the positioning column is movably clamped in the V-shaped groove.

10. The manipulator welding device of claim 8, wherein the manipulator is further provided with a cooling nozzle and a displacement sensor, the second driving member is provided with a connecting plate, the cooling nozzle and the welding head are both mounted on the connecting plate, the displacement sensor is connected to the second driving member, and the displacement sensor is used for detecting a distance moved by the welding head.