CN102114568B - Stud flexible welding device and method - Google Patents

Abstract

The invention discloses a stud flexible welding device and a welding method thereof. The device includes a welding robot, a robot control system, an automatic stud welding torch, an automatic stud feeding device, an automatic stud welding clamping device, and an automatic stud welding fixture replacement device; the welding robot, automatic stud welding torch, automatic stud feeding device, automatic stud welding clamping device, and automatic stud welding fixture replacement device are all connected to the robot control system and receive control signals from the robot control system; wherein The automatic stud feeding device completes the transportation of studs, the automatic stud welding clamping device realizes the automatic clamping of studs and ceramic rings and the setting of the pre-compression required in the welding process, and the automatic stud welding fixture replacement device Realize the installation and disassembly of the automatic stud welding clamping device. The present invention can carry out automatic feeding.

Description

A stud flexible welding device and its welding method

technical field

The invention relates to a special welding device and welding method for automatically welding medium and large-sized studs of steel, aluminum, copper, etc. Automatic stud flexible welding device and welding method for studs of different diameters and lengths in a range.

Background technique

The welding of steel matrix and steel, aluminum, copper studs is widely used in the hull cabin, inside the body of armored vehicles, the inner and outer walls of various pressure vessels, bridges and other fields, and the fields involved in stud welding are becoming more and more extensive. With the rapid development of modern industry, the utility rate of studs is getting higher and higher, and the number of studs to be welded is also increasing. Modern machinery manufacturing technology requires that stud welding should be fast, reliable, simplified, easy to operate, and reduce costs.

Arc stud welding method (ceramic ring protection type and flux or gas shielded arc stud welding) is widely used in studs with a diameter of Φ3 ~ Φ20mm, welding on medium and thick plate workpieces, in shipbuilding, metallurgical furnaces and construction industries and other industries have been widely used. Manual stud welding has low productivity and can only weld about 10 studs per minute.

The computer-controlled CNC full-automatic stud welding equipment (can be equipped with manipulator or robot at the same time) is equipped with an automatic nail feeding machine, which can not only accurately set, record and store welding parameters, but also detect and display digitally in real time during the welding process, and Automatically adjust welding parameters to ensure welding quality with excellent reproducibility. CNC automatic stud welding machine realizes multi-station and multi-angle welding through computer programming control, automatic nail feeding and automatic welding. The fully automatic welding torch is controlled by a stepping motor or a servo motor, which can precisely control the movement of the stud according to the process requirements. A fully automatic system can be equipped with multiple welding torches to weld screws of various specifications at the same time. Stud welding speed up to 60/min. The system has stable performance and highlights the characteristics of high efficiency, high speed and high performance. At present, the automatic nail feeding machine can only realize automatic feeding of small-diameter studs and can only realize automatic feeding and clamping of studs with a certain diameter, length and shape. When it is necessary to weld studs of various sizes, multiple sets of automatic nail feeders need to be equipped according to the diameter and length of the studs, and the replacement of the automatic nail feeders is inconvenient, which seriously affects the efficiency of automatic stud welding.

Contents of the invention

The technical problem to be solved by the present invention is to provide an automatic feeding stud flexible welding device and a welding method thereof.

The technical solution for realizing the purpose of the present invention is: a stud flexible welding device, including a welding robot, a robot control system, an automatic stud welding torch, an automatic stud feeding device, an automatic stud welding clamping device, and an automatic stud welding fixture replacement device; the welding robot, automatic stud welding gun, automatic stud feeding device, automatic stud welding clamping device, and automatic stud welding fixture replacement device are all connected to the robot control system and receive control signals from the robot control system; wherein The automatic stud feeding device completes the transportation of studs, the automatic stud welding clamping device realizes the automatic clamping of studs and ceramic rings and the setting of the required pre-compression in the welding process, and the automatic stud welding fixture replacement device Realize the installation and disassembly of the automatic stud welding and clamping device; the welding robot installs the automatic stud welding and clamping device on the corresponding stage of the automatic stud welding and clamping device, and then clamps on the automatic stud welding and clamping device Studs, and finally complete the welding on the workpiece to be welded.

A stud flexible welding method, when the studs to be welded are of the same specification, it comprises the following steps:

The first step, the manipulator moves to the stage where the automatic stud welding clamping device matches the stud to be welded, and the automatic stud welding clamping device is installed;

The second step, the manipulator moves to the stud position of the automatic stud feeding device and automatically clamps the studs to be welded;

In the third step, the manipulator moves to the position to be welded, and completes the automatic stud welding of the stud to be welded.

When the studs to be welded are of different specifications, it includes the following steps:

Step 1. The manipulator moves to the stage where the automatic stud welding clamping device matches the stud to be welded, and the automatic stud welding clamping device is installed;

Step 2. The manipulator moves to the designated position of the stud of the automatic stud feeding device and automatically clamps the stud to be welded;

Step 3. The manipulator moves to the position to be welded, and completes the automatic stud welding of the stud to be welded:

Step 4, the manipulator moves to the stage where the automatic stud welding clamping device matches the welded stud, and disassembles the automatic stud welding device;

Step 5, the manipulator moves to the stage where the automatic stud welding clamping device matches the stud to be welded, and installs the automatic stud welding device;

Step 6. The manipulator moves to the designated position of the stud of the automatic stud feeding device and automatically clamps the stud to be welded;

Step 7, the manipulator moves to the position to be welded, and completes the automatic stud welding of the stud to be welded.

Compared with the prior art, the present invention has significant advantages: 1) it is automatic stud flexible welding based on robot technology; 2) it uses the same device to realize automatic connection and feeding of studs of different sizes and lengths; 3) it can realize medium and large welding Automatic clamping of diameter studs; 4) The size span of the clamped studs is large, the range is generally Φ12-27mm, and the maximum can reach more than 30mm; 5) The stud clamping process can realize automatic operation, and the effect is significantly improved; 6 ) It is not allowed to replace the fixture to realize the automatic clamping of studs of different lengths under the same diameter. The applicability of the clamping is strong, and the reliability can reach 100%. The speed is fast, and the reliability can reach 100%; it shows great advantages when performing automatic welding of medium and large diameter studs of various diameter specifications; 8) the automatic stud welding clamping device of the present invention can realize the same diameter with different diameters For the clamping of studs with medium and large diameters, when the diameter of the stud to be welded changes, the automatic stud clamping and replacing device can quickly and effectively realize the replacement of the automatic stud welding device, ensuring that the automatic stud High-efficiency, high-speed and high-performance welding features; 9) Realize automatic welding of studs at designated positions on workpieces.

The present invention will be described in further detail below in conjunction with the accompanying drawings.

Description of drawings

Fig. 1 is a schematic diagram of the automatic stud flexible welding device of the present invention.

Fig. 2 is a schematic diagram of the automatic stud feeding device of the present invention.

Fig. 3 is a partial disassembly schematic diagram of the automatic stud feeding device of the present invention.

Fig. 4 is a schematic diagram of the automatic stud welding jig replacement device of the present invention.

Fig. 5 is a schematic diagram of the automatic stud welding clamping device of the present invention.

The meanings represented by the labels in the figure are: 1--side panel, 2--panel, 3--first vertical panel, 4--bottom plate, 5--baffle plate, 6--stop shaft, 7--first Cylinder, 8--Stud fixing block, 9--Cylinder push head, 10--Second cylinder, 11--Cylinder base, 12--Adjustment plate, 13--Open slot, 14--Base, 15-- The second vertical plate, 16--bracket, 17--left and right rope adjustment frame, 18--pulley, 19-- clamping table panel, 20--left bracket of the third cylinder, 21--the third cylinder, 22-- Right bracket of the third cylinder, 23--rack, 24--adjusting nut, 25--adjusting stud, 26--adjusting fixed plate, 27--first-level speed change gear, 28--two-level speed change gear, 29- -stage, 30--edge pin, 31--center pin, 32--transition gear, 33--stud clamping device, 34--stage gear, 35--bearing fixing sleeve, 36- -jacket, 37--hexagon socket bolt, 38--nut, 39--upper plate, 40--spring, 41--pole, 42--lower plate, 43--ceramic ring, 44--stud , 45--sleeve.

Detailed ways

In conjunction with Fig. 1, a stud flexible welding device of the present invention includes a welding robot, a robot control system, an automatic stud welding torch, an automatic stud feeding device, an automatic stud welding clamping device, and an automatic stud welding fixture replacement device; The welding robot, automatic stud welding gun, automatic stud feeding device, automatic stud welding clamping device, and automatic stud welding fixture replacement device are all connected with the robot control system to receive control signals from the robot control system; wherein the automatic stud welding The feeding device completes the transportation of studs, the automatic stud welding and clamping device realizes the automatic clamping of studs and ceramic rings and the setting of the required pre-compression in the welding process, and the automatic stud welding fixture replacement device realizes automatic The installation and disassembly of the stud welding clamping device; the welding robot installs the automatic stud welding clamping device on the corresponding stage of the automatic stud welding clamping device, and then clamps the stud on the automatic stud welding device, Finally, the welding is completed on the workpiece to be welded.

2 and 3, the automatic stud feeding device includes a base 14 and two automatic stud feeding devices. The two automatic stud feeding devices are fixed on the base 14 through the bottom plate 4 and are symmetrical about the transverse central plane of the base. Each automatic stud feeding device includes a side plate 1, a panel 2, a first vertical plate 3, a baffle plate 5, a retaining shaft 6, a first cylinder 7, a stud fixing block 8, a cylinder pushing head 9, and a second cylinder 10. The second cylinder base 11, adjustment lever 12, opening slot 13, second vertical plate 15, cylinder support 16, left and right rope adjustment frame 17, pulley 18; the first cylinder 7 is fixed above the base plate 4 through the bracket, above which is Panel 2, the panel 2 is fixed on the bottom plate 4 through the first vertical plate 3 and the second vertical plate 15, the first vertical plate 3 and the second vertical plate 5 are located at the two ends of the bottom plate 4; the upper surface of the panel 2 is provided with two Two side plates 1 parallel to each other, the plane where the two side plates are located is parallel to the panel 2, each side plate has a chute, and the stop shaft 6 is arranged in the chute of the two side plates and can be moved along the chute The direction is free to slide, the baffle plate 5 and the left and right rope adjustment frames 17 are fixedly connected on the retaining shaft 6, the baffle plate 5 is located between the two side plates, and the left and right rope adjustment frames 17 are located outside the two side plates and limit the position of the retaining shaft 6; The pulley 18 is located below the side plates and is fixed on the pulley shaft. The pulley shaft is connected to the main shaft of the first cylinder 7. The above pulley is wound with a steel wire rope. One end of the steel wire rope is fixed on the panel 2, and the other end is fixed on the left and right rope adjustment. On the frame, when the first cylinder 7 moves, it drives the retaining shaft 6 to move in parallel in the chute of the two side plates; the second cylinder base 11 is arranged on the side of the lower surface of the panel 2 close to the second vertical plate 15, and the second cylinder 10 passes through the bracket Set on the second cylinder base 11, the cylinder push head 9 is located on the upper surface of the panel 2 and connected with the main shaft of the second cylinder 10; the stud fixing block 8 is located between the two side plates 1 and can move along its chute; adjust The plate 12 is located on the side of the upper surface of the panel 2 close to the second cylinder 10 , and the adjustment plate and the baffle plate 5 limit the lateral movement of the stud fixing block 8 .

The working principle of the automatic stud feeding device is as follows: a number of stud fixing plates 8 are placed between the left and right side plates 1 . After cylinder 1 is pressurized, its main shaft is pushed forward, and the baffle 5 is driven forward by the wire rope and pulley 18 on it, and the baffle 5 pushes the stud fixing block 8 to move forward, and moves to the designated position behind the baffle 6 , the stud fixing plate is limited by the adjustment plate 12. The robot drives the automatic stud welding device to the stud fixing block at the designated position to take the stud and clamp it. When the fed stud is taken away by the automatic stud welding and clamping device, the robot system issues a corresponding control command to pressurize the cylinder 2, and the main shaft of the cylinder 2 pushes the stud fixing block on it to move longitudinally through the cylinder push head. When the stud fixing block moves to the rectangular slot 13, the stud fixing block falls from the groove under the thrust of the second cylinder and falls on the workbench panel. The robot system then issues a corresponding command to remove the air pressure from the second cylinder, reset the second cylinder, and the other stud fixing devices continue to move forward to the designated position under the thrust of the first cylinder, realizing the automatic stud feeding system. Continuous automatic feeding of studs. The device of the invention is capable of continuously feeding studs to two automatic stud welding machines at the same time.

In conjunction with Fig. 4, the automatic stud welding fixture replacement device includes a power device, a transmission device and a replacement device, the above three devices are arranged on the top of the clamping table panel 19, and the power device is a cylinder, which is fixedly connected to the On the clamping table panel 19; the transmission device includes a rack 23, an adjusting nut 24, an adjusting bolt 25, an adjusting fixed plate 26, a first-stage transmission gear 27, and a secondary transmission gear 28, and the adjustment fixed plate 26 is arranged on the clamping table panel 19 Above, adjust the rack 23 on the fixed plate 26, one end of the rack is connected with the main shaft of the third cylinder 21, and moves under the drive of the main shaft, the primary gear 27 and the secondary gear 28 are located at the fixed On one side of the lever 26, the axes of the above-mentioned two speed change gears are located in the longitudinal center plane of the adjustment fixed plate 26, and the other end of the rack 23 is connected with the primary speed change gear 27 to drive it to rotate, and the adjustment bolt 25 is located on the rack 23 , the adjusting nut 24 is screwed on the adjusting bolt 25; the replacement device includes rotating devices connected in sequence, and the rotating devices are mutually driven by the transition gear 32, and each rotating device includes a stage 29, an edge pin 30, a center pin 31, a loading Table gear 34, bearing fixing sleeve 35, bearing fixing sleeve 35 are fixed on the clamping table panel 19, the loading table 29 is fixed on the bearing fixing sleeve 35 through the bearing, and the loading table gear 34 is fixed on the loading table 29 below and drives the loader 29 to rotate, the edge pin 30 and the center pin 31 are set on the object stage, the center pin 31 is positioned on the automatic stud welding and clamping device arranged on it, and the edge pin 30 drives the The automatic stud welding fixture rotates. The number of rotating devices is 6.

The working principle of the automatic stud welding fixture replacement device is as follows: when the third cylinder 21 is loaded with positive pressure, the third cylinder 21 pushes the rack 24 to move in translation, the rack drives the speed change gears 27 and 28 to rotate, and the speed change gear drives the stage 29 and transition The gear 30 rotates, thereby realizing the automatic clamping of the automatic stud welding clamping device. When the third cylinder 21 is back-pressed, the third cylinder 21 reversely pulls the rack, drives the speed change gear to rotate, and the loading table 29 reverses, thereby realizing the automatic disassembly of the automatic stud welding clamping device. By designing an adjusting nut 24 and an adjusting bolt 25 to adjust the stroke of the third cylinder 21, the stroke of the third cylinder 21 can be precisely controlled, so that the number of rotations of the automatic stud welding clamping device can be precisely controlled, and automatic The stud welding jig automatic changing device operates reliably. In this device, the stroke of the third cylinder 21 can be accurately adjusted by adjusting the extension length of the adjustment nut 24 and the adjustment bolt 25. When the bolt extension becomes larger, the stroke of the cylinder becomes smaller, and the rotating circle of the automatic stud welding clamping device The number becomes smaller, when the protruding amount of the bolt becomes smaller, the stroke of the cylinder becomes larger, and the number of rotations of the automatic stud welding clamping device increases.

Referring to FIG. 5 , the structure of the automatic stud welding clamping device is as follows: the jacket 36 is fixed to the upper plate 39 by three hexagon socket bolts 37 uniformly distributed along the circumferential direction of the axis. The sleeve is fixed on the upper plate, and the vertical rod 41 is connected with the lower plate 42 by threads. The vertical rod 41 can slide freely in the axial direction in the hole of the sleeve 45 . The spring 40 is located between the sleeve 45 and the lower convex surface of the pole 41 and is in a compressed state. The nut 38 is threadedly connected with the upright rod 41 and is located on the upper surface of the upper plate 39 . The working principle of the automatic stud welding and clamping device is as follows: by opening a right-angle chamfer with guiding function on the lower end surface of the stud jacket 36, the clamping of the stud has the function of automatic center alignment. The upper plate 39 and the lower plate 42 are connected by a spring 40 and a guide rod 41 to realize the adjustable (3-5mm) pre-compression required in the stud welding process. The range of pre-compression amount that can be realized by the present invention is 0-30mm. The function of the lower plate to clamp the ceramic ring is realized by three evenly distributed spring pieces at the lower end of the lower plate 42 .

A jacket is set at the center of the upper plate, and the jacket penetrates through the upper plate and is fixedly connected with the upper plate. A number of elastic blades are arranged at the lower part of the jacket, and the blades can pick up the studs that go deep into it by virtue of their own elasticity. , the lower plate is set under the upper plate, the upper and lower plates are connected by a column, the column is covered with a spring, the upper plate can move up and down along the column, and a through hole is set in the center of the lower plate. Diameter, a number of shrapnel are arranged around the through hole, and the shrapnel are evenly distributed around the through hole, and the shrapnel rely on their own elasticity to clamp the ceramic ring that goes deep into it.

The automatic stud welding clamping device has applied for another patent on the same day, and the patent name is "Robot Large Diameter Automatic Stud Welding Gun".

A stud flexible welding method of the present invention, the specific welding process of a stud of a single specification is as follows: first, a steel stud of a certain specification and a ceramic ring matching the stud are pre-installed on the stud of the automatic stud feeding device fixed on the board. Then the robot control system sends a series of control signals to complete the entire automatic welding process, which specifically includes the following steps:

The first step, the manipulator moves to the stage where the automatic stud welding clamping device matches the stud to be welded, and the automatic stud welding clamping device is installed;

The second step, the manipulator moves to the stud position of the automatic stud feeding device and automatically clamps the studs to be welded;

In the third step, the manipulator moves to the position to be welded, and completes the automatic stud welding of the stud to be welded.

When the studs to be welded are of different specifications, it includes the following steps:

Step 1. The manipulator moves to the stage where the automatic stud welding clamping device matches the stud to be welded, and the automatic stud welding clamping device is installed;

Step 2. The manipulator moves to the designated position of the stud of the automatic stud feeding device and automatically clamps the stud to be welded;

Step 3, the manipulator moves to the position to be welded, and completes the automatic stud welding of the stud to be welded;

Step 4, the manipulator moves to the stage where the automatic stud welding clamping device matches the welded stud, and disassembles the automatic stud welding device;

Step 5, the manipulator moves to the stage where the automatic stud welding clamping device matches the stud to be welded, and installs the automatic stud welding device;

Step 6. The manipulator moves to the designated position of the stud of the automatic stud feeding device and automatically clamps the stud to be welded;

Step 7, the manipulator moves to the position to be welded, and completes the automatic stud welding of the stud to be welded.

The automatic stud feeding device in the present invention can continuously and automatically feed two automatic stud welding machines quickly and reliably. The automatic stud welding clamping device can quickly and reliably realize the automatic replacement of studs. The automatic stud feeding device and the automatic stud welding fixture changing device are evenly programmed and controlled by the robot control system to facilitate safe, automatic and precise process control.

This product designs a set of automatic stud feeding device, automatic stud welding clamping device and automatic stud clamping replacement device for medium and large diameter studs with different diameters and lengths to realize the welding process. Fully automated process.

The following examples describe in detail the stud flexible welding device and method of the present invention.

Example 1

Combined with Figure 1, take the automatic stud welding of a stud with a diameter of 12 mm and a length of 60 mm on a steel plate with a thickness of 20 mm as an example. First install the steel studs with a diameter of 12mm, lengths of 60mm and 80mm and the ceramic rings matching the studs on the stud fixing plate of the automatic stud feeding device. Then the robot control system sends a series of control signals to complete the entire automatic welding process. The specific steps are as follows: (1) The manipulator moves to the corresponding stage of the automatic stud welding clamping device to install the automatic stud welding clamping device ; (2) The manipulator moves to the stud 6 position of the automatic stud feeding device to automatically clamp the stud; (3) The manipulator moves to the designated position to be welded for automatic welding, and completes the entire automatic stud welding process.

Example 2

Combined with Figure 1, take the automatic stud welding of a stud with a diameter of 12 mm and a length of 60 mm and a diameter of 22 mm and a length of 60 mm on a steel plate with a thickness of 20 as an example. First, steel studs with a diameter of 12mm and 22mm and the ceramic rings matching the studs are pre-installed on the stud fixing plate of the automatic stud feeding device. Then the robot control system sends out a series of control signals to complete the entire automatic welding process. The specific steps are as follows: (1) The manipulator moves to the stage where the automatic stud welding clamping device matches the stud with a diameter of 12mm, and performs automatic welding. Installation of the stud welding clamping device; (2) The manipulator moves to the stud 6 position of the automatic stud feeding device to automatically clamp the stud with a diameter of 12mm; (3) The manipulator moves to the designated position to be welded for automatic welding, Complete the automatic stud welding process of studs with a diameter of 12mm; (4) the manipulator moves to the stage where the automatic stud welding clamping device matches the stud with a diameter of 12mm, and performs the automatic stud welding clamping device (5) The manipulator moves to the stage where the automatic stud welding and clamping device matches the stud with a diameter of 22mm, and the automatic stud welding and clamping device is installed; (6) The manipulator moves to the automatic stud welding and clamping device. The stud 6 position of the column feeding device automatically clamps the stud with a diameter of 12mm; (7) the manipulator moves to the designated position to be welded for automatic welding, and completes the automatic stud welding process of the stud with a diameter of 22mm. The column welding process is complete.

Claims (5)

1. A stud flexible welding device, characterized in that, comprises a welding robot, a robot control system, an automatic stud welding torch, an automatic stud feeding device, an automatic stud welding clamping device, and an automatic stud welding fixture replacement device; The welding robot, automatic stud welding gun, automatic stud feeding device, automatic stud welding clamping device, and automatic stud welding fixture replacement device are all connected with the robot control system to receive control signals from the robot control system; wherein the automatic stud welding The feeding device completes the transportation of studs, the automatic stud welding and clamping device realizes the automatic clamping of studs and ceramic rings and the setting of the required pre-compression in the welding process, and the automatic stud welding fixture replacement device realizes automatic The installation and disassembly of the stud welding clamping device; the welding robot installs the automatic stud welding clamping device on the corresponding stage of the automatic stud welding fixture replacement device, and then clamps the stud on the automatic stud welding device, Finish welding on workpiece to be welded at last; Automatic stud feeding device comprises base [14] and two automatic stud feeding devices, and two automatic stud feeding devices are fixed on the base [14] by base plate [4] and Symmetrical about the transverse central plane of the base, each of the automatic stud feeding devices includes a side plate [1], a panel [2], a first vertical plate [3], a baffle plate [5], a retaining shaft [6], a second One cylinder [7], stud fixing block [8], cylinder push head [9], second cylinder [10], second cylinder base [11], adjustment plate [12], opening slot [13], second Riser [15], cylinder support [16], left and right rope adjustment frame [17], pulley [18]; the first cylinder [7] is fixed on the top of the base plate [4] by the support, and its top is the panel [2]. The panel [2] is fixed on the bottom plate [4] through the first vertical plate [3] and the second vertical plate [15], and the first vertical plate [3] and the second vertical plate [15] are located on the bottom plate [4] The two ends of the panel [2] are provided with two parallel side plates [1] on the upper surface, the plane where the two side plates are located is parallel to the panel [2], each side plate has a chute, and the shaft [6] is set in the chute of the two side plates and can slide freely along the direction of the chute, the baffle [5], the left and right rope adjustment frame [17] are fixedly connected on the baffle shaft [6], the baffle [5] Located between the two side plates, the left and right rope adjusting frames [17] are positioned at the outside of the two side plates and limit the stop shaft [6]; the left and right pulleys [18] are located below the two side plates and are fixed on the pulley shaft. The wheel shaft is connected with the main shaft of the first cylinder [7], and the above-mentioned pulley is wound with a steel wire rope, one end of which is fixed on the panel [2], and the other end is fixed on the left and right rope adjustment racks, and when the first cylinder [7] moves, it drives The retaining shaft [6] moves in parallel in the chute of the two side plates; the second cylinder base [11] is arranged on the side of the lower surface of the panel [2] close to the second vertical plate [15], and the second cylinder [10] is set by the bracket On the second cylinder base [11], the cylinder push head [9] is located on the upper surface of the panel [2] and is connected with the main shaft of the second cylinder [1 0]; the stud fixing block [8] is located on the two side panels [1 ] and can move along its chute The adjustment plate [12] is located on the side of the upper surface of the panel [2] close to the second cylinder [10], and the adjustment plate and the baffle plate [5] limit the lateral movement of the stud fixing block [8]. 2. The stud flexible welding device according to claim 1, characterized in that the automatic stud welding fixture replacement device includes a power device, a transmission device and a replacement device, and the above three devices are arranged on the top of the clamping table panel [19]. Above, the power device is a cylinder, which is fixedly connected to the clamping table panel [19] through a bracket; the transmission device includes a rack [23], an adjustment nut [24], an adjustment bolt [25], an adjustment fixing plate [ 26], one-stage speed change gear [27], two-stage speed change gear [28], adjust the fixed plate [26] to be set above the clamping table panel [19], adjust the fixed plate [26] to place the rack [23], One end of the tooth bar is connected with the main shaft of the third cylinder [21], and moves under the drive of the main shaft. side, the axes of the above two speed change gears are located in the longitudinal center plane of the adjustment fixed plate [26], the other end of the rack [23] is connected with the primary speed change gear [27] to drive it to rotate, and the adjustment bolt [25] is located On the rack [23], the adjusting nut [24] is screwed on the adjusting bolt [25]; the replacement device includes rotating devices connected in sequence, and the rotating devices are mutually driven by the transition gear [32]. Each rotating device includes a stage [29], edge pin [30], center pin [31], stage gear [34], bearing fixing sleeve [35], the bearing fixing sleeve [35] is fixed on the clamping table panel [19], The stage [29] is fixed on the bearing fixing sleeve [35] through the bearing, the stage gear [34] is fixed under the stage [29] and drives the stage [29] to rotate, and the stage is set The edge pin [30], the center pin [31], the center pin [31] positions the automatic stud welding clamping device arranged on it, and the edge pin [30] drives the automatic stud welding clamping device placed thereon rotate. 3. The stud flexible welding device according to claim 2, characterized in that there are six rotating devices. 4. A welding method based on the stud flexible welding device described in claim 1, characterized in that, when the studs to be welded are of the same specification, it comprises the following steps: the first step, the manipulator moves to the automatic stud welding fixture replacement Install the automatic stud welding and clamping device on the stage that matches the stud to be welded; the second step, the manipulator moves to the stud position of the automatic stud feeding device to automatically clamp the stud to be welded; In the third step, the manipulator moves to the position to be welded, and completes the automatic stud welding of the stud to be welded. 5. A welding method based on the stud flexible welding device described in claim 1, characterized in that, when the stud to be welded is of different specifications, it comprises the following steps: Step 1. The manipulator moves to the stage where the automatic stud welding fixture replacement device matches the stud to be welded, and the automatic stud welding clamping device is installed; Step 2. The manipulator moves to the designated position of the stud of the automatic stud feeding device and automatically clamps the stud to be welded; Step 3, the manipulator moves to the position to be welded, and completes the automatic stud welding of the stud to be welded; Step 4. The manipulator moves to the stage where the automatic stud welding fixture replacement device matches the welded stud, and the automatic stud welding clamping device is disassembled; Step 5, the manipulator moves to the stage where the automatic stud welding fixture replacement device matches the stud to be welded, and the automatic stud welding clamping device is installed; Step 6. The manipulator moves to the designated position of the stud of the automatic stud feeding device and automatically clamps the stud to be welded; Step 7, the manipulator moves to the position to be welded, and completes the automatic stud welding of the stud to be welded.

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