阅读说明：本技术 一种搅拌车筒体部件纵缝焊接及翻转流转系统及控制方法 (Longitudinal seam welding and overturning circulation system for cylinder part of mixer truck and control method ) 是由 白林振 贾华东 董新炜 金伟红 杨深圳 李慧 王云飞 于 2021-09-07 设计创作，主要内容包括：本发明公开了一种搅拌车筒体部件纵缝焊接及翻转流转系统及控制方法,系统包括：控制模块、纵缝焊接机器人工作站、第一桁架机器人、翻转变位机和第二桁架机器人,所述第一桁架机器人设于纵缝焊接机器工作站与翻转变位机之间,所述第二桁架机器人设于翻转变位机远离第一桁架机器人的一侧,所述纵缝焊接机器人工作站包括用于定位卷圆筒体部件纵缝的定位工装和用于焊接卷圆筒体部件纵缝的纵缝焊接机器人。本发明通过控制模块控制纵缝焊接机器人工作站、第一桁架机器人、翻转变位机、第二桁架机器人之间的相互协作,能够实现搅拌车筒体的自动取放、卷圆筒体部件自动纵缝焊接及筒体件翻转,全程无需人工干预,显著提高生产效率,降低安全风险。(The invention discloses a longitudinal seam welding and turning circulation system of a mixer truck barrel body part and a control method, wherein the system comprises the following components: control module, longitudinal joint welding robot workstation, first truss robot, upset machine of shifting and second truss robot, first truss robot is located between longitudinal joint welding robot workstation and the upset machine of shifting, one side that first truss robot was kept away from to the upset machine of shifting is located to second truss robot, longitudinal joint welding robot workstation is including the location frock that is used for fixing a position the scroll barrel body part longitudinal joint and the longitudinal joint welding robot that is used for welding the scroll barrel body part longitudinal joint. According to the invention, the mutual cooperation among the longitudinal seam welding robot workstation, the first truss robot, the overturning positioner and the second truss robot is controlled by the control module, so that the automatic taking and placing of the mixer truck barrel, the automatic longitudinal seam welding of the rolled barrel body part and the overturning of the barrel body part can be realized, the manual intervention is not required in the whole process, the production efficiency is obviously improved, and the safety risk is reduced.)

1. A longitudinal seam welding and overturning circulation system for a mixer truck barrel body part is characterized by comprising a control module, a longitudinal seam welding robot workstation, a first truss robot, an overturning positioner and a second truss robot;

the first truss robot is arranged between the longitudinal seam welding machine workstation and the overturning positioner, the second truss robot is arranged on one side of the overturning positioner, which is far away from the first truss robot, and the first truss robot and the second truss robot are used for grabbing and transferring the cylinder piece;

the longitudinal seam welding robot workstation comprises a positioning tool and a longitudinal seam welding robot, the positioning tool is used for positioning a longitudinal seam of the cylindrical workpiece, the longitudinal seam welding robot is used for welding the longitudinal seam of the cylindrical workpiece, and the overturning positioner is used for overturning the cylindrical workpiece;

the control module controls the first truss robot, the second truss robot, the longitudinal seam welding robot workstation and the overturning positioner to operate, and longitudinal seam welding and overturning circulation of the cylinder body part of the mixer truck are achieved.

2. The mixer truck barrel body component longitudinal seam welding and overturning circulation system according to claim 1, wherein the positioning tool comprises a supporting structure, a roller mechanism, a base plate and a positioning stop block, one end of the base plate is fixedly connected with the supporting structure, and the positioning stop block is arranged at one end, far away from the supporting structure, of the base plate; the roller mechanism comprises two groups of roller assemblies which are oppositely arranged on two sides of the substrate, and each roller assembly comprises a plurality of rollers of which the central shafts are positioned on the same straight line.

3. The longitudinal seam welding and overturning and circulating system for the drum body component of the mixer truck as claimed in claim 2, wherein the roller mechanism further comprises a wheel shaft, and the control module controls two wheel shafts arranged on the roller mechanism to rotate in opposite directions so as to drive the roller assembly to rotate.

4. The longitudinal seam welding and overturning circulation system for the mixer truck barrel body component according to claim 1, wherein a first hoisting mechanism is arranged on the first truss robot, the first hoisting mechanism comprises a first hanger and a left telescopic mechanism and a right telescopic mechanism which are arranged on two sides of the first hanger, and the left telescopic mechanism and the right telescopic mechanism are matched with each other to grab the barrel body component.

5. The longitudinal seam welding and overturning circulation system for the mixer truck barrel body component according to claim 1, wherein a second hoisting mechanism is arranged on the second truss robot, the second hoisting mechanism comprises a second hoisting frame, a plurality of telescopic pieces arranged on the second hoisting frame, and electromagnetic positioning blocks connected with the telescopic pieces, and the telescopic pieces and the electromagnetic positioning blocks are matched with each other to grab the barrel body component.

6. The mixer truck barrel body component longitudinal seam welding and tumbling circulation system of claim 5, wherein said electromagnetic locating block is removably attached to said telescoping member.

7. The mixer vehicle body component longitudinal seam welding and overturning circulation system according to claim 5, wherein said telescopic members are provided in four sets, said four sets of telescopic members are arranged in a cross shape, and said second hanger is connected with the center of the cross shape formed by said four sets of telescopic members.

8. A control method for the longitudinal seam welding and overturning and circulating system of the mixing truck barrel body part according to any one of claims 1-7 is characterized by comprising the following steps:

controlling a positioning tool to position the longitudinal seam of the coiled cylinder body part conveyed to the welding station of the longitudinal seam welding robot workstation;

controlling a longitudinal seam welding robot to weld the longitudinal seam of the coiled cylinder body part to obtain a cylinder body part;

controlling the first truss robot to convey the barrel part to the overturning station;

controlling the turnover positioner to turn over the barrel parts conveyed to the turnover station;

and controlling the second truss robot to convey the overturned barrel part to the caching station.

9. The method for controlling the longitudinal seam welding and overturning and circulating system of the cylinder part of the mixer truck as claimed in claim 8, wherein when the first truss robot conveys the cylinder part to the overturning station, the first truss robot conveys the cylinder part to the overturning station at a constant speed.

10. The control method for the longitudinal seam welding and overturning and circulating system of the cylinder part of the mixer truck as claimed in claim 8, wherein after the overturning positioner overturns the cylinder part conveyed to the overturning station, the second truss robot places the cylinder part at different caching stations according to different types of the cylinder part.

Technical Field

The invention relates to a longitudinal seam welding and overturning circulation system of a cylinder body part of a mixer truck and a control method, and belongs to the technical field of mixer trucks.

Background

In the prior art, during the production of the agitating lorry barrel in the industry, the workpiece loading and unloading of the longitudinal seam welding procedure of each manufacturer are completed by manual hoisting, and meanwhile, the workpiece overturning after the workpiece unloading is mostly completed by manually using hoisting equipment, so that the manual participation degree in the production process is high, the efficiency is low, and the safety risk is high.

At present, some manufacturers in China try to use the turnover positioner to turn over the barrel, but the feeding and discharging work of the turnover positioner is still finished manually, so that the automatic series connection of front and rear processes is not realized, and meanwhile, the production efficiency of the barrel of the mixer truck and the utilization rate of a factory building are not improved.

Disclosure of Invention

The invention aims to overcome the defects in the prior art, and provides a stirring vehicle barrel part longitudinal seam welding and overturning circulation system and a control method, which can realize the automatic production of barrel part longitudinal seam welding and overturning in the manufacturing process of a stirring vehicle barrel.

In order to achieve the purpose, the invention is realized by adopting the following technical scheme:

on one hand, the invention provides a longitudinal seam welding and overturning circulation system for a mixer truck barrel body part, which comprises a control module, a longitudinal seam welding robot workstation, a first truss robot, an overturning positioner and a second truss robot;

the first truss robot is arranged between the longitudinal seam welding machine workstation and the overturning positioner, the second truss robot is arranged on one side of the overturning positioner, which is far away from the first truss robot, and the first truss robot and the second truss robot are used for grabbing and transferring the cylinder piece;

the longitudinal seam welding robot workstation comprises a positioning tool and a longitudinal seam welding robot, the positioning tool is used for positioning a longitudinal seam of the cylindrical workpiece, the longitudinal seam welding robot is used for welding the longitudinal seam of the cylindrical workpiece, and the overturning positioner is used for overturning the cylindrical workpiece;

the control module controls the first truss robot, the second truss robot, the longitudinal seam welding robot workstation and the overturning positioner to operate, and longitudinal seam welding and overturning circulation of the cylinder body part of the mixer truck are achieved.

Furthermore, the positioning tool comprises a supporting structure, a roller mechanism, a substrate and a positioning stop block, wherein one end of the substrate is fixedly connected with the supporting structure, and the positioning stop block is arranged at one end, far away from the supporting structure, of the substrate; the roller mechanism comprises two groups of roller assemblies which are oppositely arranged on two sides of the substrate, and each roller assembly comprises a plurality of rollers of which the central shafts are positioned on the same straight line.

Furthermore, the roller mechanism further comprises wheel shafts, and the control module controls the two wheel shafts arranged on the roller mechanism to rotate in opposite directions so as to drive the roller assemblies to rotate.

Furthermore, be equipped with first hoisting machine on the first truss robot and construct, first hoisting machine constructs including first gallows and locates left telescopic machanism and the right telescopic machanism of first gallows both sides, left telescopic machanism and right telescopic machanism mutually support and are used for snatching a barrel spare.

Furthermore, a second hoisting mechanism is arranged on the second truss robot and comprises a second hanging bracket, a plurality of telescopic pieces arranged on the second hanging bracket and electromagnetic positioning blocks connected with the telescopic pieces, and the telescopic pieces and the electromagnetic positioning blocks are matched with each other to grab the cylinder piece.

Furthermore, the electromagnetic positioning block is detachably connected with the telescopic piece.

Furthermore, the telescopic parts are provided with four groups, the four groups of telescopic parts are arranged in a cross shape, and the second hanging bracket is connected with the center of the cross shape formed by the four groups of telescopic parts.

On the other hand, the invention provides a control method of a longitudinal seam welding and overturning and circulating system of a cylinder body part of a mixer truck coil, which comprises the following steps:

controlling a positioning tool to position the longitudinal seam of the coiled cylinder body part conveyed to the welding station of the longitudinal seam welding robot workstation;

controlling a longitudinal seam welding robot to weld the longitudinal seam of the coiled cylinder body part to obtain a cylinder body part;

controlling the first truss robot to convey the barrel part to the overturning station;

controlling the turnover positioner to turn over the barrel parts conveyed to the turnover station;

and controlling the second truss robot to convey the overturned barrel part to the caching station.

Further, when the first truss robot conveys the cylinder part to the overturning station, the first truss robot conveys the cylinder part to the overturning station at a constant speed.

Further, after the barrel piece conveyed to the overturning station is overturned by the overturning positioner, the second truss robot places the barrel piece at different caching stations according to different types of the barrel piece.

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

1. the invention provides a longitudinal seam welding and overturning circulation system for a mixer truck barrel body part, which comprises a control module, a longitudinal seam welding robot workstation, a first truss robot, an overturning positioner and a second truss robot, wherein the longitudinal seam welding robot workstation is connected with the first truss robot; the first truss robot is arranged between the longitudinal seam welding machine workstation and the overturning positioner, the second truss robot is arranged on one side of the overturning positioner, which is far away from the first truss robot, and the first truss robot and the second truss robot are used for grabbing and transferring the cylindrical part and the cylindrical part; the longitudinal seam welding robot workstation comprises a positioning tool and a longitudinal seam welding robot, the positioning tool is used for positioning a longitudinal seam of the cylindrical workpiece, the longitudinal seam welding robot is used for welding the longitudinal seam of the cylindrical workpiece, and the overturning positioner is used for overturning the cylindrical workpiece; the control module controls the first truss robot, the second truss robot, the longitudinal seam welding robot workstation and the overturning positioner to operate, and longitudinal seam welding and overturning circulation of the cylinder body part of the mixer truck are achieved. According to the invention, the control module controls the longitudinal seam welding robot workstation, the first truss robot, the overturning positioner and the second truss robot to be matched with each other, so that the automatic taking and placing of the mixer truck barrel, the automatic longitudinal seam welding of the rolled barrel part and the overturning of the barrel part are realized, manual intervention is not required in the whole process, the production efficiency is obviously improved, and the safety risk is reduced because manual participation is not required.

2. The invention provides a control method of a longitudinal seam welding and overturning and circulating system of a mixing truck barrel body part, which comprises the following steps: carry the scroll barrel part spare to the welding station of longitudinal joint welding machine people workstation on, the location frock is fixed a position the longitudinal joint of scroll barrel part spare, longitudinal joint welding robot welds the longitudinal joint of scroll barrel part spare, make barrel part spare, first truss robot carries barrel part spare to the upset station, the upset machine of shifting overturns the barrel part spare of carrying to the upset station, second truss robot will carry to the buffer memory station through the barrel part spare of upset, can improve production efficiency, safety risk is reduced.

Drawings

Fig. 1 is a schematic structural diagram of a longitudinal seam welding and turnover flow system of a mixer truck barrel body component according to an embodiment of the present invention;

FIG. 2 is a schematic structural diagram of a longitudinal seam welding robot workstation in a longitudinal seam welding and turnover circulation system of a mixer truck barrel body part according to an embodiment of the present invention;

fig. 3 is a schematic structural view of a positioning tool in a longitudinal seam welding and turnover circulation system of a mixer truck barrel body part according to an embodiment of the present invention;

fig. 4 is a schematic structural diagram of a first hoisting mechanism of a first truss robot in a longitudinal seam welding and overturning and circulating system of a mixer truck barrel component according to a first embodiment of the present invention;

fig. 5 is a schematic structural view of a second hoisting mechanism of a second truss robot in the longitudinal seam welding and overturning and circulating system of the mixer truck barrel component according to the first embodiment of the present invention;

fig. 6 is a flowchart of a control method for a longitudinal seam welding and turnover circulation system of a mixer truck barrel body part according to a second embodiment of the present invention;

in the figure: 1. a longitudinal seam welding robot workstation; 2. a first truss robot; 21. a first hoisting mechanism; 22. a first hanger; 23. a left telescoping mechanism; 24. a right telescoping mechanism; 3. turning over the positioner; 4. a second truss robot; 41. a second hoisting mechanism; 42. a second hanger; 43. a telescoping member; 44. an electromagnetic positioning block; 5. positioning a tool; 51. a support structure; 52. a roller mechanism; 53. a substrate; 54. positioning a stop block; 55. a roller; 6. a longitudinal seam welding robot; 61. supporting the truss; 7. rolling the cylindrical body part; 8. a barrel member; 9. a welding station; 10. caching a station; 11. and (6) turning over the station.

Detailed Description

The invention is further described below with reference to the accompanying drawings. The following examples are only for illustrating the technical solutions of the present invention more clearly, and the protection scope of the present invention is not limited thereby.

In the description of the present invention, it is to be understood that the terms "center", "longitudinal", "lateral", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", and the like, indicate orientations or positional relationships based on those shown in the drawings, and are used only for convenience in describing the present invention and for simplicity in description, and do not indicate or imply that the referenced devices or elements must have a particular orientation, be constructed and operated in a particular orientation, and thus, are not to be construed as limiting the present invention. Furthermore, the terms "first", "second", etc. are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first," "second," etc. may explicitly or implicitly include one or more of that feature. In the description of the present invention, "a plurality" means two or more unless otherwise specified.

In the description of the present invention, it should be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, e.g., as meaning either a fixed connection, a removable connection, or an integral connection; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meaning of the above terms in the present invention can be understood by those of ordinary skill in the art through specific situations.

The first embodiment is as follows:

the invention provides a longitudinal seam welding and overturning circulation system for a mixer truck barrel part, which is shown in a figure 1 and comprises a control module, a longitudinal seam welding robot workstation 1, a first truss robot 2, an overturning positioner 3 and a second truss robot 4. First truss robot 2, second truss robot 4 share one set of guide rail mechanism, and all can remove along the guide rail realization, and the removal process is automatic movement, control module control first truss robot 2, second truss robot 4, longitudinal joint welding robot workstation 1 and control upset machine of shifting 3 operation realize the welding of trucd mixer barrel part longitudinal joint and upset circulation.

Specifically, first truss robot 2 is located between longitudinal seam welding machine workstation and upset machine of shifting 3, specifically, first truss robot 2's the position that sets up can make first truss robot 2 take off the scroll body part 7 from welding station 9 on the longitudinal seam welding machine workstation, can place the scroll body part 7 that takes off on the upset station 11 of upset machine of shifting 3 simultaneously, and the skilled person in the art should understand, first truss robot 2 can be relative longitudinal seam welding machine workstation, upset machine of shifting 3 removal.

Second truss robot 4 locates upset machine of shifting 3 one side of keeping away from first truss robot 2, indulge seam welding robot workstation 1 including location frock 5 with indulge seam welding robot 6. Specifically, location frock 5 and vertical seam welding robot 6 are located on the supporting truss 61 of vertical seam welding robot workstation 1, location frock 5 is used for the vertical joint position of the location scroll casing part 7, vertical seam welding robot 6 is used for welding the vertical joint on the scroll casing part 7.

In this embodiment, three groups of longitudinal seam welding robots 6 and positioning tools 5 are arranged on the longitudinal seam welding machine workstation, and please refer to fig. 2, the welding work of three groups of cylindrical body parts 7 can be completed simultaneously, and it should be understood that the number of the longitudinal seam welding robots 6 and the positioning tools 5 can be adjusted according to the field requirements, so as to meet the requirements of different enterprises. For example, the longitudinal seam welding robot 6 and the positioning tool 5 may be provided in two sets, or may be provided in five sets, and the present invention is not limited thereto.

The positioning fixture 5 includes a supporting structure 51, a roller mechanism 52, a base plate 53 and a positioning block 54, referring to fig. 3, the roller mechanism 52 and the positioning block 54 are disposed on the base plate 53, the base plate 53 is fixedly connected to the supporting structure 51, the roller mechanism 52 includes two sets of roller assemblies disposed on two sides of the base plate, each roller assembly includes a plurality of rollers 55 having central axes on the same straight line, and the positioning block 54 is disposed at an end away from the supporting structure 51. In this embodiment, the rollers 55 are provided in plural.

After the scroll barrel body part 7 is conveyed to the positioning tool 5, the two wheel shafts on the control module control roller mechanism 52 rotate in opposite directions, so as to drive the rollers 55 arranged on the wheel shafts to rotate, and further drive the scroll barrel body part 7 to roll, and the scroll barrel body part 7 is fixed until the scroll barrel body part 7 touches the positioning stop block 54, that is, when the positioning tool 5 positions the longitudinal seam of the scroll barrel body part 7, the scroll barrel body part 7 can rotate axially relative to the base plate 53, so that the position of the longitudinal seam on the scroll barrel body part 7 is fixed therewith, and after the scroll barrel body part 7 touches the positioning stop block 54, the positioning tool 5 axially limits the scroll barrel body part 7, so as to complete subsequent work, and the process does not need manual intervention.

The first truss robot 2 is provided with a first hoisting mechanism 21, please refer to fig. 4, the first hoisting mechanism 21 includes a first hoisting frame 22, and a left telescopic mechanism 23 and a right telescopic mechanism 24 which are arranged on two sides of the first hoisting frame 22, and the first hoisting mechanism 21 adjusts the telescopic lengths of the left telescopic mechanism 23 and the right telescopic mechanism 24 according to the size of the cylinder 8 so as to be adapted to the cylinder 8. When the cylinder member 8 is large, the left and right telescoping mechanisms 23 and 24 can move to both sides of the first hanging bracket 22 to enlarge the grabbing size, and when the cylinder member 8 is small, the left and right telescoping mechanisms 23 and 24 can move to the inner side of the first hanging bracket 22 to be matched with the cylinder member 8 with a small size.

The second lifting mechanism 41 is disposed on the second truss robot 4, referring to fig. 5, the second lifting mechanism 41 includes a second hanger 42, a plurality of telescopic members 43, and an electromagnetic positioning block 44, the number of the telescopic members 43 is plural, the telescopic members 43 are disposed on the second hanger 42, in this embodiment, the telescopic members 43 are disposed in four groups, the four groups of the telescopic members 43 are disposed in a cross shape, the second hanger 42 is connected with a center of the cross shape formed by the four groups of the telescopic members 43, and the telescopic members 43 are connected with the electromagnetic positioning block 44, it should be understood that the telescopic members 43 may be disposed in three groups or five groups, and the present invention is not limited thereto.

In a preferred embodiment, the electromagnetic positioning block 44 is detachably connected to the telescopic member 43. When the second truss robot 4 conveys the turned cylinder 8 to the buffer station 10, the second hoisting mechanism 41 can adjust the telescopic length of the telescopic piece 43 according to the size of the cylinder 8, so that the electromagnetic positioning block 44 is adsorbed on the cylinder 8.

After the second truss robot 4 conveys the overturned barrel part 8 to the buffer storage station 10, the AGV can automatically take the barrel part from the buffer storage station 10 and convey the barrel part to the next operation station. It should be noted that the buffer station 10 may include a plurality of buffer stations, and those skilled in the art can set the buffer stations according to the production capacity.

It should be noted that the structural forms of said first and second lifting means 21, 41 can be designed in different forms according to the position of gripping the cylindrical member 8, and those skilled in the art, having the knowledge of the essence of the present invention, will be able to make any form of substitution for the structure of said first and second lifting means 21, 41 within the scope of protection of the present invention.

According to the longitudinal seam welding and overturning circulation system for the drum body part 7 of the mixer truck, the whole circulation process is matched by the longitudinal seam welding robot workstation 1, the first truss robot 2, the overturning positioner 3, the second truss robot 4 and the AGV, manual intervention is not needed in the middle, and automatic production of longitudinal seam welding and overturning of the drum body of the mixer truck is realized.

Example two:

the invention also provides a control method of the longitudinal seam welding and overturning and circulating system of the cylinder part of the mixer truck, which adopts the longitudinal seam welding and overturning and circulating system of the cylinder part 7 of the mixer truck roll in the first embodiment.

The control method of the longitudinal seam welding and overturning and circulating system of the stirring vehicle scroll cylinder body part 7 comprises the following steps:

firstly, conveying a coiled cylindrical body part 7 to a welding station 9 of a longitudinal seam welding robot workstation 1 by adopting an AGV; specifically, the rolled cylindrical body member 7 is conveyed to the welding station 9 of the longitudinal seam welding robot 6 by the AGV.

The second step, control module control location frock 5 fixes a position the longitudinal joint of rolling shaft body part 7, and in detail, after rolling shaft body part 7 carried to longitudinal joint welding robot 6's welding station 9, gyro wheel 55 on the location frock 5 drove rolling shaft body part 7 and rolls, and after rolling shaft body part 7 touched location dog 54, rolling shaft body part 7 was fixed to make the longitudinal joint position on the rolling shaft body part 7 fixed thereupon.

It should be noted that, when the positioning tool 5 positions the longitudinal seam of the rolling cylinder body part 7, the rolling cylinder body part 7 can rotate axially relative to the positioning tool 5, and the positioning tool 5 axially limits the rolling cylinder body part 7.

Thirdly, the control module controls the longitudinal seam welding robot 6 to identify the longitudinal seam of the rolled cylindrical body part 7 and weld the longitudinal seam of the rolled cylindrical body part 7 to manufacture a cylindrical body part 8; the current of the welding wire used for welding is 200-240A, the voltage is 26-30V, and the welding speed is 400-600 mm/min.

Fourthly, the control module controls the first truss robot 2 to adjust the stretching lengths of the left stretching mechanism 23 and the right stretching mechanism 24 according to the size of the cylinder part 8 so as to be matched with the cylinder part 8 and convey the cylinder part 8 to the overturning station 11 in a uniform speed mode.

Fifthly, the control module controls the turnover positioner 3 to turn over the barrel part 8 conveyed to the turnover station 11, and it needs to be explained that in the turnover process, the incoming material state needs to be recognized, and flexible positioning and clamping turnover are carried out on different products.

Sixthly, the control module controls the second truss robot 4 to adjust the telescopic length of the telescopic piece 43 according to different types of the cylinder pieces 8, so that the electromagnetic positioning block 44 is adsorbed on the cylinder pieces 8, and the overturned cylinder pieces 8 are placed at different caching stations 10.

According to the invention, the longitudinal seam welding robot workstation 1, the first truss robot 2, the overturning positioner 3 and the second truss robot 4 are controlled by the control module to be matched with each other, so that the automatic taking and placing of a mixer truck barrel, the automatic longitudinal seam welding of a rolled barrel part 7 and the overturning of the barrel part 8 can be realized, manual intervention is not required in the whole process, the production efficiency is obviously improved, and the safety risk is reduced because manual participation is not required, and meanwhile, the longitudinal seam welding robot workstation 1, the first truss robot 2, the overturning positioner 3 and the second truss robot 4 are controlled by the control module to be matched with each other, so that the plant utilization rate is greatly improved in the barrel production process.

The above description is only a preferred embodiment of the present invention, and it should be noted that, for those skilled in the art, several modifications and variations can be made without departing from the technical principle of the present invention, and these modifications and variations should also be regarded as the protection scope of the present invention.