A welding machine including an automatically adjustable walking track type mobile module

Abstract

The present invention provides a welding machine including an automatically adjustable walking track type mobile module, and the automatically adjustable walking track type mobile module includes: an X-axis displacement module, a Y-axis displacement module and an R-axis rotation mechanism. The X-axis displacement module includes a first slide rail, a second slide rail, an X-axis power module and a first slider, and the first and second slide rails are arranged horizontally at the upper end of the cabinet in a flush manner. The X-axis power module includes a first synchronous belt, and the first synchronous belt is embedded in a groove on the first slide rail and is connected to the first slide rail in a laterally movable manner. The inner edge of one end of the upper part of the first slider is fixedly connected to the first synchronous belt and is slidably connected to the first slide rail. The other end of the upper part of the first slider has an extension portion, and the extension portion is slidably connected to the second slide rail. Through the present invention, the welding device can be moved in multiple directions and angles, thereby ensuring the welding quality.

Description

Technical Field

[0001] The invention relates to the technical field of solar photovoltaic equipment, and in particular to a welding machine comprising an automatically adjustable walking track type mobile module. Background Art

[0002] Photovoltaic power generation is a recognized clean energy source with an increasingly wide range of applications, and it is also continuously supported by national policies. In the current solar photovoltaic industry, in order to obtain the required current, voltage and output power, it is necessary to connect solar cells in series and then form solar cell modules through stacking, lamination, packaging and other processes. In the manufacturing process of crystalline silicon solar cell modules, solar cells are generally welded into solar cell strings with interconnection bars, and then multiple solar cell strings are arranged neatly, and then the bus bar is welded to the interconnection bars extending from the ends of multiple solar cell strings, and the bus bar can collect the current into the junction box to provide power to the outside world.

[0003] Welding the busbars to the solar cell modules is one of the indispensable processes in the packaging process. The welding methods in the prior art include manual welding and mechanical automatic welding. The manual welding has a high rate of false solder joints and poor welding quality. The mobile module of the mechanical automatic welding lacks an automatic adjustment device for the walking track, which can easily cause the walking track to be subjected to excessive stress, thereby causing the welding device to move unsmoothly or components to be damaged. Summary of the invention

[0004] In view of the above problems, the present invention proposes a welding machine including an automatically adjustable travel track type mobile module, the purpose of which is to solve the problem that mechanical automatic welding lacks an automatic adjustment device for the travel track, which may easily cause the welding device to move unsmoothly or components to be damaged.

[0005] The present invention relates to a welding machine including an automatically adjustable walking track type mobile module, including a cabinet, a mobile module and a welding device, wherein the mobile module is used to drive the welding device to move in multiple directions or rotate in a horizontal plane, and the mobile module includes: an X-axis displacement module for lateral drive, a Y-axis displacement module for longitudinal drive and an R-axis rotation mechanism for rotational drive; the X-axis displacement module includes a first slide rail, a second slide rail, an X-axis power module and a first slider, and the first and second slide rails are arranged horizontally at the upper end of the cabinet with their ends flush; the X-axis power module includes a first synchronous belt, which is embedded in a groove on the first slide rail and is connected to the first slide rail in a lateral movable manner; the first slider is a frame arranged perpendicular to the first slide rail and containing the first slide rail, and the inner edge of one end of the upper part of the first slider is aligned with the first The synchronous belt is fixedly connected and slidably connected to the first slide rail. The other end of the upper part of the first slider has an extension portion, and the extension portion is slidably connected to the second slide rail. A cam roller bearing for automatically adjusting the walking track is provided at the contact point with the second slide rail below the extension portion, and the axis of the cam roller bearing is perpendicular to the second slide rail; the Y-axis displacement module includes a third slide rail, a Y-axis power module and a second slider. The third slide rail is fixedly connected to the first slider along the lower frame of the first slider. The Y-axis power module includes a second synchronous belt, and the second synchronous belt is embedded in the groove of the third slide rail and is longitudinally movably connected to the third slide rail; the second slider is buckled at the outer edge of the third slide rail, and the second slider is fixedly connected to the second synchronous belt and slidably connected to the third slide rail; the R-axis rotation mechanism is rotatably connected to the second slider.

[0006] Preferably, the X-axis power module also includes two first synchronous pulleys and an X-axis power module driving cylinder, the two first synchronous pulleys are respectively rotatably arranged at the head and end of the first slide rail, the first synchronous belt is a closed loop and the two ends are respectively wound around the two first synchronous pulleys, the X-axis power module driving cylinder is used to rotate one of the two first synchronous pulleys, and the X-axis power module driving cylinder drives the first synchronous belt to move laterally through one of the two first synchronous pulleys.

[0007] Preferably, the X-axis power module further includes an X-axis cable drag chain, one end of the X-axis cable drag chain is fixedly connected to the first sliding block, and the other end of the X-axis cable drag chain is fixedly connected to the first sliding rail.

[0008] Preferably, the Y-axis power module also includes two second synchronous pulleys and a Y-axis power module driving cylinder, the two second synchronous pulleys are respectively rotatably arranged at the head and end of the third slide rail, the second synchronous belt is a closed loop and the two ends are respectively wound around the two second synchronous pulleys, the Y-axis power module driving cylinder is used to rotate one of the two second synchronous pulleys, and the Y-axis power module driving cylinder drives the second synchronous belt to move longitudinally through one of the two second synchronous pulleys.

[0009] Preferably, the Y-axis power module further includes a Y-axis cable drag chain, one end of the Y-axis cable drag chain is fixedly connected to the second slider, and the other end of the Y-axis cable drag chain is fixedly connected to the third slide rail.

[0010] Preferably, the moving module also includes a Z-axis displacement module for vertical drive, and the R-axis rotation mechanism is fixedly connected to the Z-axis displacement module; the Z-axis displacement module includes a fourth slide rail and a Z-axis power module, and the Z-axis power module includes two third synchronous pulleys, a third synchronous belt and a Z-axis power module driving cylinder, the two third synchronous pulleys are rotatably arranged at the upper and lower ends of the fourth slide rail, the third synchronous belt is a closed loop and the two ends are respectively wound around the two third synchronous pulleys, the Z-axis power module driving cylinder is used to rotate one of the two third synchronous pulleys, and the Z-axis power module driving cylinder drives the third synchronous belt to move vertically through one of the two third synchronous pulleys, and the welding device is buckled on the outer edge of the fourth slide rail, and the welding device is fixedly connected to the third synchronous belt and slidably connected to the fourth slide rail.

[0011] Preferably, the Z-axis displacement module further includes a Z-axis cable drag chain, one end of the Z-axis cable drag chain is fixedly connected to the welding device, and the other end of the Z-axis cable drag chain is fixedly connected to the fourth slide rail.

[0012] Preferably, the first slider further includes a welding transformer, the welding transformer is fixedly connected to the first slider, and the welding transformer is electrically connected to the welding device.

[0013] Preferably, the R-axis rotation mechanism comprises an R-axis rotation mechanism driving motor and an R-axis rotation shaft, and the R-axis rotation mechanism driving motor is fixedly connected to the R-axis rotation shaft.

[0014] Preferably, the cam roller bearing is a wide row cam roller bearing.

[0015] Compared with the prior art, the welding machine of the present invention including an automatically adjustable walking track type mobile module includes a cam roller bearing for automatically adjusting the walking track, which reduces the edge stress of the track to a minimum, and the components are not easily damaged, thereby ensuring smooth walking and smooth welding. In addition, the welding displacement module device of the present invention includes displacement modules in multiple directions and a rotating mechanism, and the welding device can move in multiple directions and angles, thereby ensuring the welding quality. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 It is an overall schematic diagram of a welding machine including an automatically adjustable walking track type mobile module according to an embodiment of the present invention;

[0017] Figure 2 It is an overall schematic diagram of another perspective of a welding machine including an automatically adjustable walking track type mobile module according to one embodiment of the present invention;

[0018] Figure 3 A schematic diagram of a welding transformer according to an embodiment of the invention;

[0019] Figure 4 A schematic diagram of an X-axis displacement module according to an embodiment of the invention;

[0020] Figure 5 A cross-sectional schematic diagram of a cam roller bearing according to an embodiment of the invention;

[0021] Figure 6 A schematic diagram of a Y-axis displacement module according to an embodiment of the invention;

[0022] Figure 7 A schematic diagram of a first welding structure according to an embodiment of the invention;

[0023] Figure 8 A schematic diagram of another viewing angle of the first welding structure of an embodiment of the invention;

[0024] Fig. 9 A schematic diagram of a hot pressing bar welding head according to an embodiment of the invention;

[0025] Fig.10 A schematic diagram of a hot pressing bar welding head from another perspective according to an embodiment of the invention;

[0026] Fig.11 A schematic diagram of a second welding structure according to an embodiment of the invention;

[0027] Fig.12 A schematic diagram of a second welding structure from another perspective according to an embodiment of the present invention;

[0028] Fig.13 is a three-dimensional schematic diagram of a second welding structure according to an embodiment of the present invention;

[0029] Fig.14 is a cross-sectional schematic diagram of a welding head cleaning mechanism according to an embodiment of the present invention;

[0030] Fig.15 It is an overall schematic diagram of a welding head cleaning mechanism according to an embodiment of the present invention;

[0031] Fig.16 It is a three-dimensional schematic diagram of a welding head cleaning mechanism according to an embodiment of the present invention;

[0032] Fig.17 A schematic diagram of a battery assembly conveying mechanism according to an embodiment of the present invention;

[0033] In the figure: 1-cabinet; 11-control device; 111-display screen; 112-touch screen; 113-mouse and keyboard tray; 12-quick-release maintenance door; 13-electric control cabinet; 2-mobile module; 21-X-axis displacement module; 211-first slide rail; 212-second slide rail; 213-first slider; 2131-welding transformer; 2132-extension; 21321-cam roller bearing; 214-X-axis power module; 2141-first synchronous belt; 2142-X-axis cable drag chain; 2143-X-axis power module drive cylinder; 22-Y-axis displacement module; 221-third slide rail; 222-second slider; 223-Y-axis power module; 2231-second synchronous belt; 2232-Y-axis cable drag chain; 2233- Y-axis power module driving cylinder; 23-Z-axis displacement module; 231-fourth slide rail; 232-Z-axis power module; 2321-Z-axis displacement module driving cylinder; 24-R-axis rotation mechanism; 3-positioning mechanism; 4-welding device; 41-first welding structure; 411-first connecting plate; 4111-scale; 412-first connecting frame; 4121-second connecting block; 4122-first branch; 4123-second branch; 4124-third branch; 413-welding head spacing adjustment mechanism; 4131-first adjustment bolt; 414-welding buffer mechanism; 4141-buffer mechanism fixing piece; 4142-first buffer spring; 415-first connecting block; 416-post-welding air cooling mechanism; 417 welding head water cooling mechanism; 418-hot pressing bar welding head; 4181-thermocouple temperature sensor; 42-second welding structure; 421-second connecting plate; 4211-fourth connecting block; 422-second connecting frame; 423-third connecting block; 424-connecting arm; 425-automatic tin feeder; 426-soldering iron head spacing adjustment mechanism; 4261-second adjustment bolt; 427-buffer adjuster; 4271-buffer adjuster fixing piece; 4272-first Two buffer springs; 428-needle pressing mechanism; 429-tin feeding needle tube; 430-soldering iron tip; 5-solder panel assembly conveying mechanism; 51-conveying mechanism frame; 52-transmission mechanism; 521-conveying mechanism synchronous belt; 53-correction mechanism; 531-lateral correcting lever; 5311-first cylinder; 532-longitudinal correcting lever; 5321-second cylinder; 6-welding head cleaning mechanism; 61-brush motor; 62-protective cover; 621-opening; 63-coupling; 64-cleaning mechanism bearing; 65-wire brush; 78-welding package height detection mechanism; 7-first welding package height detection mechanism; 71-first detection camera; 72-first digital signal processor; 73-first laser emitter; 8-second welding package height detection mechanism; 81-second detection camera; 82-second digital signal processor; 83-second laser emitter. DETAILED DESCRIPTION

[0034] In order to provide a further understanding of the purpose, structure, features, and functions of the present invention, the following detailed description is given in conjunction with the embodiments.

[0035] Please refer to Figures 1 to 13 , Figure 1 This is an overall schematic diagram of a welding machine including an automatically adjustable walking track type mobile module according to an embodiment of the present invention. Figure 2 This is a schematic overall diagram from another perspective of a welding machine including an automatically adjustable walking track type mobile module according to an embodiment of the present invention. Figure 3 Schematic diagram of a welding transformer according to an embodiment of the invention. Figure 4 This is a schematic diagram of an X-axis displacement module according to an embodiment of the invention. Figure 5 Schematic diagram of a cam roller bearing according to an embodiment of the invention. Figure 6 A schematic diagram of a Y-axis displacement module according to an embodiment of the invention is shown. Figure 7 is a schematic diagram of a first welding structure according to an embodiment of the invention, Figure 8 This is a schematic diagram of another viewing angle of the first welding structure of an embodiment of the invention. Fig. 9 Schematic diagram of a welding head according to an embodiment of the invention. Fig.10 A schematic diagram of another viewing angle of a welding head according to an embodiment of the invention, Fig.11 is a schematic diagram of a second welding structure according to an embodiment of the invention, Fig.12 FIG. 1 is a schematic diagram of a second welding structure from another perspective according to an embodiment of the present invention. Fig.13 A welding machine including an automatically adjustable walking track type mobile module of the present invention comprises: a cabinet 1, a mobile module 2, a positioning mechanism 3, a welding device 4, a welding package height detection mechanism 78 and a battery panel assembly conveying mechanism 5.

[0036] Please continue to refer to Figure 2 The cabinet 1 includes a plurality of quick-release maintenance doors 12, an electric control cabinet 13 and a control device 11. The plurality of quick-release maintenance doors 12 are detachably arranged on the front of the cabinet 1, the electric control cabinet 13 is arranged on the front of the cabinet 1, and the control device 11 is arranged on the side of the cabinet 1. Preferably, the control device 11 includes a display screen 111, a touch screen 112 and a mouse and keyboard tray 113 distributed from top to bottom, and the display screen 111, the touch screen 112 and the mouse and keyboard tray 113 are electrically connected to the electric control cabinet 13 respectively.

[0037] The mobile module 2, the positioning mechanism 3, the welding device 4 and the battery panel assembly conveying mechanism 5 are all arranged in the cabinet 1, the positioning mechanism 3 is electrically connected to the mobile module 4, and the mobile module 2, the positioning mechanism 3, the welding device 4 and the battery panel conveying assembly 5 are electrically connected to the electric control cabinet 13 respectively. The mobile module 2 is located above the inside of the cabinet 1, and the mobile module 2 includes a horizontally driven X-axis displacement module 21, a longitudinally driven Y-axis displacement module 22, a vertically driven Z-axis displacement module 23 and an R-axis rotation mechanism 24. The positioning mechanism 3 for locating the welding part of the busbar is fixedly connected to one side of the vertically arranged Z-axis displacement module 23, the X-axis displacement module 21, the Y-axis displacement module 22, the Z-axis displacement module 23 and the R-axis rotation mechanism 24 are electrically connected to the positioning mechanism 3 respectively, and the welding device 4 is connected to the other side of the Z-axis displacement module 23 so as to be movable up and down, and the welding package height detection mechanism 78 is located on the side of the welding device 4 and is fixedly connected to the welding device 4.

[0038] Please continue to refer to Figure 4 and Figure 5Preferably, the X-axis displacement module 21 includes a first slide rail 211, a second slide rail 212, an X-axis power module 214 and a first slider 213, and the first and second slide rails 211 and 212 are arranged horizontally at the upper end of the cabinet 1. The X-axis power module 214 includes a first synchronous belt 2141, which is embedded in a groove on the first slide rail 211 and connected to the first slide rail 211 so as to be laterally movable. The first slider 213 is a frame that is arranged perpendicular to the first slide rail 211 and contains the first slide rail 211 therein. The inner edge of one end of the upper portion of the first slider 213 is fixedly connected to the first synchronous belt 2141 and is slidably connected to the first slide rail 211. The other end of the upper portion of the first slider 213 has an extension portion 2132, and the extension portion 2132 is slidably connected to the second slide rail 212. A cam roller bearing 21321 for automatically adjusting the travel track is provided at the contact point with the second slide rail 212 below the extension portion 2132. The axis of the cam roller bearing 21321 is perpendicular to the second slide rail 212. The cam roller bearing 21321 can reduce the stress on the second slide rail 212 when the first slider 213 moves, and can also automatically adjust the travel direction of the first slider 213 to ensure that the first slider 213 always moves smoothly in the horizontal direction without getting stuck. In practical applications, the cam roller bearing 21321 can use a wide-row cam roller bearing that can withstand a large overturning moment. Furthermore, the X-axis power module 214 also includes two first synchronous pulleys (not shown), an X-axis power module driving cylinder 2143 and an X-axis cable drag chain 2142. The two first synchronous pulleys are respectively rotatably arranged at the head and end of the first slide rail 211. The first synchronous belt 2141 is a closed loop and the two ends are respectively wound around the two first synchronous pulleys. The X-axis power module driving cylinder 2143 is electrically connected to the electric control cabinet 13. The X-axis power module driving cylinder 2143 is used to rotate one of the two first synchronous pulleys. One end of the X-axis cable drag chain 2142 is fixedly connected to the first slider 213, and the other end of the X-axis cable drag chain 2142 is fixedly connected to the first slide rail 211. In a specific embodiment, the electric control cabinet 13 can drive the cylinder 2143 through the X-axis power module to drive one of the two first synchronous pulleys to rotate, one of the two first synchronous pulleys drives the first synchronous belt 2141 to move horizontally, and the first synchronous belt 2141 drives the other of the two first synchronous pulleys to rotate at the same time, thereby driving the first slider 213 to move horizontally on the first slide rail 211 and the second slide rail 212.

[0039] Please continue to see Figure 3Preferably, the first slider 213 also includes a welding transformer 2131, which is fixedly connected to the first slider 213, the welding transformer 2131 is electrically connected to the welding device 4, and the welding transformer 2131 is electrically connected to the electric control cabinet 13. The electric control cabinet 13 can adjust the welding strength of the welding device 4 on the bus bar through the welding transformer 2131.

[0040] Please continue to refer to Figure 6 Preferably, the Y-axis displacement module 22 includes a third slide rail 221, a Y-axis power module 223 and a second slider 222. The third slide rail 221 is fixedly connected to the first slider 213 along the lower frame of the first slider 213. The Y-axis power module 223 includes a second synchronous belt 2231, which is embedded in the groove of the third slide rail 221 and is longitudinally movably connected to the third slide rail 221. The second slider 222 is buckled at the outer edge of the third slide rail 221, and the second slider 222 is fixedly connected to the second synchronous belt 2231 and is slidably connected to the third slide rail 221. Furthermore, the Y-axis power module 223 also includes two second synchronous pulleys (not shown), a Y-axis power module driving cylinder 2233 and a Y-axis cable drag chain 2232. The two second synchronous pulleys are rotatably arranged at the head and end of the third slide rail 221, respectively. The second synchronous belt 2231 is a closed loop and the two ends are respectively wound around the two second synchronous pulleys. The Y-axis power module driving cylinder 2233 is electrically connected to the electric control cabinet 13. The Y-axis power module driving cylinder 2233 is used to rotate one of the two second synchronous pulleys. One end of the Y-axis cable drag chain 2232 is fixedly connected to the second slider 222, and the other end of the Y-axis cable drag chain 2232 is fixedly connected to the third slide rail 221. In a specific embodiment, the electric control cabinet 13 can drive the cylinder 2233 to rotate one of the two second synchronous pulleys through the Y-axis power module, one of the two second synchronous pulleys drives the second synchronous belt 2231 to move horizontally, and the second synchronous belt 2231 drives the other of the two second synchronous pulleys to rotate at the same time, thereby driving the second slider 222 to move longitudinally on the third slide rail 221.

[0041] Please continue to refer to Figure 1 The R-axis rotation mechanism 24 is rotatably connected to the second slider 222, the lower end of the R-axis rotation mechanism 24 is fixedly connected to the upper end of the positioning mechanism 3, and the side of the positioning mechanism 3 is fixedly connected to the vertically arranged Z-axis displacement module 23. Preferably, the R-axis rotation mechanism 24 includes an R-axis rotation mechanism drive motor and an R-axis rotation shaft, the R-axis rotation mechanism drive motor is fixedly connected to the R-axis rotation shaft, and the R-axis rotation mechanism drive motor rotates to drive the R-axis rotation shaft to rotate.

[0042] Please continue to refer to Figure 8The Z-axis displacement module 23 includes a fourth slide rail 231 and a Z-axis power module 232. The Z-axis power module 232 includes two third synchronous pulleys (not shown), a third synchronous belt (not shown), a Z-axis power module driving cylinder 2321 and a Z-axis cable drag chain (not shown). The two third synchronous pulleys are rotatably arranged at the upper and lower ends of the fourth slide rail 231, respectively. The third synchronous belt is a closed loop and the two ends are respectively wound around the two third synchronous pulleys. The Z-axis power module driving cylinder 2321 is electrically connected to the electric control cabinet 13, and the Z-axis power module driving cylinder 2321 is used to rotate one of the two third synchronous pulleys. One end of the Z-axis cable drag chain is fixedly connected to the welding device 4, and the other end of the Z-axis cable drag chain is fixedly connected to the fourth slide rail 231. The welding device 4 is buckled on the outer edge of the fourth slide rail 231, and the welding device 4 is fixedly connected to the third synchronous belt and slidably connected to the fourth slide rail 231. In a specific embodiment, the electric control cabinet 13 can control the positioning mechanism 3 to rotate in the horizontal plane by controlling the R-axis rotation mechanism 24, thereby controlling the welding device 4 to rotate in the horizontal plane. Further, the electric control cabinet 13 can drive the third synchronous belt to move vertically by driving one of the two third synchronous pulleys to rotate, and the third synchronous belt drives the other of the two third synchronous pulleys to rotate simultaneously, thereby driving the welding device 4 to move vertically on the fourth slide rail 231.

[0043] Through the X-axis displacement module 21, the Y-axis displacement module 22, the Z-axis displacement module 23 and the R-axis rotation mechanism 24, the welding device 4 can achieve horizontal, longitudinal, vertical and rotational movements. Such flexible movement can make the welding range wider and can achieve welding in all directions, reducing the false welding rate.

[0044] Preferably, the positioning mechanism 3 is a CCD positioning system, which includes an image component, a CCD camera, an illumination component, and a software control tool, and the CCD positioning system is electrically connected to the electric control cabinet 13. In a specific embodiment, the number of welding points, welding positions, and welding spacing can be set by the control device 11, and then the direction of the mobile module 2 can be preliminarily set. Furthermore, the busbar has a plurality of welding marks that can be recognized by the CCD positioning system. The CCD positioning system sequentially identifies the points that need to be welded, and can further control the direction of the mobile module and more accurately control the welding position.

[0045] Please continue to refer to Figure 7 , Figure 8 , Fig. 9 and Fig.10In one embodiment, the welding device 4 can be a hot bar welding module. The welding device 4 of the hot bar welding module includes two identical and symmetrically arranged first welding structures 41. Each first welding structure 41 includes a first connecting plate 411, a first connecting frame 412, a welding head spacing adjustment mechanism 413, a welding buffer mechanism 414, a first connecting block 415, a post-welding air cooling mechanism 416, a welding head water cooling mechanism 417 and a hot bar welding head 418. The two first connecting plates 411 arranged side by side are respectively connected to the Z-axis displacement module 23 so as to be movable up and down, and the back of the first connecting frame 412 is connected to the first connecting plate 411 so as to be movable horizontally. The welding head spacing adjustment mechanism 413 for horizontally moving the first connecting frame 412 is located outside the first connecting frame 412. The first connecting frame 412 has a first branch 4122, a second branch 4123 and a third branch 4124 distributed from top to bottom, the welding buffer mechanism 414 is arranged in the first branch 4122 and fixedly connected to the first branch 4122, the lower end of the welding buffer mechanism 414 is fixedly connected to the first connecting block 415, the first connecting block 415 is arranged in the second branch 4123 and fixedly connected to the second branch 4123, the lower end of the first connecting block 415 is fixedly connected to the welding head water cooling mechanism 417, preferably, the welding head water cooling mechanism 417 includes a water tank and a water sprayer, the water sprayer is connected to the water tank, and the post-welding air blowing cooling mechanism 416 is fixedly connected to the outer side of the welding head water cooling mechanism 417. The hot press welding head 418 is fixedly connected to the lower part of the welding head water cooling mechanism 417, preferably, a thermocouple temperature sensor 4181 is welded near the bottom end of the hot press welding head 418, and the temperature measurement range of this temperature sensor is relatively wide. The weld bag height detection mechanism 78 includes two first weld bag height detection mechanisms 7, which have the same structure and are respectively arranged on two first welding structures 41. Each first weld bag height detection mechanism 7 is vertically arranged close to the corresponding first connecting block 415 and is fixedly connected to the first connecting frame 412. In a specific embodiment, after the positioning mechanism 3 controls the X-axis displacement module 21 and the Y-axis displacement module 22 in the mobile module 2 to position the hot pressing bar welding head 418 above the welding point, the R-axis rotation mechanism 24 fine-tunes the welding angle of the hot pressing bar welding head 418, and sets the preset temperature for heating the hot pressing bar welding head 418 through the control device 11. The control device 11 controls the welding transformer 2131 through the electrical control cabinet 13 to heat the hot pressing bar welding head 418 to the preset temperature. Then, the Z-axis displacement module 23 controls the hot pressing bar welding head 418 to descend to the bus bar. After the hot pressing bar welding head 418 melts the tin on the bus bar, the Z-axis displacement module 23 controls the hot pressing bar welding head 418 to rise. After the tin cools down, the welding of the welding point is completed.After multiple consecutive weldings, the temperature of the welding head is relatively high. At this time, air can be blown to the hot pressing strip welding head 418 through the post-welding air cooling mechanism 416, and water can be sprayed to the hot pressing strip welding head 418 through the welding head water cooling mechanism 417 to achieve cooling of the hot pressing strip welding head 418.

[0046] Please continue to refer to Figure 7 Preferably, the welding head spacing adjustment mechanism 413 includes a first adjusting bolt 4131, and the side of the first connecting frame 412 has a second connecting block 4121, the second connecting block 4121 is fixedly connected to the first connecting frame 412, and the first adjusting bolt 4131 is rotatably inserted into the second connecting block 4121 and the first connecting plate 411 in turn. The spacing between the two first welding structures 41 can be adjusted by rotating the first adjusting bolts 4131 on the two first welding structures 41 respectively, thereby adjusting the spacing between the hot pressing strip welding heads 418 corresponding to the two first welding structures 41.

[0047] Please continue to refer to Figure 8 Preferably, the first weld height detection mechanism 7 includes a first detection camera 71, a first digital signal processor 72 and a first laser emitter 73. The lens of the first detection camera 71 is set downward, the side of the first digital signal processor 72 is fixedly connected to the side of the first detection camera 71, the lower end of the first digital signal processor 72 is fixedly connected to the upper end of the first laser emitter 73, the first digital signal processor 73 is fixedly connected to the first branch 4122 and the second branch 4123, the third branch 4124 is located below the first laser emitter 73, and the third branch 4124 has a small hole, which is located directly below the first laser emitter 73, and the first digital signal processor 72 is electrically connected to the electric control cabinet 13. Further, the first detection camera 71 is a CCD area array camera with a higher resolution. The first laser emitter 73 emits a laser at a certain angle to the vertical direction toward the weld package. After the laser contacts the weld package, it is reflected to the first detection camera 71. The first detection camera 71 transmits the position signal of the reflected laser to the first digital signal processor 72. The first digital signal processor 72 calculates the distance between the bottom end of the first laser emitter 73 and the weld package through trigonometric functions, thereby calculating the height of the weld package. If the height of the weld package is too low, the first digital signal processor 72 sends the unqualified information to the display screen 111 through the electric control cabinet 13, and the display screen 111 immediately sends an alarm signal. The detection mechanism of this structure is more sensitive and the detection result is more accurate.

[0048] Please continue to refer to Figure 8Preferably, the welding buffer mechanism 414 includes a buffer mechanism fixing rod 4141 and a first buffer spring 4142. The outer edge of the buffer mechanism fixing rod 4141 is fixedly connected to the inner edge of the first connecting frame 412. The upper end of the first buffer spring 4142 is fixedly connected to the lower end of the buffer mechanism fixing rod 4141. The first buffer spring 4142 can reduce the vibration of the hot pressing bar welding head 418 during movement and rotation, thereby avoiding the vibration affecting the welding quality.

[0049] Please continue to refer to Figure 7 Preferably, the first connecting plate 411 has a scale 4111 for observing the distance between the two welding heads, and the scale 4111 is located above the first connecting frame 412. In actual applications, the distance between the two hot pressing bar welding heads 418 can be set to be equal to the distance between two adjacent points on the bus bar, so that two points can be welded at one time, which improves the welding speed.

[0050] Please continue to refer to Fig.11 , Fig.12 and Fig.13In another embodiment, the welding device may be a soldering iron type welding module, and the welding device of the soldering iron type welding module includes two identical and symmetrically arranged second welding structures 42, each of which includes a second connecting plate 421, a second connecting frame 422, a third connecting block 423, a connecting arm 424, an automatic tin feeder 425, a soldering iron tip spacing adjustment mechanism 426, a buffer regulator 427, a needle pressing mechanism 428, a tin feed needle tube 429 and a soldering iron tip 430. One side of the second connecting plate 421 is connected to the Z-axis displacement module 23 so as to be movable up and down, and the other side of the second connecting plate 421 is fixedly connected to the automatic tin feeder 425, and the second connecting frame 422 is connected to the second connecting plate 421 so as to be movable horizontally and the second connecting frame 422 is located at the lower end of the automatic tin feeder 425. Preferably, a tin feeder motor for adjusting the tin feed amount is provided in the automatic tin feeder 425, and the tin feeder motor is electrically connected to the electric control cabinet 13. The soldering tip spacing adjustment mechanism 426 is located outside the second connecting frame 422. The buffer adjuster 427 is inserted into the second connecting frame 422 and fixedly connected to the second connecting frame 422. The lower end of the buffer adjuster 427 is fixedly connected to the third connecting block 423, and the lower part of the third connecting block 423 is fixedly connected to the soldering tip 430. The needle pressing mechanism 428 is rotatably connected to the side of the second connecting plate 421. The connecting arm 424 is L-shaped, one end of the connecting arm 424 is fixedly connected to the third connecting block 423, and the other end of the connecting arm 424 is rotatably connected to the tin delivery needle tube 429. The tin delivery needle tube 429 is connected to the automatic tin delivery machine 425 through a thin tube, and the head of the soldering tip 430 and the head of the tin delivery needle tube 429 can intersect at one point. The weld bag height detection mechanism 78 includes two second weld bag height detection mechanisms 8, which have the same structure and are respectively arranged on the two second welding structures 42. Each second weld bag height detection mechanism 8 is vertically arranged near the corresponding third connecting block 423 and is fixedly connected to the second connecting frame 422. In a specific embodiment, after the positioning mechanism 3 controls the X-axis displacement module 21 and the Y-axis displacement module 22 in the moving module 2 to position the soldering iron tip 430 above the welding point, the R-axis rotation mechanism 24 fine-tunes the welding angle of the soldering iron tip 430, and the preset temperature required to heat the soldering iron tip 430 is set through the control device 11. The control device 11 controls the welding transformer 2131 through the electric control cabinet 13 to heat the soldering iron tip 430 to the preset temperature. The soldering iron tip 430 reaches After reaching the preset temperature, the bus bar is pressed by the needle pressing mechanism 428, and the tin feeding motor sends the tin wire to the tin feeding needle tube 429 through the capillary, and the connecting arm 424 rotates until the tin wire at the needle of the tin feeding needle tube 429 touches the soldering iron tip 430. After the tin wire is heated and melted into a molten state, the connecting arm 424 rotates to make the tin wire leave the soldering iron tip 430. Finally, the soldering iron tip 430 solders the molten tin to the designated soldering point on the bus bar. After the tin cools down, the soldering of the soldering point is completed.

[0051] Please continue to refer to Fig.12 Preferably, the second weld height detection mechanism 8 includes a second detection camera 81, a second digital signal processor 82 and a second laser emitter 83. The second detection camera 81 is set with its lens facing downward, the second digital signal processor 82 is fixedly connected to the second connecting frame 422, the side of the second digital signal processor 82 is fixedly connected to the side of the second detection camera 81, the lower end of the second digital signal processor 82 is fixedly connected to the upper end of the second laser emitter 83, and the second digital signal processor 82 is electrically connected to the electric control cabinet 13. Furthermore, the second detection camera 81 is a CCD area array camera with a higher resolution. The second laser emitter 83 emits a laser at a certain angle to the vertical direction toward the weld package. After the laser contacts the weld package, it is reflected to the second detection camera 81. The second detection camera 81 transmits the position signal of the reflected laser to the second digital signal processor 82. The second digital signal processor 82 calculates the distance between the bottom end of the second laser emitter 83 and the weld package through trigonometric functions, thereby calculating the height of the weld package. If the height of the weld package is too low, the second digital signal processor 82 sends the unqualified information to the display screen 111 through the electric control cabinet 13, and the display screen 111 immediately sends an alarm signal. The detection mechanism of this structure is more sensitive and the detection result is more accurate.

[0052] Please continue to refer to Fig.13 Preferably, the tip spacing adjustment mechanism 426 includes a second adjustment bolt 4261, a fourth connection block 4211 is provided on the side of the second connection plate 421, the fourth connection block 4211 is fixedly connected to the second connection plate 421, and the second adjustment bolt 4261 is rotatably inserted into the fourth connection block 4211 and the second connection frame 422 in sequence. The spacing between the two second welding structures 42 can be adjusted by rotating the second adjustment bolts 4261 on the two second welding structures 42 respectively, thereby adjusting the spacing between the iron tips 430 corresponding to the two second welding structures 42 respectively.

[0053] Please continue to refer to Fig.11 Preferably, the buffer adjuster 427 includes a buffer adjuster fixing rod 4271 and a second buffer spring 4272, the outer edge of the buffer adjuster fixing rod 4271 is fixedly connected to the inner edge of the second connecting frame 422, the upper end of the second buffer spring 4272 is fixedly connected to the lower end of the buffer adjuster fixing rod 4271, and the second buffer spring 4272 can reduce the vibration of the soldering iron tip 430 during movement and rotation, thereby preventing vibration from affecting the welding quality.

[0054] Please refer to Fig.17 , Fig.17The schematic diagram of the solar panel assembly conveying mechanism of an embodiment of the present invention is that the solar panel assembly conveying mechanism 5 is arranged on the table below the welding device 4, and the solar panel assembly conveying mechanism 5 includes a conveying mechanism frame 51, a transmission mechanism 52 and a correction mechanism 53. The transmission mechanism 52 is evenly distributed and fixedly installed on the conveying mechanism frame 51, and the correction mechanism 53 is movably distributed around the conveying mechanism frame 51. Preferably, the transmission mechanism 52 includes a plurality of conveying mechanism synchronous belts 521, and the correction mechanism 53 includes a plurality of transverse correction bars 531 and a plurality of longitudinal correction bars 532. The conveying mechanism frame 51 is rectangular, and the plurality of conveying mechanism synchronous belts 521 are equidistantly arranged on the conveying mechanism frame 51, and the plurality of conveying mechanism synchronous belts 521 are all arranged parallel to the longitudinal sides of the conveying mechanism frame 51, and the two ends of each conveying mechanism synchronous belt 521 are respectively connected to the two transverse sides of the conveying mechanism frame 51, and the plurality of transverse correction bars 531 and the like are connected to the longitudinal sides of the conveying mechanism frame 51. The lateral alignment baffles 531 are equidistantly distributed on the inner sides of the two lateral sides of the conveying mechanism frame 51, each lateral alignment baffle 531 has a first cylinder 5311 which enables it to move vertically and longitudinally, and the plurality of first cylinders 5311 are respectively fixedly connected to the lateral sides of the conveying mechanism frame 51, and the plurality of longitudinal alignment baffles 532 are equidistantly distributed on the inner sides of the two longitudinal sides of the conveying mechanism frame 51, each longitudinal alignment baffle 532 has a second cylinder 5321 which enables it to move horizontally and vertically, and the plurality of second cylinders 5321 are respectively fixedly connected to the longitudinal sides of the conveying mechanism frame 51. In actual applications, multiple conveyor mechanism synchronous belts 521 transport the battery strings and bus bars to be welded to the center position of the conveyor mechanism frame 51, and multiple first cylinders 5311 respectively control multiple transverse alignment bars 521 distributed at the two transverse sides of the conveyor mechanism frame 51 to first move vertically upward, and then move longitudinally toward the center of the conveyor mechanism frame 51, until they stop moving after touching the edge of the battery string. Multiple second cylinders 5321 respectively control multiple longitudinal alignment bars 532 distributed at the two longitudinal sides of the conveyor mechanism frame 51 to first move vertically upward, and then move laterally toward the center of the conveyor mechanism frame 51, until they stop moving after touching the edge of the battery string. In this way, the battery strings and bus bars to be welded can be firmly fixed from all sides.

[0055] Please refer to Figure 1 , Fig.14 , Fig.15 and Fig.16 , Fig.14 is a cross-sectional schematic diagram of a welding head cleaning mechanism according to an embodiment of the present invention, Fig.15 is an overall schematic diagram of a welding head cleaning mechanism according to an embodiment of the present invention, Fig.16The figure is a three-dimensional schematic diagram of a welding head cleaning mechanism according to an embodiment of the present invention. Preferably, a welding machine including an automatically adjustable walking track type mobile module according to the present invention further includes a welding head cleaning mechanism 6, which is located on the same plane as the conveying mechanism frame and close to a longitudinal edge of the conveying mechanism frame. The welding head cleaning mechanism 6 includes a brush motor 61, a protective cover 62, a coupling 63, a cleaning mechanism bearing 64 and a wire brush 65. The brush motor 61 is fixedly connected to the protective cover 62. The coupling 63, the wire brush 65 and the cleaning mechanism bearing 64 are all located in the protective cover 62. The upper end of the protective cover 62 has an opening 621 for allowing a portion of the upper part of the wire brush 65 to be exposed from the protective cover 62. The upper end of the wire brush 65 is higher than the lowest end that the welding device 4 can reach in vertical movement. The coupling 63 is fixedly connected to the main shaft of the brush motor 61 having a main shaft. The wire brush 65 is arranged around the coupling 63 and is fixedly connected to the coupling 63. The inner edge of the cleaning mechanism bearing 64 is rotatably connected to the coupling 63, and the outer edge of the cleaning mechanism bearing 64 is fixedly connected to the inside of the protective cover 62. The brush motor 61 drives the wire brush 65 to rotate through the coupling 63. After the hot pressing bar welding head 418 or the soldering iron head 430 has welded part of the bus bars, residual tin will be stuck on the hot pressing bar welding head 418 or the soldering iron head 430. The hot pressing bar welding head 418 or the soldering iron head 430 can be moved to the wire brush 65 by moving the module 2, and the rotating wire brush 65 can quickly remove the residual tin.

[0056] Compared with the prior art, the welding machine of the present invention including an automatically adjustable walking track type mobile module includes a cam roller bearing for automatically adjusting the walking track, which reduces the edge stress of the track to a minimum, and the components are not easily damaged, thereby ensuring smooth walking and smooth welding. In addition, the welding displacement module device of the present invention includes displacement modules in multiple directions and a rotating mechanism, and the welding device can move in multiple directions and angles, thereby ensuring the welding quality.

[0057] The present invention has been described by the above-mentioned relevant embodiments, however, the above-mentioned embodiments are only examples for implementing the present invention. It must be pointed out that the disclosed embodiments do not limit the scope of the present invention. On the contrary, changes and modifications made without departing from the spirit and scope of the present invention are all within the scope of patent protection of the present invention.

Claims

1. A welding machine including an automatically adjustable walking track type mobile module, comprising a cabinet, a mobile module and a welding device, wherein the mobile module is used to drive the welding device to move in multiple directions or rotate in a horizontal plane, characterized in that The mobile module includes: an X-axis displacement module for lateral driving, a Y-axis displacement module for longitudinal driving, an R-axis rotation mechanism for rotational driving, and a Z-axis displacement module for vertical driving; The X-axis displacement module comprises a first slide rail, a second slide rail, an X-axis power module and a first slider, the first slide rail and the second slide rail are arranged horizontally at the upper end of the cabinet with their ends flush; the X-axis power module comprises a first synchronous belt, the first synchronous belt is embedded in a groove on the first slide rail and is connected to the first slide rail so as to be laterally movable; the first slider is a frame arranged perpendicular to the first slide rail and containing the first slide rail, the inner edge of one end of the upper part of the first slider is fixedly connected to the first synchronous belt and is slidably connected to the first slide rail, the other end of the upper part of the first slider is provided with an extension part, the extension part is slidably connected to the second slide rail, a cam roller bearing for automatically adjusting the travel track is provided at the contact part with the second slide rail below the extension part, and the axis of the cam roller bearing is perpendicular to the second slide rail; The Y-axis displacement module includes a third slide rail, a Y-axis power module and a second slider, the third slide rail is fixedly connected to the first slider along the lower frame of the first slider, the Y-axis power module includes a second synchronous belt, the second synchronous belt is embedded in the groove of the third slide rail and is longitudinally movably connected to the third slide rail; the second slider is buckled at the outer edge of the third slide rail, the second slider is fixedly connected to the second synchronous belt and is slidably connected to the third slide rail; The R-axis rotation mechanism is rotatably connected to the second slider; the R-axis rotation mechanism includes an R-axis rotation mechanism driving motor and an R-axis rotation shaft, and the R-axis rotation mechanism driving motor is fixedly connected to the R-axis rotation shaft; the Z-axis displacement module includes a fourth slide rail and a Z-axis power module, and the Z-axis power module includes two third synchronous pulleys, a third synchronous belt and a Z-axis power module driving cylinder, the two third synchronous pulleys are rotatably arranged at the upper and lower ends of the fourth slide rail, respectively, the third synchronous belt is a closed loop and the two ends are respectively wound around the two third synchronous pulleys, the Z-axis power module driving cylinder is used to rotate one of the two third synchronous pulleys, and the Z-axis power module driving cylinder drives the third synchronous belt to move vertically through one of the two third synchronous pulleys, and the welding device is buckled on the outer edge of the fourth slide rail, and the welding device is fixedly connected to the third synchronous belt and slidably connected to the fourth slide rail; The welding device is a soldering iron type welding module, and the welding device of the soldering iron type welding module comprises two identical and symmetrically arranged second welding structures (42), each second welding structure (42) comprises a second connecting plate (421), a second connecting frame (422), a third connecting block (423), a connecting arm (424), an automatic tin feeding machine (425), a soldering iron tip spacing adjustment mechanism (426), a buffer regulator (427), a needle pressing mechanism (428), a tin feeding needle tube (429) and a soldering iron tip (430); one side of the second connecting plate (421) is connected to the soldering iron tip The Z-axis displacement module (23) is connected so as to be movable up and down, the other side of the second connecting plate (421) is fixedly connected to the automatic tin feeding machine (425), the second connecting frame (422) is connected to the second connecting plate (421) so as to be movable horizontally and the second connecting frame (422) is located at the lower end of the automatic tin feeding machine (425), a tin feeding motor for adjusting the tin feeding amount is arranged in the automatic tin feeding machine (425), and the tin feeding motor is electrically connected to the electric control cabinet (13); the soldering iron tip spacing adjustment mechanism (426) is located outside the second connecting frame (422); the buffer regulator (4 27) is inserted into the second connecting frame (422) and fixedly connected to the second connecting frame (422), the lower end of the buffer regulator (427) is fixedly connected to the third connecting block (423), and the lower part of the third connecting block (423) is fixedly connected to the soldering iron head (430); the needle pressing mechanism (428) is rotatably connected to the side of the second connecting plate (421), the connecting arm (424) is L-shaped, one end of the connecting arm (424) is fixedly connected to the third connecting block (423), and the other end of the connecting arm (424) is rotatably connected to the soldering needle tube (429). The soldering needle tube (429) is connected to the automatic soldering machine (425) through a thin tube, and the head of the soldering iron tip (430) and the head of the soldering needle tube (429) can intersect at one point; the soldering bag height detection mechanism (78) includes two second soldering bag height detection mechanisms (8), the two second soldering bag height detection mechanisms (8) have the same structure and are respectively arranged on the two second welding structures (42), each second soldering bag height detection mechanism (8) is vertically arranged close to the corresponding third connecting block (423), and is fixedly connected to the second connecting frame (422); The second welding bag height detection mechanism (8) comprises a second detection camera (81), a second digital signal processor (82) and a second laser emitter (83); the lens of the second detection camera (81) is arranged downward, the second digital signal processor (82) is fixedly connected to the second connecting frame (422), the side of the second digital signal processor (82) is fixedly connected to the side of the second detection camera (81), the lower end of the second digital signal processor (82) is fixedly connected to the upper end of the second laser emitter (83), and the second digital signal processor (82) is electrically connected to the electric control cabinet (13); The soldering iron tip spacing adjustment mechanism (426) comprises a second adjustment bolt (4261), a side of the second connecting plate (421) is provided with a fourth connecting block (4211), the fourth connecting block (4211) is fixedly connected to the second connecting plate (421), and the second adjustment bolt (4261) is rotatably inserted into the fourth connecting block (4211) and the second connecting frame (422) in sequence; The buffer adjuster (427) comprises a buffer adjuster fixing rod (4271) and a second buffer spring (4272); the outer edge of the buffer adjuster fixing rod (4271) is fixedly connected to the inner edge of the second connecting frame (422); the upper end of the second buffer spring (4272) is fixedly connected to the lower end of the buffer adjuster fixing rod (4271); the second buffer spring (4272) can reduce the vibration of the soldering iron tip (430) when it moves and rotates; The solar panel assembly conveying mechanism (5) is arranged on a table below the welding device (4), and the solar panel assembly conveying mechanism (5) comprises a conveying mechanism frame (51), a transmission mechanism (52) and a correction mechanism (53), wherein the transmission mechanism (52) is evenly distributed and fixedly installed on the conveying mechanism frame (51), and the correction mechanism (53) is movably distributed around the conveying mechanism frame (51); the transmission mechanism (52) comprises a plurality of conveying mechanism synchronous belts (521), and the correction mechanism (53) comprises a plurality of transverse correction bars (531) and a plurality of longitudinal correction bars (532); the conveying mechanism frame (51) is rectangular, and the plurality of conveying mechanism synchronous belts (521) are equidistantly arranged on the conveying mechanism frame (51), and the plurality of conveying mechanism synchronous belts (521) are parallel to the conveying mechanism. The longitudinal side of the frame (51) is arranged, the two ends of each conveying mechanism synchronous belt (521) are respectively connected to the two transverse sides of the conveying mechanism frame (51), a plurality of transverse correction bars (531) are equidistantly distributed on the inner sides of the two transverse sides of the conveying mechanism frame (51), each transverse correction bar (531) has a first cylinder (5311) capable of vertical and longitudinal movement, the plurality of first cylinders (5311) are respectively fixedly connected to the transverse sides of the conveying mechanism frame (51), a plurality of longitudinal correction bars (532) are equidistantly distributed on the inner sides of the two longitudinal sides of the conveying mechanism frame (51), each longitudinal correction bar (532) has a second cylinder (5321) capable of horizontal and vertical movement, the plurality of second cylinders (5321) are respectively fixedly connected to the longitudinal sides of the conveying mechanism frame (51); The welding head cleaning mechanism (6) is also included. The welding head cleaning mechanism (6) is located on the same plane as the conveying mechanism frame and is close to a longitudinal edge of the conveying mechanism frame. The welding head cleaning mechanism (6) includes a brush motor (61), a protective cover (62), a coupling (63), a cleaning mechanism bearing (64) and a wire brush (65). The brush motor (61) is fixedly connected to the protective cover (62). The coupling (63), the wire brush (65) and the cleaning mechanism bearing (64) are all located in the protective cover (62). The upper end of the protective cover (62) has a portion for allowing the upper part of the wire brush (65) to be The opening (621) of the protective cover (62) is exposed, the upper end of the wire brush (65) is higher than the lowest end that the welding device (4) can reach in vertical movement, the coupling (63) is fixedly connected to the main shaft of the brush motor (61) having a main shaft, the wire brush (65) is arranged around the coupling (63) and is fixedly connected to the coupling (63), the inner edge of the cleaning mechanism bearing (64) is rotatably connected to the coupling (63), the outer edge of the cleaning mechanism bearing (64) is fixedly connected to the inside of the protective cover (62), and the brush motor (61) drives the wire brush (65) to rotate through the coupling (63).

2. A welding machine comprising an automatically adjustable track-type mobile module as claimed in claim 1, characterized in that The X-axis power module also includes two first synchronous pulleys and an X-axis power module driving cylinder. The two first synchronous pulleys are rotatably arranged at the first and second ends of the first slide rail, the first synchronous belt is a closed loop and the two ends are respectively wound around the two first synchronous pulleys. The X-axis power module driving cylinder is used to rotate one of the two first synchronous pulleys. The X-axis power module driving cylinder drives the first synchronous belt to move laterally through one of the two first synchronous pulleys.

3. A welding machine comprising an automatically adjustable walking track type mobile module as claimed in claim 2, characterized in that The X-axis power module also includes an X-axis cable drag chain, one end of the X-axis cable drag chain is fixedly connected to the first sliding block, and the other end of the X-axis cable drag chain is fixedly connected to the first sliding rail.

4. A welding machine comprising an automatically adjustable track-type mobile module as claimed in claim 1, characterized in that The Y-axis power module also includes two second synchronous pulleys and a Y-axis power module driving cylinder. The two second synchronous pulleys are rotatably arranged at the first and second ends of the third slide rail, respectively. The second synchronous belt is a closed loop and its two ends are respectively wound around the two second synchronous pulleys. The Y-axis power module driving cylinder is used to rotate one of the two second synchronous pulleys. The Y-axis power module driving cylinder drives the second synchronous belt to move longitudinally through one of the two second synchronous pulleys.

5. A welding machine comprising an automatically adjustable track-type mobile module as claimed in claim 4, characterized in that The Y-axis power module also includes a Y-axis cable drag chain, one end of the Y-axis cable drag chain is fixedly connected to the second sliding block, and the other end of the Y-axis cable drag chain is fixedly connected to the third sliding rail.

6. A welding machine comprising an automatically adjustable track-type mobile module as claimed in claim 1, characterized in that The moving module also includes a Z-axis displacement module for vertical driving, and the R-axis rotation mechanism is fixedly connected to the Z-axis displacement module.

7. A welding machine comprising an automatically adjustable track-type mobile module as claimed in claim 6, characterized in that The Z-axis displacement module also includes a Z-axis cable drag chain, one end of the Z-axis cable drag chain is fixedly connected to the welding device, and the other end of the Z-axis cable drag chain is fixedly connected to the fourth slide rail.

8. A welding machine comprising an automatically adjustable track-type mobile module as claimed in claim 1, characterized in that The first slider further includes a welding transformer, which is fixedly connected to the first slider and electrically connected to the welding device.

9. A welding machine comprising an automatically adjustable walking track type mobile module as claimed in claim 1, characterized in that The cam roller bearing is a wide row cam roller bearing.

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