Visual identification line drawing assembly welding equipment

Abstract

The invention relates to visual identification line drawing assembly welding equipment which comprises a welding conveying assembly, the welding conveying assembly comprises a platform frame and a conveying roller installed on the platform frame and used for conveying a packing machine plate, the conveying direction of the conveying roller is defined as the first direction, and the other horizontal direction perpendicular to the first direction is defined as the second direction; a self-walking line drawing assembly, a self-walking spot welding assembly and an auxiliary positioning assembly which move in a reciprocating mode in the first direction are arranged on the platform frame. According to the automatic line drawing and welding device, line drawing and welding of the packing machine plate are achieved through joint cooperation of the welding conveying assembly, the self-walking line drawing assembly, the self-walking spot welding assembly and the auxiliary positioning assembly, spraying drawing of visual recognition color lines of different colors can be achieved only through one-time walking, the line drawing efficiency is greatly improved, and the labor intensity of workers is lowered. And an automatic accurate assembling and positioning function and visual intelligent welding are realized.

Description

Technical Field

[0001] The present invention relates to the field of baling machine manufacturing, in particular to a visual recognition line drawing assembly welding device. Background Art

[0002] At present, when manufacturing a baler, it is necessary to first prepare the various panels of the baler, and then weld the various panels to form a baler. When selecting the welding method, an adaptive intelligent welding method is adopted, which can realize automatic tracking of welds, automatic adjustment of welding parameters, intelligent operation, and adapt to the complex welding requirements of the baler.

[0003] In the above process, there are two important points. First, converting welding process parameters into symbols that can be visually identified is the key basis for visual identification of welding process. Second, accurately aligning and assembling various specifications of ribs to corresponding positions is an important link in realizing high-quality and high-speed intelligent manufacturing of hydraulic balers.

[0004] In response to the above two points, patent CN201920624590.3 mentions an automatic line marking device based on visual recognition. In the above patent, its brush drawing component uses a single drawing pen for drawing lines, which can only draw monochrome lines. If welding lines of different colors need to be drawn, it is necessary to stop the machine and replace the drawing pen, which is very troublesome; in addition, the drive used for its translation is achieved by the cooperation of a pulley, a slide rail and a slider. In addition, the entire drawing component is installed on the same side of the slide rail, which will inevitably lead to the risk of the brush tilting.

[0005] Patent CN113210945B proposes a central assembly welding device, a planar segmented assembly line, and a central assembly welding method. When welding a central assembly component, the central assembly welding device transports the component between two tracks and below a gantry. Because the welding robot can slide in the X, Y, and Z directions, it can automatically weld the longitudinal and vertical welds on the central assembly component, improving the welding efficiency and quality of the ribs on the central assembly component. However, the aforementioned welding device still requires manual assistance in positioning the assembly ribs during welding, resulting in low welding accuracy and production efficiency. Summary of the Invention

[0006] The technical problem to be solved by the present invention is to provide a visual recognition line drawing assembly welding device, which can facilitate the visual recognition color line drawing of different colors, and at the same time has the automatic and precise assembly positioning function to realize visual intelligent welding.

[0007] In order to solve the above technical problems, the technical solution of the present invention is: a visual recognition line drawing assembly welding equipment, the innovation of which is: including A welding conveyor assembly, comprising a platform frame and a conveyor roller mounted on the platform frame and used to convey the baler plate, wherein the conveying direction of the conveyor roller is defined as a first direction, and another horizontal direction perpendicular to the first direction is defined as a second direction; A self-propelled marking assembly, comprising a self-propelled frame disposed on a platform frame and reciprocating along a first direction, a brush assembly mounted on the self-propelled frame and reciprocating along a second direction, the brush assembly comprising a brush traveling frame disposed on the self-propelled frame and reciprocating along the second direction, a brush lifting assembly, a brush rotating assembly, a brush ink supply assembly, a brush traveling drive assembly, and a brush changing assembly further mounted on the brush traveling frame; A self-propelled spot welding assembly, comprising a first self-propelled frame, an assembly winch and a spot welding robot, wherein the first self-propelled frame is mounted on the platform frame and is driven to move in a first direction by a first travel drive assembly, the spot welding robot is mounted on the first self-propelled frame through a robot mounting plate and moves synchronously with the first self-propelled frame, and is driven to move horizontally in a second direction by a second travel drive assembly, a visual recognition sensor for identifying baler panels is provided at the bottom of the spot welding robot, the assembly winch is mounted on the first self-propelled frame through an assembly winch mounting plate and moves synchronously with the first self-propelled frame, and is driven to move horizontally in the second direction by a third travel drive assembly, the bottom end of the wire rope of the assembly winch is provided with an electromagnet for lifting and suction assembly, and the electromagnet is driven by the assembly winch to move vertically in a vertical direction; An auxiliary positioning component, the auxiliary positioning component includes a second self-propelled frame and a finger clamping unit, the second self-propelled frame is installed on the platform frame, and is driven to move in the first direction by the fourth travel drive component, the finger clamping unit is installed on the second self-propelled frame through the finger clamping unit mounting plate and moves synchronously with the second self-propelled frame, the finger clamping unit includes a finger clamping head for clamping and fixing the assembly, a fifth travel drive component for driving the finger clamping head to move in the second direction, a finger clamping swing component for adjusting the angle of the finger clamping head, a finger clamping lifting component for driving the finger clamping head to move vertically in the vertical direction, and a finger clamping fine-tuning component for fine-tuning the position of the finger clamping head.

[0008] Furthermore, the cooperation between the self-propelled frame and the platform frame is as follows: a pair of self-propelled guide rails distributed in parallel along the second direction are installed on the platform frame, the self-propelled guide rails extend along the first direction, and self-propelled rollers rolling on the self-propelled guide rails are also installed at the bottom end of the self-propelled frame, and the platform frame is respectively provided with a self-propelled rack arranged in parallel on the sides of the two self-propelled guide rails, and a self-propelled gear meshing with the self-propelled rack is also installed at the bottom end of the self-propelled frame, and the self-propelled gear is driven to rotate by a motor installed on the self-propelled frame, thereby driving the self-propelled frame to reciprocate along the first direction on the platform frame; The brush lifting assembly includes an inverted brush lifting cylinder, a pen holder mounting base connected to the brush lifting cylinder is provided on the pen assembly mounting frame, a guide sleeve mounting plate is connected to the bottom end of the cylinder body of the brush lifting cylinder, and a pen assembly mounting frame lifting guide rod that passes through the guide sleeve mounting plate and moves up and down is also provided on the pen assembly mounting frame, and a lifting guide sleeve that cooperates with the pen assembly mounting frame lifting guide rod is also installed on the guide sleeve mounting plate; The brush rotating assembly includes a brush rotating swing plate arranged below the brush traveling frame. The top end of the brush lifting cylinder is connected to the brush rotating swing plate. The brush rotating swing plate is driven to rotate by the cooperation of a rotary motor and a gear pair installed on the brush traveling frame, thereby driving the brush lifting cylinder and the pen assembly mounting frame to rotate as a whole. The brush ink supply assembly includes an ink bottle and a control valve group installed on the brush carriage. There are several ink bottles, which are distributed in parallel on the brush carriage, and each ink bottle is connected to the feed side of the control valve group through a hose. The discharge side of the control valve group is connected to the weld brush, the inner array brush and the outer array brush through the hose in a one-to-one correspondence. The brush travel drive assembly includes a brush travel slider, a brush travel gear and a brush travel motor. The self-propelled frame includes a pair of self-propelled seats and a pair of self-propelled beams installed on the self-propelled seats. A gap is left between the two self-propelled beams. A brush travel guide rail distributed in parallel along a first direction is respectively installed on the two self-propelled beams. A brush travel slider matching the two brush travel guide rails is installed on the brush travel frame. A brush travel rack is also provided on the self-propelled beam next to the self-propelled guide rail. At the same time, a brush travel gear meshing with the brush travel rack is installed on the brush travel frame. The two brush travel gears are respectively driven to rotate by independent brush travel motors installed on the brush travel frame, thereby driving the brush travel frame to reciprocate along the second direction on the self-propelled frame.

[0009] Furthermore, the pen-changing assembly includes a pen group mounting frame, a brush selecting assembly, an inner pen holder assembly, an outer pen holder assembly, and a weld brush. The brush selecting assembly, the inner pen holder assembly, the outer pen holder assembly, and the weld brush are all mounted on the pen group mounting frame. The inner pen holder assembly has a plurality of inner array brushes, and the outer pen holder assembly has a plurality of outer array brushes. A drawing position is provided on the pen group mounting frame. By rotating the inner pen holder assembly or the outer pen holder assembly, different inner array brushes or outer array brushes can be switched to the drawing position. In the drawing position, the weld brush, the inner array brush, and the outer array brush are sequentially distributed. The inner array brush and the outer array brush in the drawing position can be grabbed and synchronized by cooperating with the brush selecting assembly. The pen assembly mounting frame includes an upper frame plate and a lower frame plate distributed up and down, and an upper and lower frame plate connecting rod for connecting the upper and lower frame plates. An opening is further provided on one side of the upper frame plate. Two grooves are respectively inlaid on both sides of the opening, and the two grooves cooperate to form a pen-taking reciprocating slide. A paintbrush assembly mounting seat is installed on the lower frame plate, and a welded paintbrush mounting hole is further provided on the lower frame plate below the opening of the upper frame plate. The brush picking assembly includes a pen picking fork, one side of which is provided with a groove for accommodating both the inner array brush and the outer array brush, thereby forming a U-shaped pen picking fork. The pen picking fork is driven up and down by a pen picking lifting cylinder, which is mounted on a reciprocating slide rail. The two sides of the reciprocating slide rail are respectively embedded in two grooves forming a reciprocating slide rail. The reciprocating slide rail is driven by a reciprocating cylinder mounted on the upper frame plate to reciprocate along the reciprocating slide rail. The inner pen holder assembly includes an inner brush swing plate and an inner array brush mounted on the inner brush swing plate. The inner array brushes are provided in a plurality and are distributed in an arc shape on the inner brush swing plate. The inner brush swing plate is further provided with through holes for allowing each inner array brush to pass through and move up and down. A first return spring is mounted on the outer wall of the inner array brush. The inner brush swing plate is driven to rotate by a first motor mounted on a brush assembly mounting base and a gear pair. The inner brush swing plate is further provided with a first arc groove for allowing a weld brush to pass through and move. The outer pen holder assembly includes an outer brush swing plate and an outer array brush mounted on the outer brush swing plate. The outer array brushes are provided in a plurality and are distributed in an arc shape on the outer brush swing plate. The outer brush swing plate is further provided with through holes for allowing each outer array brush to pass through and move up and down. A second return spring is sleeved on the outer wall of the outer array brush. The outer brush swing plate is driven to rotate by a second motor mounted on the brush assembly mounting seat. The outer brush swing plate is further provided with a second arc groove for allowing a weld brush to pass through and move, and a third arc groove for allowing an inner array brush to pass through and move. The lower shelf plate, the inner brush swing plate and the outer brush swing plate are arranged in sequence from top to bottom; The weld brush is arranged in the weld brush installation hole.

[0010] Furthermore, the weld brush, inner array brush and outer array brush have the same structure, and all include a brush body, a hose is connected to the top of the brush body, and a limit nut is connected to the upper and lower sides of the brush body respectively, and the limit nuts on the upper side are all above the lower frame plate, and the limit nuts on the lower side are all below the outer brush swing plate.

[0011] Furthermore, a laser edge-finding assembly is also provided on the self-propelled frame, and the laser edge-finding assembly includes a laser edge-finder installed on the pen group mounting frame.

[0012] Furthermore, the clamping finger head includes a clamping jaw seat and two clamping jaws arranged opposite to each other, the clamping jaw seat has a clamping jaw installation cavity in the middle, the two clamping jaws are installed in the clamping jaw installation cavity of the clamping jaw seat, and are driven by the swing arm assembly to move horizontally towards or away from each other; The swing arm assembly includes a driving swing arm and a swing arm driving block; The swing arm driving block is installed on the clamping claw seat and is driven to rise and fall by the clamping finger driving cylinder. The driving swing arms have two and correspond to the clamping claws one by one. The two driving swing arms are respectively arranged on both sides below the swing arm driving block and are connected to the swing arm driving block by a swing arm push pin. The swing arm push pin is fixed on the swing arm driving block. The top of the driving swing arm is provided with a swing arm waist-shaped hole for accommodating the swing arm push pin and for the swing arm push pin to move. The swing arm push pin is movably arranged in the swing arm waist-shaped hole. The middle part of the driving swing arm is rotatably installed on the clamping claw seat through the swing arm rotating shaft. The bottom of the driving swing arm is connected to the corresponding clamping claw through the clamping claw push pin. The clamping claw push pin is fixed on the clamping claw. The bottom of the driving swing arm is provided with a push pin notch for accommodating the clamping claw push pin and for the clamping claw push pin to move. The clamping claw push pin is movably arranged in the push pin notch.

[0013] Furthermore, the swing arm driving block and the swing arm are both arranged in the clamping claw mounting cavity, a swing arm limiting groove is provided in the middle of the swing arm driving block, and swing arm push pin mounting holes are provided on both sides of the swing arm limiting groove on the swing arm driving block, the top of the driving swing arm extends into the swing arm limiting groove, the swing arm push pin is passed through the swing arm waist-shaped hole of the driving swing arm, and the two ends of the swing arm push pin are passed through the swing arm push pin mounting holes on the swing arm driving block, a swing arm rotating shaft mounting hole is provided in the middle of the driving swing arm, the swing arm rotating shaft is passed through the swing arm rotating shaft mounting hole, and the two ends of the swing arm rotating shaft are fixedly connected to the clamping claw seat, a swing arm limiting sleeve is provided on each side of the driving swing arm, and the swing arm limiting sleeve is sleeved on the swing arm rotating shaft, and the bottom of the driving swing arm is arranged between the two clamping claws and is limited by the two clamping claws; The two clamping jaws are movably mounted on the clamping jaw seat via clamping jaw guide pins; The two clamping jaws each include an integrally formed clamping jaw plate and a clamping jaw end. The clamping jaw end is arranged at the bottom of the clamping jaw plate and cooperates with the clamping jaw plate to form a 7-shaped structure. The clamping jaw push pin is fixed on the side of the clamping jaw plate away from the clamping jaw end. A clamping jaw waist-shaped hole is provided between the clamping jaw push pin and the clamping jaw end on the clamping jaw plate for the clamping jaw guide pin to pass through and move horizontally. There are two clamping jaw guide pins, and each clamping jaw guide pin passes through the clamping jaw waist-shaped hole of the two clamping jaws in turn. The two ends of the clamping jaw guide pin are connected to the clamping jaw seat.

[0014] Furthermore, the gripping finger fine-tuning assembly includes a lifting cylinder connecting plate, a front and rear fine-tuning unit, a middle floating connecting plate, a left and right fine-tuning unit, and a gripping finger driving cylinder connecting plate, which are arranged in sequence from top to bottom; The connecting plate of the clamping finger driving cylinder is arranged above the clamping jaw seat and is connected to the clamping jaw seat through a plurality of clamping finger mounting rods of equal height; The left and right fine-tuning unit includes left and right sliding linear guides, left and right sliding sliders, left and right sliding adjustment screws and left and right sliding adjustment motors. The left and right sliding linear guides are installed on the finger-clamping drive cylinder connecting plate, the left and right sliding sliders are installed on the middle floating connecting plate and are slidingly connected to the left and right sliding linear guides, the left and right sliding adjustment motors are installed on the finger-clamping drive cylinder connecting plate, the left and right sliding adjustment screws are fixed to the output ends of the left and right sliding adjustment motors, and the middle floating connecting plate is threadedly connected to the left and right sliding adjustment screws through left and right sliding adjustment nuts; The front and rear fine-tuning unit includes a front and rear sliding linear guide rail, a front and rear sliding slider, a front and rear sliding adjustment screw and a front and rear sliding adjustment motor. The front and rear sliding linear guide rail is installed on the middle floating connecting plate, the front and rear sliding slider is installed on the lifting cylinder connecting plate and is slidingly connected to the front and rear sliding linear guide rail, the front and rear sliding adjustment motor is installed on the middle floating connecting plate, the front and rear sliding adjustment screw is fixed to the output end of the front and rear sliding adjustment motor, and the lifting cylinder connecting plate is threadedly connected to the front and rear sliding adjustment screw through the front and rear sliding adjustment nut; The finger clamping lifting assembly includes a lifting cylinder, a lifting cylinder head connecting plate, a lifting guide rod and a guide rod sleeve; The lifting cylinder is arranged above the lifting cylinder connecting plate, the telescopic end of the lifting cylinder is connected to the lifting cylinder connecting plate, the lifting cylinder head connecting plate is installed on the lifting cylinder, the lifting guide rod is movably inserted into the guide rod sleeve, the bottom end of the lifting guide rod is fixedly connected to the lifting cylinder connecting plate, and the guide rod sleeve is installed on the lifting cylinder head connecting plate; The clamping finger swing assembly includes a driving gear, a driven gear and a swing drive motor; The driving gear is vertically rotatably mounted on the finger clamping unit mounting plate through the central axis of the driving gear bearing, and is connected to the output end of the swing driving motor. The driven gear is vertically rotatably mounted on the finger clamping unit mounting plate through the central axis of the driven gear bearing. The driven gear is meshed with the driving gear, and the bottom of the driven gear is fixedly connected to the lifting cylinder through the lifting cylinder tail connecting plate.

[0015] Furthermore, the spot welding robot includes a multi-axis welding robot and a welding gun, the welding gun is installed in the welding gun hole clamp of the multi-axis welding robot, and the visual recognition sensor is installed in the mounting hole of the welding gun hole clamp of the multi-axis welding robot away from the welding gun by a screw.

[0016] Furthermore, the first travel drive assembly includes a first travel drive motor, a first travel drive gear and a first travel wheel; The first traveling wheel is installed at the bottom of the first self-propelled frame, and the platform frame is provided with a spot welding assembly traveling track, and the first traveling wheel rides on the spot welding assembly traveling track; The first travel drive motor is mounted on the first self-propelled frame, the platform frame is provided with a spot welding assembly travel rack extending along the first direction, the first travel drive gear is mounted on the output end of the first travel drive motor and is meshed with the spot welding assembly travel rack; The structure of the fourth travel drive assembly is the same as that of the first travel drive assembly; The second travel drive assembly includes a second travel drive motor, a second travel drive gear and a second travel slider; The robot mounting plate is arranged above the first self-propelled frame, the top surface of the first self-propelled frame is provided with a robot walking track, and the second walking slider is installed at the bottom of the robot mounting plate and is slidably connected to the robot walking track; The second travel drive motor is mounted on the robot mounting plate, the first self-propelled frame is provided with a robot travel rack extending along the second direction, and the second travel drive gear is mounted on the output end of the second travel drive motor and meshed with the robot travel rack; The structures of the third travel drive assembly and the fifth travel drive assembly are the same as that of the second travel drive assembly.

[0017] The advantages of the present invention are: in the present invention, the marking and welding of the baler plate are achieved through the cooperation of the welding conveying component, the self-propelled marking component, the self-propelled spot welding component and the auxiliary positioning component. Only one walking is required to achieve the spraying of visual recognition color lines of different colors, which greatly improves the marking efficiency and realizes the automatic precise assembly positioning function and visual intelligent welding.

[0018] The self-propelled frame adopts a combination of a self-propelled seat and a pair of self-propelled beams. When coordinated with the brush traveling frame, the two sides of the brush traveling frame are respectively supported on the self-propelled beams, thereby achieving stable support for the brush traveling frame, and providing an excellent foundation for the subsequent stable movement of the brush traveling frame and the stable movement of components such as the brush lifting assembly, brush rotating assembly, and pen changing assembly on the brush traveling frame.

[0019] For the walking coordination between the self-propelled frame and the platform frame, the self-propelled guide rail and the self-propelled roller are used to achieve walking, and then the self-propelled rack and the self-propelled gear are used to provide walking drive, which can not only achieve smooth walking of the self-propelled frame, but also facilitate the installation coordination between the self-propelled frame and the platform frame.

[0020] The design of the pen-changing assembly enables simultaneous drawing with three pens through the coordination of the brush selection assembly, inner pen holder assembly, outer pen holder assembly and weld brush. Multiple color lines can be sprayed in one action, greatly improving work efficiency.

[0021] In addition, the switching between different inner array brushes or outer array brushes is achieved by rotating, which makes the pen changing process more convenient, and different brushes can be directly selected according to needs, making the pen changing more flexible.

[0022] The design of the weld brush, inner array brush and outer array brush structure uses the cooperation of the upper and lower locking nuts to provide a hard limit protection for the up and down stroke of the brush, thereby preventing the brush from exceeding the stroke limit and causing the brush to detach, thereby affecting the automatic line drawing and smooth pen changing of the line marking machine.

[0023] Through the cooperation of the guide sleeve mounting plate, the lifting guide sleeve and the pen group mounting frame lifting guide rod, when the brush lifting cylinder drives the pen group mounting frame to move up and down, the pen group mounting frame plays a guiding role, ensuring the stability of the pen group mounting frame in the up and down lifting, and avoiding the pen group mounting frame from deviating.

[0024] After the assembled substrate is transported to its position using the platform frame, the visual recognition sensor of the self-propelled spot welding component is used to scan and find the edges of the assembled substrate. The assembly winch moves with the self-propelled spot welding component, and the electromagnet is used to suck and lift the assembled welding ribs one by one and then moves to the approximate position of the assembled substrate. The auxiliary positioning component moves to the assembly welding rib position by itself, and the clamping finger unit adjusts the swing angle, opens the clamping fingers, and lowers the clamping fingers to both sides of the rib, clamping the rib and accurately positioning it. The spot welding robot of the self-propelled spot welding component is used to spot weld the ribs. After all the assemblies are completed, the spot welding robot welds the weldments in sequence according to the visual process parameters. The visual recognition assembly mechanism cooperates with the self-propelled spot welding component and the auxiliary positioning component to realize automatic and precise assembly and positioning functions as well as visual intelligent welding.

[0025] The finger clamping head realizes the functions of automatic lifting, automatic rotation, cross fine adjustment, and assembling rib thickness adaptation through the mutual cooperation of the swing arm assembly, finger clamping swing assembly, finger clamping lifting assembly, and finger clamping fine adjustment assembly, thereby improving production efficiency.

[0026] The swing arm of the finger clamp uses the swing arm limit groove, swing arm drive sleeve and clamping claw on the swing arm drive block to limit the top, middle and bottom respectively, to avoid excessive displacement of the swing arm affecting the control accuracy. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] Figure 1 It is a schematic diagram of the visual recognition line drawing assembly welding equipment of the present invention.

[0028] Figure 2 Schematic diagram of the self-propelled line drawing component and the welding conveying component in the present invention.

[0029] Figure 3 Schematic diagram of the self-propelled line drawing component of the present invention.

[0030] Figure 4 Schematic diagram of the brush assembly of the present invention.

[0031] Figure 5 Schematic diagram of the pen replacement assembly of the present invention.

[0032] Figure 6 It is a cross-sectional view of the pen-changing assembly of the present invention.

[0033] Figure 7 Schematic diagram of the pen set mounting bracket of the present invention.

[0034] Figure 8 Schematic diagram of the inner pen holder assembly of the present invention.

[0035] Figure 9 Schematic diagram of the external pen holder assembly of the present invention.

[0036] Figure 10 Schematic diagram of the weld brush in the present invention.

[0037] Figure 11 Schematic diagram of the self-propelled spot welding assembly and the auxiliary positioning assembly in the present invention.

[0038] Figure 12 It is a structural schematic diagram of the self-propelled spot welding assembly in the present invention.

[0039] Figure 13 for Figure 12 Enlarged view of point A.

[0040] Figure 14 It is a structural schematic diagram of the spot welding robot of the present invention.

[0041] Figure 15 It is a structural schematic diagram of the assembly winch of the present invention.

[0042] Figure 16 It is a structural schematic diagram of the auxiliary positioning component of the present invention.

[0043] Figure 17 Schematic diagram of the structure of the finger clamping unit of the present invention.

[0044] Figure 18 It is a front view of the finger clamping unit of the present invention.

[0045] Figure 19 It is a structural schematic diagram of the finger clamp of the present invention.

[0046] Figure 20 It is an exploded view of the structure of the finger clamp of the present invention.

[0047] Figure 21 It is a structural schematic diagram of the driving swing arm of the present invention.

[0048] Figure 22 It is a structural schematic diagram of the clamping jaws of the present invention. DETAILED DESCRIPTION

[0049] In order to further illustrate the technical means and effects adopted by the present invention to achieve the predetermined purpose of the invention, the specific implementation methods, structures, features and effects of the present invention are described in detail below in conjunction with the accompanying drawings and preferred embodiments.

[0050] like Figure 1-Figure 22 The visual recognition line drawing assembly welding equipment shown includes a welding conveying component 1, a self-propelled line drawing component 2, a self-propelled spot welding component 4 and an auxiliary positioning component 5.

[0051] The welding conveying assembly 1 includes a platform frame 11 and a conveying roller 12 installed on the platform frame 11 and used to convey the baler plate. The two sides of the conveying roller 12 are respectively installed on the platform frame 11 through the cooperation of bearings and bearing seats. A linkage sprocket is also installed at the end of the conveying roller 12, and a linkage chain that cooperates with the linkage sprocket is also provided between adjacent conveying rollers 12. The synchronous and unidirectional rotation of all the conveying rollers 12 is achieved through the cooperation of the linkage sprocket and the linkage chain. Any one of the linkage chains is driven to rotate by a motor installed on the platform frame 11, thereby driving all the conveying rollers 12 to rotate, thereby realizing the transportation of the baler plate 13. The conveying direction of the conveying roller 12 is limited to a first direction, and the other horizontal direction perpendicular to the first direction is a second direction.

[0052] The self-propelled marking assembly 2 includes a self-propelled frame 20 that is arranged on a platform frame 12 and reciprocates along a first direction. The walking coordination between the self-propelled frame 20 and the platform frame 12 is as follows: a pair of self-propelled guide rails 14 distributed in parallel along a second direction are installed on the platform frame 11, and the self-propelled guide rails 14 extend along the first direction. Self-propelled rollers 201 that roll on the self-propelled guide rails 14 are also installed at the bottom end of the self-propelled frame 20. There are four self-propelled rollers 201 in total, two in each group, distributed on the self-propelled frame 20, and the same group of self-propelled rollers 201 are arranged on the self-propelled frame 20. The two self-propelled rollers 201 are matched with the same self-propelled guide rail 14. There is also a running groove recessed toward the inside of the self-propelled roller 201 in the middle position of the circumferential outer wall of the self-propelled roller 201. The self-propelled roller 201 is supported on the self-propelled guide rail 14, and the self-propelled guide rail 14 is placed in the running groove of the self-propelled roller 201. The design of the running groove is used to relatively limit the position of the self-propelled roller 201 on the self-propelled guide rail 14, so as to avoid the self-propelled roller 201 from running off when running on the self-propelled guide rail 14.

[0053] On the sides of the two self-propelled guide rails 14 of the platform frame 11, there are also two parallel self-propelled racks 15, which also extend along the first direction. A self-propelled gear 202 meshing with the self-propelled rack 15 is also installed at the bottom end of the self-propelled frame 20. The two self-propelled gears 202 are respectively driven by independent motors installed on the self-propelled frame 20 to rotate, thereby driving the self-propelled frame 20 to reciprocate along the first direction on the platform frame 11. For the travel coordination between the self-propelled frame 20 and the platform frame 12, the self-propelled guide rails 14 and the self-propelled rollers 201 are used to achieve travel, and the self-propelled racks 15 and the self-propelled gears 202 are used to provide travel drive. This can not only achieve smooth travel of the self-propelled frame 20, but also facilitate the installation and coordination between the self-propelled frame 20 and the platform frame 12. It is only necessary to hang the entire self-propelled frame 20 on the two self-propelled guide rails 14, which is very convenient.

[0054] A brush assembly is mounted on the self-propelled frame 20 and moves back and forth along the second direction. Figure 2 As shown in the schematic diagram, the brush assembly includes a brush traveling frame 211 arranged on the self-propelled frame 20 and reciprocating along the second direction. A brush lifting assembly, a brush rotating assembly, a brush ink supply assembly, a brush traveling drive assembly and a pen changing assembly are also installed on the brush traveling frame 211.

[0055] The reciprocating movement of the brush travel frame 211 on the self-propelled frame 20 is achieved through the cooperation of the brush travel drive assembly. Specifically, the brush travel drive assembly includes a brush travel slider 213, a brush travel gear 214 and a brush travel motor 212. The self-propelled frame 20 includes a pair of self-propelled seats 203 and a pair of self-propelled beams 204 installed on the self-propelled seats 203. The two sides of the self-propelled beams 204 are respectively supported on the two self-propelled seats 203. There is a gap between the two self-propelled beams 204. A brush travel guide rail 205 distributed in parallel along a first direction is respectively installed on the two self-propelled beams 204. The brush travel guide rail 205 extends along a second direction and is installed on the brush travel frame 211. There is a brush travel slider 213 that cooperates with the two brush travel guide rails 205. A brush travel rack 206 is also provided on the self-propelled beam 204 next to the self-propelled guide rail 205. The brush travel rack 206 also extends along the second direction. At the same time, a brush travel gear 214 that meshes with the brush travel rack 206 is installed on the brush travel frame 211. The two brush travel gears 214 are respectively driven to rotate by independent brush travel motors 212 installed on the brush travel frame 211, thereby driving the brush travel frame 211 to reciprocate along the second direction on the self-propelled frame 20. A gear bearing socket 215 is also provided between the brush travel gear 214 and the brush travel motor 212. The self-propelled frame 20 adopts a combination of a self-propelled seat 203 and a pair of self-propelled beams 204. When coordinated with the brush traveling frame 211, both sides of the brush traveling frame 211 are respectively supported on the self-propelled beams 204, thereby achieving stable support for the brush traveling frame 211, and providing an excellent foundation for the subsequent stable movement of the brush traveling frame 211 and the stable movement of the brush lifting assembly, brush rotating assembly, pen changing assembly and other components on the brush traveling frame 211.

[0056] like Figure 5-10 As shown in the schematic diagram, the pen replacement assembly includes a pen set mounting frame 3, a brush selection assembly, an inner pen holder assembly, an outer pen holder assembly and a welding brush 331.

[0057] The brush selection component, the inner pen holder component, the outer pen holder component and the weld brush are all installed on the pen group mounting frame 3. The inner pen holder component has several inner array brushes 311, and the outer pen holder component has several outer array brushes 321. There is a drawing position on the pen group mounting frame 3. By rotating the inner pen holder component or the outer pen holder component, different inner array brushes or outer array brushes can be switched to the drawing position. In the drawing position, the weld brush 331, the inner array brush 311 and the outer array brush 321 are distributed in sequence. The cooperation of the brush selection component realizes the grabbing and synchronization of the inner array brush 311 and the outer array brush 321 in the drawing position.

[0058] Specifically, such as Figure 7 As can be seen from the schematic diagram shown, the pen set mounting frame 3 includes an upper frame plate 301 and a lower frame plate 302 distributed up and down, and an upper and lower frame plate connecting rod 303 for connecting the upper frame plate 301 and the lower frame plate 302. The upper frame plate 301 and the lower frame plate 302 are both a flat plate structure, and the upper frame plate 301 and the lower frame plate 302 are balanced with each other. There are four upper and lower frame plate connecting rods 303, which are distributed in the shape of a U between the upper frame plate 301 and the lower frame plate 302, and the upper and lower sides of the upper and lower frame plate connecting rods 303 are fixed between the upper frame plate 301 and the lower frame plate 302 respectively.

[0059] An opening 304 is provided on one side of the upper frame plate 301, and a groove 305 with a notch opposite to the other side of the opening 304 is inlaid on the upper frame plate 301, and the two grooves 305 cooperate to form a pen-taking reciprocating slide. A brush assembly mounting seat 306 is installed on the lower frame plate 302. The brush assembly mounting seat 306 is a stepped structure composed of a first mounting seat and a second mounting seat. The size of the first mounting seat is larger than that of the second mounting seat. The first mounting seat is used to cooperate with the outer pen holder assembly, and the second mounting seat is used to cooperate with the inner pen holder assembly. A weld brush mounting hole 307 is also provided on the lower frame plate 302 below the opening 304 of the upper frame plate 301. The weld brush mounting hole 307 is used to realize the installation of the weld brush 331.

[0060] The weld brush 331 is disposed in the weld brush mounting hole 307 and is directly fixed to the lower frame plate 302 , thereby moving along with the entire pen assembly mounting frame 3 .

[0061] A pen group mounting frame lifting guide rod 309 and a pen holder replacement mounting seat 308 are also provided on the pen group mounting frame 3. The pen group mounting frame lifting guide rod 309 and the pen holder replacement mounting seat 308 are both installed on the upper frame plate. Among them, the pen group mounting frame lifting guide rod 309 is used for guiding during the lifting process of the pen group mounting frame, and the pen holder replacement mounting seat 308 is used for connecting the pen group mounting frame 3 with the marking machine. Through the joint cooperation of the pen group mounting frame lifting guide rod 309 and the pen holder replacement mounting seat 308, it is convenient for the marking machine to drive the pen group mounting frame 3 to move up and down stably.

[0062] like Figure 8 As shown in the schematic diagram, the inner pen holder assembly includes an inner brush swing plate 312 and an inner array brush 311 installed on the inner brush swing plate 312. There are several inner array brushes 311 distributed in an arc shape on the inner brush swing plate 312. At the same time, the inner brush swing plate 312 is also provided with through holes for each inner array brush 311 to pass through and move up and down. A first return spring 313 is installed on the outer wall of the inner array brush 311.

[0063] The inner brush swing plate 312 is installed below the lower frame plate 302, and a gap is left between the inner brush swing plate 312 and the lower frame plate 302. The inner brush swing plate 312 is driven to rotate by a first motor 314 installed on the brush assembly mounting seat 306 and a gear pair. The first motor 314 is installed on the second mounting seat of the brush assembly mounting seat 306. The gear pair includes a driving gear 315 arranged inside the second mounting seat and a driven gear 316 installed inside the first mounting seat. The driving gear 315 and the driven gear 316 are engaged with each other, wherein the driving gear 315 is driven to rotate by the first motor 314, and the driven gear 316 is connected to the inner brush swing plate 312 through the cooperation of the connecting shaft, and drives the inner brush swing plate 312 to rotate.

[0064] A first arcuate groove 317 is further provided on the inner brush swing plate 312 for allowing the weld brush 331 to pass through and move. The first arcuate groove 317 is provided to avoid the weld brush 331. Since the weld brush 331 is directly installed in the weld brush mounting hole 307, and the weld brush mounting hole 307 is a fixed mounting hole, that is, the position of the weld brush 331 installed in the weld brush mounting hole 307 remains unchanged. However, when spraying, the weld brush 331 needs to be raised and lowered. Therefore, in order to avoid the weld brush 331, the first arcuate groove 317 is provided on the inner brush swing plate 312 for avoidance, thereby ensuring that the inner brush swing plate 312 rotates smoothly without mutual interference caused by the weld brush 331.

[0065] like Figure 9 As shown in the schematic diagram, the outer pen holder assembly includes an outer brush swing plate 322 and an outer array brush 321 installed on the outer brush swing plate 322. There are several outer array brushes 321 distributed in an arc shape on the outer brush swing plate 322. At the same time, the outer brush swing plate 322 is also provided with through holes to allow each outer array brush 321 to pass through and move up and down. A second return spring 323 is installed on the outer wall of the outer array brush 321.

[0066] The outer brush swing plate 322 is installed below the inner brush swing plate 312, and a gap is left between the outer brush swing plate 322 and the inner brush swing plate 312. The outer brush swing plate 322 is driven to rotate by a second motor 324 installed on the brush assembly mounting seat 306. The second motor 324 is installed on the first mounting seat of the brush assembly mounting seat 306. The output shaft of the second motor 324 is connected to the outer brush swing plate 322 through a connecting shaft, and drives the outer brush swing plate 322 to rotate. The outer brush swing plate 322 is provided with a second arc groove 325 for allowing the weld brush 331 to pass through and move, and a third arc groove 326 for allowing the inner array brush 321 to pass through and move. The design of the second arc groove 325 and the third arc groove 326 is also to avoid the weld brush 331 and the inner array brush 321 to ensure the smooth rotation of the outer brush swing plate 322 and avoid interference with the weld brush 331 and the inner array brush 321.

[0067] The brush selection component includes a pen fork 341, and a groove for accommodating the inner array brush 311 and the outer array brush 321 is opened on one side of the pen fork 341, so that the entire pen fork 341 is U-shaped. The pen fork 341 is driven up and down by a pen lifting cylinder 342, and the pen lifting cylinder is installed on a reciprocating slide 343. The reciprocating slide 343 is a flat plate structure. The two sides of the reciprocating slide 343 are respectively embedded in the two grooves 305 that constitute the pen reciprocating slide, and the reciprocating slide 343 is driven by a pen reciprocating cylinder 344 installed on the upper frame 301 to move back and forth along the pen reciprocating slide.

[0068] The weld brush 331, the inner array brush 311 and the outer array brush 321 have the same structure. Figure 10The weld brush 331 shown in the figure is taken as an example, which includes a brush body 351, a hose is connected to the top of the brush body 351, and a hose connector 352 connected to the hose is provided at the top of the brush body 351. A limiting nut 353 is connected to the upper and lower sides of the brush body 351, and the limiting nut 353 on the upper side is located above the lower frame 302, and the limiting nut 353 on the lower side is located below the outer brush swing plate 322. The brush body 351 is used to pass through the weld brush mounting hole 307 or the first arc groove 317 or the second arc groove 325 or the third arc groove 326, and the limiting nut 353 The diameters of the first and second arc grooves 317, 325 and 326 are larger than the sizes of the weld brush mounting hole 307, the first arc groove 317, the second arc groove 325 and the third arc groove 326, so as to limit the up and down movement of the brush body 351. The first return spring 313 and the second return spring 323 are mounted on the outer wall of the brush body 351 and are located between the two limiting nuts 353. The upper ends of the first return spring 313 and the second return spring 323 both rest on the bottom surface of the limiting nut 353 on the upper side, and the lower end of the first return spring 313 rests on the top of the inner brush swing plate 312, and the lower end of the second return spring 323 rests on the top of the outer brush swing plate 322. The design of the weld brush 331, the inner array brush 311 and the outer array brush 321 structures, through the cooperation of the upper and lower limit nuts 353, serves the purpose of hard limit protection for the up and down lifting stroke of the brush, thereby preventing the brush from exceeding the stroke limit and causing the brush to detach, thereby affecting the automatic drawing of the line marking machine and the smooth operation of pen changing.

[0069] The weld brush 331 is different from the inner array brush 311 and the outer array brush 321 in that the weld brush 331 is directly fixed in the weld brush mounting hole 307, so there is no need to install a reset spring. When the weld brush 331 is fixed, a locking nut 354 is required to be added to the upper side of the brush body 351 of the weld brush 331 to fix the weld brush 331. The locking nut 354 is located above the lower frame plate 302, and the bottom surface of the upper limit nut 353 and the top surface of the locking nut 354 are respectively fitted with the upper and lower sides of the lower frame plate 302. The weld brush 331 is fixed to the lower frame plate 302 through the cooperation of the locking nut 354 and the upper limit nut 353.

[0070] The brush lift assembly includes an inverted brush lift cylinder 221. The bottom end of the piston rod of the brush lift cylinder 221 is connected to the pen holder mounting base 308. The bottom end of the cylinder body of the brush lift cylinder 221 is connected to a guide sleeve mounting plate 222. The guide sleeve mounting plate 222 has a guide hole through which the pen assembly mounting frame lifting guide rod 309 passes and moves up and down. At the same time, a lifting guide sleeve 223 is also installed in the guide hole of the guide sleeve mounting plate 222 to cooperate with the pen assembly mounting frame lifting guide rod 309. The cooperation of the guide sleeve mounting plate 222, the lifting guide sleeve 223, and the pen assembly mounting frame lifting guide rod 309 allows the pen assembly mounting frame 3 to be guided when the brush lift cylinder 221 drives the pen assembly mounting frame 3 to move up and down, ensuring the stable lifting of the pen assembly mounting frame 3 and preventing the pen assembly mounting frame 3 from deviating.

[0071] The brush rotating assembly includes a brush rotating swing plate 231 disposed below the brush traveling frame 211. The top end of the brush lifting cylinder 221 is connected to the brush rotating swing plate 231 and rotates with the rotation of the brush rotating swing plate 231. The brush rotating swing plate 231 is driven by the rotating motor 232 and the gear pair 233 installed on the brush traveling frame 211 to rotate, thereby driving the brush lifting cylinder 221 and the pen assembly mounting frame 3 to rotate as a whole. The brush ink supply assembly includes an ink bottle 241 installed on the brush traveling frame 211 and a control valve group 242. There are several ink bottles 241, which are distributed in parallel on the brush traveling frame 211, and each ink bottle 241 is connected to the feed side of the control valve group 242 through the cooperation of a hose. The discharge side of the control valve group 242 is connected to the hose connector 352 on the weld brush 331, the inner array brush 311 and the outer array brush 321 through the cooperation of a hose, thereby supplying the weld brush 331, the inner array brush 311 and the outer array brush 321.

[0072] A laser edge-finding assembly is also provided on the self-propelled frame 20, and the laser edge-finding assembly includes a laser edge-finding device 251 mounted on the pen assembly mounting frame 3. The laser edge-finding device 251 is used to detect the position and contour of the baler plate 13 conveyed on the conveyor roller 12, and a relative coordinate system is established with the plate plane as the reference plane and one corner thereof as the reference coordinate origin, which provides a basis for subsequent automatic spray painting according to the position of the baler plate 13. When controlling, the line marking machine also needs to be equipped with a controller. The laser edge-finding device 251 detects the baler plate 13 and transmits the detection result to the controller. Then, the controller controls the movement of multiple components of the line marking machine, such as the self-propelled frame 20, the brush traveling frame 211, and the brush lifting cylinder 221, so as to realize automatic spray painting on the surface of the baler plate 13.

[0073] When selecting a pen, first, the inner brush swing plate 312 is driven to rotate by the first motor 314. When the required inner array brush 311 moves to the front of the pen picking fork 341, the first motor 314 stops, and then the outer brush swing plate 322 is driven to rotate by the second motor 324. When the required outer array brush 321 moves to the front of the pen picking fork 341, the second motor 324 stops, and then the pen picking reciprocating cylinder 344 drives the reciprocating slide rail 343 to move, pushing the pen picking fork 341 outward, so that the fork groove of the pen picking fork 341 is inserted into the neck and shoulder part of the inner array brush 311 and the outer array brush 321 at the drawing position, that is, the position of the upper end surface of the limit nut 353 on the upper side, and then the pen picking lifting air cylinder 344 is used to move the reciprocating slide rail 343. The cylinder 342 drives the pen fork 341 to move downward, and the pen fork 341 presses down the limit nut 353 on the upper side, thereby driving the inner array brush 311 and the outer array brush 321 to move downward synchronously, so that the positions of the inner array brush 311, the outer array brush 321 and the weld brush 331 are consistent, and enter the line drawing standby state. Then, the entire pen changing device moves and draws lines under the drive of the line drawing machine. After the line drawing is completed, the pen lifting cylinder 342 drives the pen fork to move upward, and the inner array brush 311 and the outer array brush 321 are reset under the drive of the first reset spring 313 and the second reset spring 323. Then the pen reciprocating cylinder 344 drives the pen fork 341 to retract inward, and enters the next round of pen selection and line drawing.

[0074] The self-propelled spot welding assembly 4 includes a first self-propelled frame 41, an assembly winch 43 and a spot welding robot 42. The first self-propelled frame 41 is installed on the platform frame 1 and is driven to move in a first direction by a first travel drive assembly. The spot welding robot 42 is installed on the first self-propelled frame 41 through a robot mounting plate 421 and moves synchronously with the first self-propelled frame 41. It is driven to move horizontally in a second direction by a second travel drive assembly 425. The bottom of the spot welding robot 42 has a visual recognition sensor 424 for identifying the baler plate. The assembly winch 43 is driven by the assembly winch 43. The winch mounting plate 431 is installed on the first self-propelled frame 41 and moves synchronously with the first self-propelled frame 41, and is driven to move horizontally along the second direction by the third travel drive component 434. The assembly winch 43 includes a wire rope drum 432 and a winch reduction motor 435. The wire rope drum 432 is installed on the top of the assembly winch mounting plate 431 and is driven to rotate by the winch reduction motor 435. The bottom end of the wire rope of the wire rope drum 432 has an electromagnet 433 for lifting and suction assembly. The electromagnet 433 is driven by the wire rope drum 432 to move vertically in the vertical direction.

[0075] In this embodiment, the spot welding robot 42 includes a multi-axis welding robot 422 and a welding gun 423. The multi-axis welding robot 422 is installed at the bottom of the robot mounting plate 421, and the welding gun 423 is installed in the welding gun hole clamp at the bottom of the multi-axis welding robot 422. The visual recognition sensor 424 is installed in the mounting hole of the welding gun hole clamp of the multi-axis welding robot 422 away from the welding gun 423 by screws.

[0076] The visual recognition sensor 424 detects and identifies the visual process parameter color line representing the welding path on the assembly substrate and transmits it to the welding control center of the visual recognition assembly mechanism. The control center calls the welding process parameters that match the process parameter color line from the database, and adjusts the welding gun 423 parameters of welding current, voltage, and gas flow according to the welding process parameters. At the same time, the state parameters of the welding gun posture, arc striking distance, and welding speed of the multi-axis welding robot 422 are adjusted. When the welding gun posture is adjusted, the multi-axis welding robot axis position is adjusted within the range of action of the multi-axis welding robot to adapt to the process posture change. Outside the range of action of the multi-axis welding robot, the first walking drive component and the second walking drive component 425 are used for walking drive to meet the welding range requirements.

[0077] The auxiliary positioning component 5 has two, the auxiliary positioning component 5 includes a second self-propelled frame 51 and a finger clamping unit 52. The second self-propelled frame 51 is installed on the platform frame 1 and is driven to move in the first direction by the fourth travel drive component 511. The finger clamping unit 52 is installed on the second self-propelled frame 51 through the finger clamping unit mounting plate 521 and moves synchronously with the second self-propelled frame 51. The finger clamping unit 52 includes a finger clamping head 525 for clamping and fixing the assembly, a fifth travel drive component 526 for driving the finger clamping head 525 to move in the second direction, a finger clamping swing component 522 for adjusting the angle of the finger clamping head 525, a finger clamping lifting component 523 for driving the finger clamping head 525 to move vertically in the vertical direction, and a finger clamping fine-tuning component 524 for fine-tuning the position of the finger clamping head 525.

[0078] In this embodiment, the clamping finger 525 includes a clamping jaw seat 5253 and two oppositely arranged clamping jaws 5259. The clamping jaw seat 5253 is composed of two oppositely arranged seat bodies. The two seat bodies are connected by bolts to form a whole, and a clamping jaw mounting cavity is formed between the two seat bodies. The two clamping jaws 5259 are installed in the clamping jaw mounting cavity of the clamping jaw seat 5253, and are driven by the swing arm assembly to move horizontally closer to or away from each other.

[0079] The swing arm assembly includes a driving swing arm 5256 and a swing arm driving block 5254. The swing arm driving block 5254 is mounted in the clamping claw mounting cavity of the clamping claw seat 5253 and is driven to move up and down by the clamping finger driving cylinder 5252. The clamping finger driving cylinder 5252 is mounted on the top of the clamping claw seat 5253. The telescopic rod of the clamping finger driving cylinder 5252 extends into the clamping claw mounting cavity and connects to the swing arm driving block 5254. There are two driving swing arms 5256, which correspond one to one with the clamping claws 5259. The two driving swing arms 5256 are both arranged in the clamping claw mounting cavity. The two driving swing arms 5256 are respectively arranged on both sides below the swing arm driving block 5254 and are each connected to the swing arm driving block 5254 by a swing arm push pin 5255. The swing arm push pin 5255 is fixed to the swing arm driving block 5254. The driving swing arm 5256 has a "<"-shaped structure. A waist-shaped hole 52561 is defined at the top of the driving swing arm 5256 to accommodate and move the swing arm push pin 5255. The swing arm push pin 5255 is movably disposed within the waist-shaped hole 52561. The middle portion of the driving swing arm 5256 is rotatably mounted on the clamping jaw seat 5253 via a swing arm rotating shaft 5257. The bottom portion of the driving swing arm 5256 is connected to the corresponding clamping jaw 5259 via a clamping jaw push pin 52510. The clamping jaw push pin 52510 is fixed to the clamping jaw 5259. A push pin notch 52563 is defined at the bottom of the driving swing arm 5256 to accommodate and move the clamping jaw push pin 52510. The clamping jaw push pin 52510 is movably disposed within the push pin notch 52563.

[0080] In this embodiment, a swing arm limiting groove 52541 is opened in the middle of both sides of the swing arm driving block 5254, and a swing arm push pin mounting hole is opened on both sides of each swing arm limiting groove 52541 on the swing arm driving block 5254. The top of the driving swing arm 5256 extends into the corresponding swing arm limiting groove 52541, and the swing arm push pin 5255 is inserted into the swing arm waist-shaped hole 52561 of the driving swing arm 5256. The two ends of the swing arm push pin 5255 are inserted into the swing arm push pin mounting holes on the swing arm driving block 5254. A swing arm shaft mounting hole 52562 is provided in the middle of the movable swing arm 5256, and the swing arm shaft 5257 is inserted into the swing arm shaft mounting hole 52562. The two ends of the swing arm shaft 5257 are fixedly connected to the two seat bodies of the clamping claw seat 5253. A swing arm limiting sleeve 5258 is provided on each side of the driving swing arm 5256. The swing arm limiting sleeve 5258 is sleeved on the swing arm shaft 5257. The bottom of the driving swing arm 5256 is set between the two clamping claws 5259 and is limited by the two clamping claws 5259.

[0081] In this embodiment, the two jaws 5259 are movably mounted on the jaw seat 5253 through the jaw guide pin 52511; the two jaws 5259 each include an integrally formed jaw plate and a jaw end, the jaw end is arranged at the bottom of the jaw plate and cooperates with the jaw plate to form a 7-shaped structure, and the jaw push pin 52510 is fixed on the side of the jaw plate away from the jaw end. Two jaw waist-shaped holes 52591 are provided between the jaw push pin 52510 and the jaw end on the jaw plate of each jaw 5259 for the jaw guide pin 52511 to pass through and move horizontally. There are two jaw guide pins 52511, and the two jaw waist-shaped holes 52591 of each jaw 5259 correspond to the jaw guide pin 52511 one by one. Each jaw guide pin 52511 passes through the corresponding jaw waist-shaped hole 52591 of the two jaws 5259 in turn, and the two ends of the jaw guide pin 52511 are connected to the two inner walls of the jaw seat 5253.

[0082] When the clamping finger 525 is working, the clamping finger driving cylinder 5252 drives the swing arm driving block 5254 to reciprocate up and down, and the swing arm push pin 5255 installed in the swing arm push pin mounting hole pushes the swing arm 5256 to rotate around the swing arm rotating shaft 5257. Since the clamping jaw guide pin 52511 is inserted into the clamping jaw waist-shaped hole 52591, the push pin notch 52563 at the lower end of the swing arm 5256 drives the clamping jaw push pin 52510, pushing the clamping jaw 5259 to reciprocate along the clamping jaw waist-shaped hole 52591, thereby completing the opening and clamping of the clamping jaw 5259.

[0083] The gripping finger fine-tuning assembly 524 includes a lifting cylinder connecting plate 5241, a front-rear fine-tuning unit, a middle floating connecting plate 5244, a left-right fine-tuning unit, and a gripping finger driving cylinder connecting plate 5248, which are arranged in sequence from top to bottom.

[0084] The finger driving cylinder connecting plate 5248 is arranged above the clamping claw seat 5253, and the finger driving cylinder connecting plate 5248 is connected to the tail seat of the finger driving cylinder 5252. The four corners of the finger driving cylinder connecting plate 5248 are connected to the clamping claw seat 5253 through four clamping finger mounting equal height rods 5251. The left and right fine-tuning unit includes left and right sliding linear guides 5247, left and right sliding sliders 5246, left and right sliding adjustment screws 5249 and left and right sliding adjustment motors 5245. The left and right sliding linear guides 5247 are installed on the top surface of the finger-clamping drive cylinder connecting plate 5248. The left and right sliding sliders 5246 are installed on the bottom surface of the intermediate floating connecting plate 5244 and are slidingly connected to the left and right sliding linear guides 5247. The left and right sliding adjustment motors 5245 are installed on the finger-clamping drive cylinder connecting plate 5248. The central axis of the left and right sliding adjustment screws 5249 is horizontally fixed on the output end of the left and right sliding adjustment motors 5245. The intermediate floating connecting plate 5244 is threadedly connected to the left and right sliding adjustment screws 5249 through left and right sliding adjustment nuts.

[0085] The front and rear fine-tuning unit includes a front and rear sliding linear guide rail 5243, a front and rear sliding slider 5242, a front and rear sliding adjustment screw and a front and rear sliding adjustment motor. The front and rear sliding linear guide rail 5243 is installed on the top surface of the middle floating connecting plate 5244, the front and rear sliding slider 5242 is installed on the bottom surface of the lifting cylinder connecting plate 5241, and is slidingly connected to the front and rear sliding linear guide rail 5243, the front and rear sliding adjustment motor is installed on the middle floating connecting plate 5244, the front and rear sliding adjustment screw is fixed to the output end of the front and rear sliding adjustment motor, the central axis of the front and rear sliding adjustment screw is horizontally set and perpendicular to the central axis of the left and right sliding adjustment screw 5249, and the lifting cylinder connecting plate 5241 is threadedly connected to the front and rear sliding adjustment screw through the front and rear sliding adjustment nut.

[0086] The left and right sliding adjustment motor 5245 drives the left and right sliding adjustment screw 5249 to rotate, and relies on the thread to push the clamping finger to drive the cylinder connecting plate 5248 to make left and right micro-movements relative to the middle floating connecting plate 5244; similarly, the front and back sliding adjustment motor drives the front and back sliding adjustment screw to rotate, and relies on the thread to push the middle floating connecting plate 5244 to make front and back fine adjustments, and the clamping finger drives the cylinder connecting plate 5248 to move front and back micro-movements together with the middle floating connecting plate 5244.

[0087] The finger lifting assembly 523 includes a lifting cylinder 5232, a lifting cylinder head connecting plate 5235, a lifting guide rod 5233, and a guide rod sleeve 5234. The lifting cylinder 5232 is positioned above the lifting cylinder connecting plate 5241. The telescopic end of the lifting cylinder 5232 is connected to the lifting cylinder connecting plate 5241. The lifting cylinder head connecting plate 5235 is mounted on the front end of the cylinder body of the lifting cylinder 5232. The lifting guide rod 5233 is movably mounted within the guide rod sleeve 5234. The bottom end of the lifting guide rod 5233 is fixedly connected to the lifting cylinder connecting plate 5241. The guide rod sleeve 5234 is mounted on the lifting cylinder head connecting plate 5235. The extension and retraction of the piston rod of the lifting cylinder 5232 drives the finger fine-tuning assembly 524 and the finger clamping head 525 to move up and down together. The lifting guide rod 5233 moves up and down with the finger fine-tuning assembly 524 in the guide rod sleeve 5234 fixed on the lifting cylinder connecting plate 5241, thereby avoiding possible deflection of the finger clamping head 525 and the lifting cylinder 5232.

[0088] The finger-gripping swing assembly 522 includes a drive gear 5223, a driven gear 5225, and a swing drive motor 5221. The drive gear 5223 is vertically rotatably mounted on the finger-gripping unit mounting plate 521 via the central axis of the drive gear bearing 5222 and is connected to the output end of the swing drive motor 5221. The driven gear 5225 is vertically rotatably mounted on the finger-gripping unit mounting plate 521 via the central axis of the driven gear bearing 5224. The driven gear 5225 meshes with the drive gear 5223. The bottom of the driven gear 5225 is fixedly connected to the lifting cylinder 5232 via the lifting cylinder tail connecting plate 5231. The swing drive motor 5221 drives the drive gear 5223 to rotate, which, through the driven gear 5225, drives the finger-gripping lifting assembly 523, the finger-gripping fine-tuning assembly 524, and the finger-gripping head 525, which are fixed to the driven gear 5225, to swing together.

[0089] In this embodiment, the first travel drive assembly includes a first travel drive motor 412, a first travel drive gear 413 and a first travel wheel 411. The first travel wheel 411 is installed at the bottom of the first self-propelled frame 41, and the platform frame 1 has a spot welding assembly travel track, and the first travel wheel 411 rides on the spot welding assembly travel track. The first travel drive motor 412 is installed on the first self-propelled frame 41, and the platform frame 1 has a spot welding assembly travel rack extending along the first direction. The first travel drive gear 413 is installed at the output end of the first travel drive motor 412 and is meshed with the spot welding assembly travel rack. The structure of the fourth travel drive assembly 511 is the same as that of the first travel drive assembly, and in this embodiment, the rack in the fourth travel drive assembly 511 and the self-propelled rack 15 are the same rack.

[0090] The second travel drive assembly 425 includes a second travel drive motor 4251, a second travel drive gear 4252, and a second travel slider 4253. The robot mounting plate 421 is positioned above the first self-propelled frame 41. A robot travel track 4254 is formed on the top surface of the first self-propelled frame 41. The second travel slider 4253 is mounted on the bottom of the robot mounting plate 421 and slidably connected to the robot travel track 4254. The second travel drive motor 4251 is mounted on the robot mounting plate 421. The first self-propelled frame 41 has a robot travel rack 4255 extending in the second direction. The second travel drive gear 4252 is mounted on the output end of the second travel drive motor 4251 and meshes with the robot travel rack 4255. The structures of the third travel drive assembly 434 and the fifth travel drive assembly 526 are identical to those of the second travel drive assembly 425.

[0091] After the visual recognition assembly mechanism uses the platform frame 1 to transport the assembled substrate into place, it uses the visual recognition sensor 424 of the self-propelled spot welding component 4 to scan and find the edges of the assembled substrate. The assembly winch 43 moves with the self-propelled spot welding component 4, and uses the electromagnet 433 to suck and lift the assembled welding ribs one by one and then moves to the approximate position of the assembled substrate. The auxiliary positioning component 5 moves to the assembly welding rib position by itself, and the clamping finger unit 52 adjusts the swing angle, opens the clamping fingers 525, and lowers the clamping fingers 525 to both sides of the rib, clamps the rib and accurately positions it, and uses the spot welding robot 42 of the self-propelled spot welding component 4 to spot weld the rib. After all the assemblies are completed, the spot welding robot 42 welds the weldments in sequence according to the visual process parameters. The visual recognition assembly mechanism cooperates with the self-propelled spot welding component 4 and the auxiliary positioning component 5 to realize automatic and precise assembly and positioning functions as well as visual intelligent welding.

[0092] The above description is merely a preferred embodiment of the present invention and does not constitute any form of limitation to the present invention. Although the present invention has been disclosed as above in terms of a preferred embodiment, it is not intended to limit the present invention. Any person skilled in the art can, without departing from the scope of the technical solution of the present invention, make some changes or modifications to equivalent embodiments using the technical contents disclosed above. However, any brief modifications, equivalent changes and modifications made to the above embodiments based on the technical essence of the present invention without departing from the content of the technical solution of the present invention are still within the scope of the technical solution of the present invention.

Claims

1. A visual recognition line drawing assembly welding device, characterized by: include A welding conveyor assembly, comprising a platform frame and a conveyor roller mounted on the platform frame and used to convey the baler plate, wherein the conveying direction of the conveyor roller is defined as a first direction, and another horizontal direction perpendicular to the first direction is defined as a second direction; A self-propelled marking assembly, comprising a self-propelled frame disposed on a platform frame and reciprocating along a first direction, a brush assembly mounted on the self-propelled frame and reciprocating along a second direction, the brush assembly comprising a brush traveling frame disposed on the self-propelled frame and reciprocating along the second direction, a brush lifting assembly, a brush rotating assembly, a brush ink supply assembly, a brush traveling drive assembly, and a brush changing assembly further mounted on the brush traveling frame; A self-propelled spot welding assembly, comprising a first self-propelled frame, an assembly winch and a spot welding robot, wherein the first self-propelled frame is mounted on the platform frame and is driven to move in a first direction by a first travel drive assembly, the spot welding robot is mounted on the first self-propelled frame through a robot mounting plate and moves synchronously with the first self-propelled frame, and is driven to move horizontally in a second direction by a second travel drive assembly, a visual recognition sensor for identifying baler panels is provided at the bottom of the spot welding robot, the assembly winch is mounted on the first self-propelled frame through an assembly winch mounting plate and moves synchronously with the first self-propelled frame, and is driven to move horizontally in the second direction by a third travel drive assembly, the bottom end of the wire rope of the assembly winch is provided with an electromagnet for lifting and suction assembly, and the electromagnet is driven by the assembly winch to move vertically in a vertical direction; An auxiliary positioning component, the auxiliary positioning component includes a second self-propelled frame and a finger clamping unit, the second self-propelled frame is installed on the platform frame, and is driven to move in the first direction by the fourth travel drive component, the finger clamping unit is installed on the second self-propelled frame through the finger clamping unit mounting plate and moves synchronously with the second self-propelled frame, the finger clamping unit includes a finger clamping head for clamping and fixing the assembly, a fifth travel drive component for driving the finger clamping head to move in the second direction, a finger clamping swing component for adjusting the angle of the finger clamping head, a finger clamping lifting component for driving the finger clamping head to move vertically in the vertical direction, and a finger clamping fine-tuning component for fine-tuning the position of the finger clamping head.

2. The visual recognition line drawing assembly welding equipment according to claim 1, characterized in that: The cooperation between the self-propelled frame and the platform frame is as follows: a pair of self-propelled guide rails distributed in parallel along the second direction are installed on the platform frame, the self-propelled guide rails extend along the first direction, and self-propelled rollers rolling on the self-propelled guide rails are also installed at the bottom end of the self-propelled frame. The platform frame is also provided with a self-propelled rack arranged in parallel on each side of the two self-propelled guide rails, and a self-propelled gear meshing with the self-propelled rack is also installed at the bottom end of the self-propelled frame. The self-propelled gear is driven to rotate by a motor installed on the self-propelled frame, thereby driving the self-propelled frame to reciprocate along the first direction on the platform frame; The brush lifting assembly includes an inverted brush lifting cylinder, a pen holder mounting base connected to the brush lifting cylinder is provided on the pen assembly mounting frame, a guide sleeve mounting plate is connected to the bottom end of the cylinder body of the brush lifting cylinder, and a pen assembly mounting frame lifting guide rod that passes through the guide sleeve mounting plate and moves up and down is also provided on the pen assembly mounting frame, and a lifting guide sleeve that cooperates with the pen assembly mounting frame lifting guide rod is also installed on the guide sleeve mounting plate; The brush rotating assembly includes a brush rotating swing plate arranged below the brush traveling frame. The top end of the brush lifting cylinder is connected to the brush rotating swing plate. The brush rotating swing plate is driven to rotate by the cooperation of a rotary motor and a gear pair installed on the brush traveling frame, thereby driving the brush lifting cylinder and the pen assembly mounting frame to rotate as a whole. The brush ink supply assembly includes an ink bottle and a control valve group installed on the brush carriage. There are several ink bottles, which are distributed in parallel on the brush carriage, and each ink bottle is connected to the feed side of the control valve group through a hose. The discharge side of the control valve group is connected to the weld brush, the inner array brush and the outer array brush through the hose in a one-to-one correspondence. The brush travel drive assembly includes a brush travel slider, a brush travel gear and a brush travel motor. The self-propelled frame includes a pair of self-propelled seats and a pair of self-propelled beams installed on the self-propelled seats. A gap is left between the two self-propelled beams. A brush travel guide rail distributed in parallel along a first direction is respectively installed on the two self-propelled beams. A brush travel slider matching the two brush travel guide rails is installed on the brush travel frame. A brush travel rack is also provided on the self-propelled beam next to the self-propelled guide rail. At the same time, a brush travel gear meshing with the brush travel rack is installed on the brush travel frame. The two brush travel gears are respectively driven to rotate by independent brush travel motors installed on the brush travel frame, thereby driving the brush travel frame to reciprocate along the second direction on the self-propelled frame.

3. The visual recognition line drawing assembly welding equipment according to claim 1, characterized in that: The pen-changing assembly includes a pen group mounting frame, a brush selecting assembly, an inner pen holder assembly, an outer pen holder assembly, and a weld brush. The brush selecting assembly, the inner pen holder assembly, the outer pen holder assembly, and the weld brush are all mounted on the pen group mounting frame. The inner pen holder assembly has a plurality of inner array brushes, and the outer pen holder assembly has a plurality of outer array brushes. A drawing position is provided on the pen group mounting frame. By rotating the inner pen holder assembly or the outer pen holder assembly, different inner array brushes or outer array brushes are switched to the drawing position. When in the drawing position, the weld brush, the inner array brush, and the outer array brush are sequentially distributed. The inner array brush and the outer array brush in the drawing position are grabbed and synchronized by the cooperation of the brush selecting assembly. The pen assembly mounting frame includes an upper frame plate and a lower frame plate distributed up and down, and an upper and lower frame plate connecting rod for connecting the upper and lower frame plates. An opening is further provided on one side of the upper frame plate. Two grooves are respectively inlaid on both sides of the opening, and the two grooves cooperate to form a pen-taking reciprocating slide. A paintbrush assembly mounting seat is installed on the lower frame plate, and a welded paintbrush mounting hole is further provided on the lower frame plate below the opening of the upper frame plate. The brush picking assembly includes a pen picking fork, one side of which is provided with a groove for accommodating both the inner array brush and the outer array brush, thereby forming a U-shaped pen picking fork. The pen picking fork is driven up and down by a pen picking lifting cylinder, which is mounted on a reciprocating slide rail. The two sides of the reciprocating slide rail are respectively embedded in two grooves forming a reciprocating slide rail. The reciprocating slide rail is driven by a reciprocating cylinder mounted on the upper frame plate to reciprocate along the reciprocating slide rail. The inner pen holder assembly includes an inner brush swing plate and an inner array brush mounted on the inner brush swing plate. The inner array brushes are provided in a plurality and are distributed in an arc shape on the inner brush swing plate. The inner brush swing plate is further provided with through holes for allowing each inner array brush to pass through and move up and down. A first return spring is mounted on the outer wall of the inner array brush. The inner brush swing plate is driven to rotate by a first motor mounted on a brush assembly mounting base and a gear pair. The inner brush swing plate is further provided with a first arc groove for allowing a weld brush to pass through and move. The outer pen holder assembly includes an outer brush swing plate and an outer array brush mounted on the outer brush swing plate. The outer array brushes are provided in a plurality and are distributed in an arc shape on the outer brush swing plate. The outer brush swing plate is further provided with through holes for allowing each outer array brush to pass through and move up and down. A second return spring is sleeved on the outer wall of the outer array brush. The outer brush swing plate is driven to rotate by a second motor mounted on the brush assembly mounting seat. The outer brush swing plate is further provided with a second arc groove for allowing a weld brush to pass through and move, and a third arc groove for allowing an inner array brush to pass through and move. The lower shelf plate, the inner brush swing plate and the outer brush swing plate are arranged in sequence from top to bottom; The weld brush is arranged in the weld brush installation hole.

4. The visual recognition line drawing assembly welding equipment according to claim 3, characterized in that: The weld brush, inner array brush and outer array brush have the same structure, and all include a brush body. A hose is connected to the top of the brush body. The upper and lower sides of the brush body are respectively connected to a limit nut, and the limit nuts on the upper side are all above the lower frame plate, and the limit nuts on the lower side are all below the outer brush swing plate.

5. The visual recognition line drawing assembly welding equipment according to claim 3, characterized in that: The self-propelled frame is also provided with a laser edge-finding assembly, which includes a laser edge-finding device installed on the pen group mounting frame.

6. The visual recognition line drawing assembly welding equipment according to claim 1, characterized in that: The clamping finger head includes a clamping jaw seat and two clamping jaws arranged opposite to each other. The clamping jaw seat has a clamping jaw installation cavity in the middle. The two clamping jaws are installed in the clamping jaw installation cavity of the clamping jaw seat and are driven by the swing arm assembly to move horizontally toward or away from each other. The swing arm assembly includes a driving swing arm and a swing arm driving block; The swing arm driving block is installed on the clamping claw seat and is driven to rise and fall by the clamping finger driving cylinder. The driving swing arms have two and correspond to the clamping claws one by one. The two driving swing arms are respectively arranged on both sides below the swing arm driving block and are connected to the swing arm driving block by a swing arm push pin. The swing arm push pin is fixed on the swing arm driving block. The top of the driving swing arm is provided with a swing arm waist-shaped hole for accommodating the swing arm push pin and for the swing arm push pin to move. The swing arm push pin is movably arranged in the swing arm waist-shaped hole. The middle part of the driving swing arm is rotatably installed on the clamping claw seat through the swing arm rotating shaft. The bottom of the driving swing arm is connected to the corresponding clamping claw through the clamping claw push pin. The clamping claw push pin is fixed on the clamping claw. The bottom of the driving swing arm is provided with a push pin notch for accommodating the clamping claw push pin and for the clamping claw push pin to move. The clamping claw push pin is movably arranged in the push pin notch.

7. The visual recognition line drawing assembly welding equipment according to claim 6, characterized in that: The swing arm driving block and the swing arm are both arranged in the clamping claw mounting cavity, and a swing arm limiting groove is provided in the middle of the swing arm driving block, and swing arm push pin mounting holes are provided on both sides of the swing arm limiting groove on the swing arm driving block. The top of the driving swing arm extends into the swing arm limiting groove, and the swing arm push pin is passed through the swing arm waist-shaped hole of the driving swing arm, and the two ends of the swing arm push pin are passed through the swing arm push pin mounting holes on the swing arm driving block. A swing arm rotating shaft mounting hole is provided in the middle of the driving swing arm, and the swing arm rotating shaft is passed through the swing arm rotating shaft mounting hole. The two ends of the swing arm rotating shaft are fixedly connected to the clamping claw seat, and a swing arm limiting sleeve is provided on each side of the driving swing arm, and the swing arm limiting sleeve is sleeved on the swing arm rotating shaft. The bottom of the driving swing arm is arranged between the two clamping claws and is limited by the two clamping claws; The two clamping jaws are movably mounted on the clamping jaw seat via clamping jaw guide pins; The two clamping jaws each include an integrally formed clamping jaw plate and a clamping jaw end. The clamping jaw end is arranged at the bottom of the clamping jaw plate and cooperates with the clamping jaw plate to form a 7-shaped structure. The clamping jaw push pin is fixed on the side of the clamping jaw plate away from the clamping jaw end. A clamping jaw waist-shaped hole is provided between the clamping jaw push pin and the clamping jaw end on the clamping jaw plate for the clamping jaw guide pin to pass through and move horizontally. There are two clamping jaw guide pins, and each clamping jaw guide pin passes through the clamping jaw waist-shaped hole of the two clamping jaws in turn. The two ends of the clamping jaw guide pin are connected to the clamping jaw seat.

8. The visual recognition line drawing assembly welding equipment according to claim 6, characterized in that: The gripping finger fine-tuning assembly includes a lifting cylinder connecting plate, a front and rear fine-tuning unit, a middle floating connecting plate, a left and right fine-tuning unit, and a gripping finger driving cylinder connecting plate, which are arranged in sequence from top to bottom; The connecting plate of the clamping finger driving cylinder is arranged above the clamping jaw seat and is connected to the clamping jaw seat through a plurality of clamping finger mounting rods of equal height; The left and right fine-tuning unit includes left and right sliding linear guides, left and right sliding sliders, left and right sliding adjustment screws and left and right sliding adjustment motors. The left and right sliding linear guides are installed on the finger-clamping drive cylinder connecting plate, the left and right sliding sliders are installed on the middle floating connecting plate and are slidingly connected to the left and right sliding linear guides, the left and right sliding adjustment motors are installed on the finger-clamping drive cylinder connecting plate, the left and right sliding adjustment screws are fixed to the output ends of the left and right sliding adjustment motors, and the middle floating connecting plate is threadedly connected to the left and right sliding adjustment screws through left and right sliding adjustment nuts; The front and rear fine-tuning unit includes a front and rear sliding linear guide rail, a front and rear sliding slider, a front and rear sliding adjustment screw and a front and rear sliding adjustment motor. The front and rear sliding linear guide rail is installed on the middle floating connecting plate, the front and rear sliding slider is installed on the lifting cylinder connecting plate and is slidingly connected to the front and rear sliding linear guide rail, the front and rear sliding adjustment motor is installed on the middle floating connecting plate, the front and rear sliding adjustment screw is fixed to the output end of the front and rear sliding adjustment motor, and the lifting cylinder connecting plate is threadedly connected to the front and rear sliding adjustment screw through the front and rear sliding adjustment nut; The finger clamping lifting assembly includes a lifting cylinder, a lifting cylinder head connecting plate, a lifting guide rod and a guide rod sleeve; The lifting cylinder is arranged above the lifting cylinder connecting plate, the telescopic end of the lifting cylinder is connected to the lifting cylinder connecting plate, the lifting cylinder head connecting plate is installed on the lifting cylinder, the lifting guide rod is movably inserted into the guide rod sleeve, the bottom end of the lifting guide rod is fixedly connected to the lifting cylinder connecting plate, and the guide rod sleeve is installed on the lifting cylinder head connecting plate; The clamping finger swing assembly includes a driving gear, a driven gear and a swing drive motor; The driving gear is vertically rotatably mounted on the finger clamping unit mounting plate through the central axis of the driving gear bearing, and is connected to the output end of the swing driving motor. The driven gear is vertically rotatably mounted on the finger clamping unit mounting plate through the central axis of the driven gear bearing. The driven gear is meshed with the driving gear, and the bottom of the driven gear is fixedly connected to the lifting cylinder through the lifting cylinder tail connecting plate.

9. The visual recognition line drawing assembly welding equipment according to claim 1, characterized in that: The spot welding robot includes a multi-axis welding robot and a welding gun. The welding gun is installed in the welding gun hole clamp of the multi-axis welding robot. The visual recognition sensor is installed in the installation hole of the welding gun hole clamp of the multi-axis welding robot away from the welding gun through a screw.

10. The visual recognition line drawing assembly welding equipment according to claim 1, characterized in that: The first travel drive assembly includes a first travel drive motor, a first travel drive gear and a first travel wheel; The first traveling wheel is installed at the bottom of the first self-propelled frame, and the platform frame is provided with a spot welding assembly traveling track, and the first traveling wheel rides on the spot welding assembly traveling track; The first travel drive motor is mounted on the first self-propelled frame, the platform frame is provided with a spot welding assembly travel rack extending along the first direction, the first travel drive gear is mounted on the output end of the first travel drive motor and is meshed with the spot welding assembly travel rack; The structure of the fourth travel drive assembly is the same as that of the first travel drive assembly; The second travel drive assembly includes a second travel drive motor, a second travel drive gear and a second travel slider; The robot mounting plate is arranged above the first self-propelled frame, the top surface of the first self-propelled frame is provided with a robot walking track, and the second walking slider is installed at the bottom of the robot mounting plate and is slidably connected to the robot walking track; The second travel drive motor is mounted on the robot mounting plate, the first self-propelled frame is provided with a robot travel rack extending along the second direction, and the second travel drive gear is mounted on the output end of the second travel drive motor and meshed with the robot travel rack; The structures of the third travel drive assembly and the fifth travel drive assembly are the same as that of the second travel drive assembly.

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