A robot automatic flexible soldering system

Abstract

The present invention discloses a robot automatic flexible welding system for a label, comprising a control cabinet, a welding machine, a mounting frame, a sliding module, a sliding frame, a label supply mechanism, a welding nail supply mechanism, a mechanical arm and an actuator; the welding machine is arranged on the mounting frame, the sliding module is arranged on the mounting frame, the sliding frame is arranged on the sliding module, the label supply mechanism, the welding nail supply mechanism and the mechanical arm are arranged on the sliding frame, and the actuator is arranged on the mechanical arm; the mechanical arm drives the actuator to move between the label supply mechanism, the welding nail supply mechanism and the rod to be welded with the label; the present application aims to provide a robot automatic flexible welding system for a label, which can complete the label welding and hanging of the non-collision end of the rod, is suitable for the label welding and hanging of the rods of different length specifications, and does not affect the on-site production and equipment maintenance, such as the rod conveying chain, etc., to realize unmanned automatic continuous production.

Description

Technical Field

[0001] The invention relates to the technical field of soldering plates, and in particular to a robot automatic flexible soldering plate system. Background Art

[0002] In the production of bundled steel, it is necessary to weld parameter labels of bars on both ends of the bars. One end of the bars is the bumping end, and the end faces of each bundle of bars are flush; the other end of the bars is the non-bumping end, and the end faces of bars of different lengths and specifications vary greatly.

[0003] At present, in steel mills, the labels are mostly welded and hung on both ends of the bars manually. Since the non-collision end of the short bar is inside the conveyor chain, it is inconvenient to weld the labels. In addition, the bar production line has a fast pace, a large number of bars, and a high ambient temperature on site. There are also safety hazards when manual label welding and overhead crane lifting are cross-operated. Using robots to replace manual label welding is the trend. Currently, there is a robot label welding system on the collision end of the bar, but there is no robot label welding system on the non-collision end. Summary of the invention

[0004] The purpose of the present invention is to propose a robot automatic flexible welding system, which can complete the welding and hanging of labels on non-aligned ends of bars, is suitable for the welding and hanging of labels on bars of different lengths and specifications, and does not affect on-site production and equipment maintenance, such as bar conveyor chains, etc., to achieve unmanned automated continuous production.

[0005] To achieve this object, the present invention adopts the following technical solutions: a robot automatic flexible welding system, including a control cabinet, a welding machine, a mounting frame, a sliding module, a sliding frame, a label supply mechanism, a welding nail supply mechanism, a mechanical arm and an actuator;

[0006] The welding machine is arranged on the mounting frame, the sliding module is arranged on the mounting frame, the sliding frame is arranged on the sliding module, the label supply mechanism, the welding nail supply mechanism and the mechanical arm are arranged on the sliding frame, and the actuator is arranged on the mechanical arm;

[0007] The mechanical arm drives the actuator to move between the label supply mechanism, the welding nail supply mechanism and the rod to be welded;

[0008] The welding machine, the sliding module, the label supply mechanism, the welding nail supply mechanism, the mechanical arm and the actuator are all electrically connected to the control cabinet.

[0009] Preferably, the welding nail supply mechanism includes a vibration plate and a conveying assembly, the feeding end of the conveying assembly is opposite to the discharging end of the vibration plate, and the vibration plate and the conveying assembly are both electrically connected to the control cabinet.

[0010] Preferably, the conveying assembly includes a conveying cylinder, a sliding seat, a guide rail and a conveying slot, the output end of the conveying cylinder is connected to the sliding seat, the sliding seat is slidably connected to the guide rail, and the conveying slot is adapted to the welding studs to be conveyed.

[0011] Preferably, the label supply mechanism includes a marking machine, a label receiving unit and a label visual unit, the feeding end of the label receiving unit is opposite to the discharging end of the marking machine, and the label visual unit is opposite to the label receiving unit; the marking machine, the label receiving unit and the label visual unit are all electrically connected to the control cabinet.

[0012] Preferably, the label receiving unit includes a label receiving chute, a detection hole, a sensor, a clearance hole and an ejection cylinder. The upper end of the label receiving chute is opposite to the discharge end of the marking machine, the sensor is arranged below the label receiving chute, the detection hole is arranged in the label receiving chute, the detection end of the sensor is opposite to the detection hole, the ejection cylinder is arranged below the label receiving chute, the clearance hole is arranged in the label receiving chute, and the output end of the ejection cylinder is located in the clearance hole.

[0013] Preferably, the actuator comprises a mounting seat, a three-dimensional vision unit, a nail removal unit and a label removal unit, the three-dimensional vision unit, the nail removal unit and the label removal unit are all arranged on the mounting seat, and the output end of the mechanical arm is connected to the mounting seat;

[0014] The label removal unit includes a suction cup and a pipe fitting, the pipe fitting is arranged on the mounting seat, one end of the pipe fitting is connected to the suction cup, and the other end of the pipe fitting is connected to an external vacuum generator; the nail removal unit, the external vacuum generator and the three-dimensional vision unit are all electrically connected to the control cabinet.

[0015] Preferably, the nail removal unit comprises a guide rail, a sliding groove, a floating support, a buffer portion, a three-claw cylinder, a nylon adapter block, an electrode mounting block and an electrode chuck;

[0016] The guide rail is arranged on the mounting seat, the sliding groove is arranged on the floating support, and the floating support is slidably connected to the guide rail through the sliding groove;

[0017] The three-claw cylinder is arranged on the floating support, and the buffer part is arranged between the floating support and the mounting seat;

[0018] There are three nylon adapter blocks, which are respectively connected to the three output ends of the three-claw cylinder; there are three electrode mounting blocks, which are respectively connected to the three nylon adapter blocks; there are three electrode chucks, which are respectively connected to the three electrode mounting blocks; and the end faces of the three electrode chucks cooperate to clamp the welding nails.

[0019] Preferably, the buffer part includes a guide rod, a compression spring and a fixed seat, the fixed seat is arranged on the mounting seat, one end of the guide rod is connected to the floating support, the other end of the guide rod is connected to the fixed seat, and the compression spring is sleeved on the periphery of the guide rod between the fixed seat and the floating support; the guide rod is parallel to the guide rail.

[0020] Preferably, the sliding module includes a guide seat, a connecting rail, a reduction motor, a transmission gear group and a transmission rack, the guide seat is arranged on the mounting frame, the connecting rail is arranged on the sliding frame, the connecting rail is slidably connected to the guide seat, the reduction motor is arranged on the mounting frame, the transmission gear group is connected to the output end of the reduction motor, the transmission rack is arranged on the sliding frame, and the transmission gear group is meshed with the transmission rack.

[0021] Preferably, the control cabinet includes a main control cabinet and a robotic arm control cabinet, the robotic arm is electrically connected to the robotic arm control cabinet, and the welding machine, the sliding module, the sign supply mechanism, the welding nail supply mechanism and the actuator are all electrically connected to the main control cabinet.

[0022] The present application adopts the above structure, and the position of the mechanical arm can be adjusted by the cooperation of the mounting frame, the sliding module and the sliding frame, and the labels of bars of different length specifications can be welded. The sliding frame is moved to different positions by the sliding module, so that the mechanical arm, the label supply mechanism and the welding nail supply mechanism can be moved synchronously to adapt to the end faces of bars of different lengths. The sliding frame can be moved and adjusted, and the equipment will not be above the conveyor chain, and will not affect the maintenance of the original equipment at the production site, such as the bar conveyor chain, etc. Each device is modularly designed, with a high degree of integration and a reasonable footprint. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] The accompanying drawings further illustrate the present invention, but the contents in the accompanying drawings do not constitute any limitation to the present invention.

[0024] Figure 1 It is a schematic diagram of the structure of the present invention;

[0025] Figure 2 It is a structural schematic diagram of the sliding module of the present invention;

[0026] Figure 3 It is a structural schematic diagram of the label supply mechanism of the present invention;

[0027] Figure 4 It is a structural schematic diagram of the label connection unit of the present invention;

[0028] Figure 5 It is a structural schematic diagram of the welding nail supply mechanism of the present invention;

[0029] Figure 6 yes Figure 5 A local enlarged schematic diagram of the middle A;

[0030] Figure 7 It is a structural schematic diagram of the actuator of the present invention.

[0031] Among them: control cabinet 1, welding machine 2, mounting frame 3, sliding module 4, guide seat 4a, connecting rail 4b, reduction motor 4c, transmission rack 4d;

[0032] Sliding frame 5, label supply mechanism 6, marking machine 6a, label receiving unit 6b, label visual unit 6c, label receiving slide 6d, sensor 6e, ejection cylinder 6f;

[0033] The welding nail supply mechanism 7, the vibration plate 7a, the conveying assembly 7b, the conveying cylinder 7c, the sliding seat 7d, the guide rail 7e, and the conveying slot 7f;

[0034] Robotic arm 8, actuator 9, mounting seat 9a, three-dimensional vision unit 9b, nail removal unit 9c, label removal unit 9d, suction cup 9e, pipe fitting 9f, guide rail 9g, floating support 9h, three-claw cylinder 9i, nylon adapter block 9j, electrode mounting block 9k, electrode chuck 9l, guide rod 9m, compression spring 9n, fixed seat 9o. DETAILED DESCRIPTION

[0035] The technical solution of the present invention is further described below with reference to the accompanying drawings and through specific implementation methods.

[0036] See also Figures 1 to 7 As shown, a robot automatic flexible welding system of a label in this embodiment includes a control cabinet 1, a welding machine 2, a mounting frame 3, a sliding module 4, a sliding frame 5, a label supply mechanism 6, a welding nail supply mechanism 7, a robotic arm 8 and an actuator 9.

[0037] The welding machine 2 is arranged on the mounting frame 3, the sliding module 4 is arranged on the mounting frame 3, the sliding frame 5 is arranged on the sliding module 4, the label supply mechanism 6, the welding nail supply mechanism 7 and the mechanical arm 8 are arranged on the sliding frame 5, and the actuator 9 is arranged on the mechanical arm 8.

[0038] The mechanical arm 8 drives the actuator 9 to move between the label supply mechanism 6, the welding nail supply mechanism 7 and the rod to be welded.

[0039] The welding machine 2 , the sliding module 4 , the label supply mechanism 6 , the welding nail supply mechanism 7 , the mechanical arm 8 and the actuator 9 are all electrically connected to the control cabinet 1 .

[0040] With this structure, the position of the mechanical arm 8 can be adjusted by the cooperation of the mounting frame 3, the sliding module 4 and the sliding frame 5, and the labels of bars of different lengths and specifications can be welded. The sliding frame 5 is moved to different positions by the sliding module 4, so that the mechanical arm 8, the label supply mechanism 6 and the welding nail supply mechanism 7 can move synchronously to adapt to the end faces of bars of different lengths. The sliding frame 5 can be moved and adjusted, and the equipment will not be above the conveyor chain, which will not affect the maintenance of the original equipment at the production site, such as the bar conveyor chain, etc. Each device is modularly designed, with a high degree of integration and a reasonable footprint.

[0041] System working process:

[0042] Step 1: Control cabinet 1 first obtains the sign information.

[0043] Step 2: Determine whether the bar specifications have changed, the robot arm 8 drives the actuator 9 to move to the welding nail supply mechanism 7 and take a welding nail.

[0044] Step 3: A1. When the bar specifications remain unchanged, the label supply mechanism 6 prints the label and performs label processing, identification and positioning.

[0045] B1. When the bar specification changes, the sliding module 4 moves to the welding plate pending position of the bar of corresponding length specification and performs the action of A1.

[0046] Step 4: The actuator 9 carried by the robot arm 8 moves to the label supply mechanism 6 and takes the label.

[0047] Step 5: The system receives the signal that the rod has stopped and the sliding module 4 has reached the position, and at the same time, the control cabinet 1 drives the robot arm to move to the end face of the rod.

[0048] Step 6: The welding machine stores energy, and the actuator 9 takes pictures, processes, and calculates the end face of the bar to determine the best welding plate position.

[0049] Step 7: A2. When it is determined that the end face of the bar is weldable, the welding machine 2 releases the stored energy to weld the bar.

[0050] B2. If it is determined that the end face of the bar cannot be welded, no welding will be done, an end face abnormality signal will be issued, and the robot arm 8 will be reset.

[0051] Step 8: A3. The actuator 9 checks the quality of the welding plate, and the robot arm 8 resets after it passes the inspection.

[0052] B3. Actuator 9 checks the quality of the welding plate. If it fails, it will jump back to step 1 and act again.

[0053] Step 9: After the robot arm 8 is reset, the system releases the bar and the action ends.

[0054] Preferably, the welding nail supply mechanism 7 includes a vibration plate 7a and a conveying assembly 7b, the feeding end of the conveying assembly 7b is opposite to the discharging end of the vibration plate 7a, and the vibration plate 7a and the conveying assembly 7b are both electrically connected to the control cabinet 1.

[0055] With this structure, the vibration plate 7a vibrates to arrange the welding nail grooves in a predetermined direction. This action can be adjusted by setting the parameters of the vibration plate 7a. Then, the welding nails are transferred and transported by the conveying component 7b, which facilitates the actuator 9 to clamp the welding nails.

[0056] Preferably, the conveying assembly 7b includes a conveying cylinder 7c, a sliding seat 7d, a guide rail 7e and a conveying slot 7f, the output end of the conveying cylinder 7c is connected to the sliding seat 7d, the sliding seat 7d is slidably connected to the guide rail 7e, and the conveying slot 7f is adapted to the welding studs to be conveyed.

[0057] With this structure, the sliding direction of the sliding seat 7d is perpendicular to the conveying direction of the discharge end of the vibration disk 7a; the conveying assembly 7b is used to separately convey the welding nails output by the vibration disk 7a, through the conveying card slot 7f adapted to the welding nails, that is, the position of the conveying card slot 7f can just accommodate a welding nail. During each conveying, the conveying card slot 7f receives a welding nail from the output end of the vibration disk 7a, and drives the sliding seat 7d to move through the conveying cylinder 7c, so as to remove the welding nail from the output end of the vibration disk 7a, so as to facilitate the actuator 9 to clamp it.

[0058] Preferably, the label supply mechanism 6 includes a marking machine 6a, a label receiving unit 6b and a label visual unit 6c, the feeding end of the label receiving unit 6b is opposite to the discharging end of the marking machine 6a, and the label visual unit 6c is opposite to the label receiving unit 6b; the marking machine 6a, the label receiving unit 6b and the label visual unit 6c are all electrically connected to the control cabinet 1.

[0059] With this structure, the marking machine 6a can mark according to the system requirements. The structure is a prior art and will not be described in detail here. The label visual unit 6c includes a camera or a camera to identify and locate the label of the labeling unit 6b.

[0060] Preferably, the label receiving unit 6b includes a label receiving chute 6d, a detection hole, a sensor 6e, a clearance hole and an ejection cylinder 6f. The upper end of the label receiving chute 6d is opposite to the discharge end of the marking machine 6a. The sensor 6e is arranged below the label receiving chute 6d. The detection hole is arranged in the label receiving chute 6d. The detection end of the sensor 6e is opposite to the detection hole. The ejection cylinder 6f is arranged below the label receiving chute 6d. The clearance hole is arranged in the label receiving chute 6d. The output end of the ejection cylinder 6f is located in the clearance hole.

[0061] With this structure, when the nameplate falls into the nameplate receiving slot 6d, the sensor 6e detects the nameplate. After the nameplate is in place, the system drives the actuator 9 to perform the card removal operation. The ejection cylinder 6f is used to push the nameplate to prevent the nameplate from adhering or getting stuck in the nameplate receiving slot 6d.

[0062] Preferably, the actuator 9 includes a mounting seat 9a, a three-dimensional vision unit 9b, a nail removal unit 9c and a label removal unit 9d, and the three-dimensional vision unit 9b, the nail removal unit 9c and the label removal unit 9d are all arranged on the mounting seat 9a, and the output end of the robotic arm 8 is connected to the mounting seat 9a.

[0063] The label removal unit 9d includes a suction cup 9e and a pipe fitting 9f, wherein the pipe fitting 9f is arranged on the mounting seat 9a, one end of the pipe fitting 9f is connected to the suction cup 9e, and the other end of the pipe fitting 9f is connected to an external vacuum generator; the nail removal unit 9c, the external vacuum generator and the three-dimensional vision unit 9b are all electrically connected to the control cabinet 1.

[0064] With this structure, the three-dimensional vision unit 9b includes a housing, a camera, a light source, a scanning unit and a control unit. The camera, the light source and the scanning unit are all arranged in the housing, and the camera, the light source and the scanning unit are all arranged on a side away from the nail removal unit 9c; the camera, the light source and the scanning unit are all electrically connected to the control unit, and the control unit is electrically connected to the control cabinet 1. The camera, the light source and the scanning unit cooperate to identify the condition of the end face of the bar, including the concave-convex depth, the number of bars, the effect of label welding and hanging, etc. The camera, the light source and the scanning unit are arranged on a side away from the nail removal unit 9c, which can effectively protect the camera, the light source and the scanning unit, and prevent the camera, the light source or the scanning unit from being damaged by sparks during welding.

[0065] The suction cup 9e, the pipe fitting 9f and the vacuum generator cooperate to form negative pressure at the suction cup 9e, making it easier to suck up the label.

[0066] Preferably, the nail removal unit 9c includes a guide rail 9g, a sliding groove, a floating support 9h, a buffer portion, a three-claw cylinder 9i, a nylon adapter block 9j, an electrode mounting block 9k and an electrode chuck 9l.

[0067] The guide rail 9g is arranged on the mounting seat 9a, the sliding groove is arranged on the floating support 9h, and the floating support 9h is slidably connected to the guide rail 9g through the sliding groove.

[0068] The three-claw cylinder 9i is arranged on the floating support 9h, and the buffer portion is arranged between the floating support 9h and the mounting seat 9a.

[0069] There are three nylon adapter blocks 9j, which are respectively connected to the three output ends of the three-claw cylinder 9i. There are three electrode mounting blocks 9k, which are respectively connected to the three nylon adapter blocks 9j. There are three electrode chucks 9l, which are respectively connected to the three electrode mounting blocks 9k. The end faces of the three electrode chucks 9l cooperate to clamp the welding nails.

[0070] With this structure, the guide rail 9g, the slider and the sliding groove cooperate to play a good guiding role, and the nylon adapter block 9j, the electrode mounting block 9k and the electrode clamp 9l are connected to form three clamp arms, which cooperate to clamp the welding nails and weld the welding nails to the end face of the bar. The three-claw cylinder 9i and the three clamp arms can stably clamp the welding nails to prevent the welding nails from falling off after contacting and colliding with the bar.

[0071] Preferably, the buffer part includes a guide rod 9m, a compression spring 9n and a fixed seat 9o, the fixed seat 9o is arranged on the mounting seat 9a, one end of the guide rod 9m is connected to the floating support 9h, and the other end of the guide rod 9m is connected to the fixed seat 9o, and the compression spring 9n is sleeved on the periphery of the guide rod 9m between the fixed seat 9o and the floating support 9h; the guide rod 9m is parallel to the guide rail 9g.

[0072] With this structure, when the welding nail contacts the work station of the plate to be welded, the floating support 9h drives the guide rod 9m to move axially, and the compression spring 9n is compressed to play a buffering role, thereby providing a buffering effect for the nail removal unit 9c, preventing hard contact between the welding nail and the bar to be welded, and avoiding damage to the bar.

[0073] Preferably, the sliding module 4 includes a guide seat 4a, a connecting rail 4b, a reduction motor 4c, a transmission gear group and a transmission rack 4d, the guide seat 4a is arranged on the mounting frame 3, the connecting rail 4b is arranged on the sliding frame 5, the connecting rail 4b is slidably connected to the guide seat 4a, the reduction motor 4c is arranged on the mounting frame 3, the transmission gear group is connected to the output end of the reduction motor 4c, the transmission rack 4d is arranged on the sliding frame 5, and the transmission gear group is meshed with the transmission rack 4d.

[0074] With this structure, the transmission gear set is a combination of a chain and a gear, connecting the reduction motor 4c and the transmission rack 4d, transmitting the power of the reduction motor 4c to the transmission rack 4d, thereby driving the sliding frame 5 to move horizontally along the length direction of the connecting rail 4b.

[0075] Preferably, the control cabinet 1 includes a main control cabinet and a robotic arm control cabinet, the robotic arm 8 is electrically connected to the robotic arm control cabinet, and the welding machine 2, the sliding module 4, the sign supply mechanism 6, the welding nail supply mechanism 7 and the actuator 9 are all electrically connected to the main control cabinet.

[0076] The robot arm 8 can be independently controlled through the robot arm control cabinet to achieve new and precise operation.

[0077] The technical principle of the present invention is described above in conjunction with specific embodiments. These descriptions are only for explaining the principle of the present invention and cannot be interpreted as limiting the scope of protection of the present invention in any way. Based on the explanations herein, those skilled in the art can associate other specific implementations of the present invention without paying creative labor, and these methods will fall within the scope of protection of the present invention.

Claims

1. A robot automatic flexible soldering system, characterized in that: It includes a control cabinet, a welding machine, a mounting frame, a sliding module, a sliding frame, a label supply mechanism, a welding nail supply mechanism, a mechanical arm and an actuator; The welding machine is arranged on the mounting frame, the sliding module is arranged on the mounting frame, the sliding frame is arranged on the sliding module, the label supply mechanism, the welding nail supply mechanism and the mechanical arm are arranged on the sliding frame, and the actuator is arranged on the mechanical arm; The mechanical arm drives the actuator to move between the label supply mechanism, the welding nail supply mechanism and the rod to be welded; The welding machine, the sliding module, the label supply mechanism, the welding nail supply mechanism, the mechanical arm and the actuator are all electrically connected to the control cabinet; The label supply mechanism includes a marking machine, a label receiving unit and a label visual unit, wherein the feeding end of the label receiving unit is opposite to the discharging end of the marking machine, and the label visual unit is opposite to the label receiving unit; the marking machine, the label receiving unit and the label visual unit are all electrically connected to the control cabinet; The label receiving unit includes a label receiving chute, a detection hole, a sensor, a clearance hole and an ejection cylinder. The upper end of the label receiving chute is opposite to the discharge end of the marking machine, the sensor is arranged below the label receiving chute, the detection hole is arranged in the label receiving chute, the detection end of the sensor is opposite to the detection hole, the ejection cylinder is arranged below the label receiving chute, the clearance hole is arranged in the label receiving chute, and the output end of the ejection cylinder is located in the clearance hole.

2. A robot automatic flexible soldering system according to claim 1, characterized in that: The welding nail supply mechanism includes a vibration plate and a conveying assembly, the feeding end of the conveying assembly is opposite to the discharging end of the vibration plate, and the vibration plate and the conveying assembly are both electrically connected to the control cabinet.

3. A robot automatic flexible soldering system according to claim 2, characterized in that: The conveying assembly includes a conveying cylinder, a sliding seat, a guide rail and a conveying slot. The output end of the conveying cylinder is connected to the sliding seat, the sliding seat is slidably connected to the guide rail, and the conveying slot is adapted to the welding studs to be conveyed.

4. A robot automatic flexible soldering system according to claim 1, characterized in that: The actuator includes a mounting seat, a three-dimensional vision unit, a nail removal unit and a label removal unit, wherein the three-dimensional vision unit, the nail removal unit and the label removal unit are all arranged on the mounting seat, and the output end of the mechanical arm is connected to the mounting seat; The label removal unit includes a suction cup and a pipe fitting, the pipe fitting is arranged on the mounting seat, one end of the pipe fitting is connected to the suction cup, and the other end of the pipe fitting is connected to an external vacuum generator; the nail removal unit, the external vacuum generator and the three-dimensional vision unit are all electrically connected to the control cabinet.

5. A robot automatic flexible soldering system according to claim 4, characterized in that: The nail removal unit includes a guide rail, a sliding groove, a floating support, a buffer part, a three-claw cylinder, a nylon adapter block, an electrode mounting block and an electrode chuck; The guide rail is arranged on the mounting seat, the sliding groove is arranged on the floating support, and the floating support is slidably connected to the guide rail through the sliding groove; The three-claw cylinder is arranged on the floating support, and the buffer part is arranged between the floating support and the mounting seat; There are three nylon adapter blocks, which are respectively connected to the three output ends of the three-claw cylinder; there are three electrode mounting blocks, which are respectively connected to the three nylon adapter blocks; there are three electrode chucks, which are respectively connected to the three electrode mounting blocks; and the end faces of the three electrode chucks cooperate to clamp the welding nails.

6. A robot automatic flexible soldering system according to claim 5, characterized in that: The buffer part includes a guide rod, a compression spring and a fixed seat, the fixed seat is arranged on the mounting seat, one end of the guide rod is connected to the floating support, the other end of the guide rod is connected to the fixed seat, and the compression spring is sleeved on the periphery of the guide rod between the fixed seat and the floating support; the guide rod is parallel to the guide rail.

7. The robot automatic flexible soldering system according to claim 1 is characterized in that: The sliding module includes a guide seat, a connecting rail, a reduction motor, a transmission gear set and a transmission rack. The guide seat is arranged on the mounting frame, the connecting rail is arranged on the sliding frame, the connecting rail is slidably connected to the guide seat, the reduction motor is arranged on the mounting frame, the transmission gear set is connected to the output end of the reduction motor, the transmission rack is arranged on the sliding frame, and the transmission gear set is meshed with the transmission rack.

8. The robot automatic flexible soldering system according to claim 1 is characterized in that: The control cabinet includes a main control cabinet and a robot arm control cabinet, the robot arm is electrically connected to the robot arm control cabinet, and the welding machine, the sliding module, the label supply mechanism, the welding nail supply mechanism and the actuator are all electrically connected to the main control cabinet.

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