Fully automatic resistance welding machine

Abstract

The present invention relates to the field of motor preparation, and relates to a fully automatic resistance welding machine. The fully automatic resistance welding machine of the present invention integrates four processes of loading and unloading, wire cutting, welding and visual inspection on a turntable mechanism, and drives the stator to work synchronously at the four stations of loading and unloading, wire cutting, welding and visual inspection through the turntable mechanism. No personnel are required in the process of welding the stator star point, lead wire and terminal, etc., which can effectively improve the overall working speed, reduce labor intensity, save human resources, and greatly improve production efficiency and automation.

Description

Technical Field

[0001] The invention relates to the field of motor preparation, and particularly to a full-automatic resistance welding machine. Background Art

[0002] Electric machine (English: Electric machine, commonly known as "motor") refers to an electromagnetic device that realizes the conversion or transmission of electric energy according to the law of electromagnetic induction. It at least includes a stator and a rotor.

[0003] After the motor core is wired by the automatic wire-inserting machine on the production line, the electromagnetic wire winding at its end is of irregular shape. Before and after the end wire binding process, the star point of the stator winding coil needs to be firmly welded to the copper sleeve, and the lead wire and the terminal. The general production process is to use manual resistance welding one by one. Not only are there many defects and safety hazards during welding, the welding quality is difficult to guarantee, and the stator needs to be moved many times during the welding process, which is time-consuming, labor-intensive, and inefficient. Summary of the invention

[0004] The technical problem to be solved by the present invention is to provide a fully automatic resistance welding machine which does not require any personnel in the process of welding the star point and copper tube sleeve, lead wire and terminal of the stator winding, reduces labor intensity, and greatly improves production efficiency and automation.

[0005] In order to solve the above technical problems, the technical solution adopted by the present invention to solve the technical problems is:

[0006] A fully automatic resistance welding machine, comprising a turntable mechanism, on which a loading and unloading station, a wire cutting station, a welding station and a visual inspection station are sequentially arranged, and the turntable mechanism drives a stator to flow and transport among the loading and unloading station, the wire cutting station, the welding station and the visual inspection station in sequence;

[0007] The loading and unloading station is used to load the jig carrying the stator to be welded from the assembly line to the turntable mechanism or to output and unload the stator after inspection at the visual inspection station; the wire trimming station is used to trim and shape the terminal lead wires of the stator; the welding station is used to weld the star point or lead wire terminals after trimming and shaping; the visual inspection station is used to inspect the end wiring after welding.

[0008] Preferably, the welding station includes a resistance welding machine and a welding seat, the resistance welding machine is arranged on the welding seat, the resistance welding machine includes a machine body, a welding frame, a fixed welding head and a movable welding head, the fixed welding head and the movable welding head are arranged opposite to each other, the machine body is arranged on the welding frame, the machine body is connected to the fixed welding head and the movable welding head, and the fixed welding head is connected to the welding frame; a welding driving component, the movable welding head is drivingly connected to the welding driving component, and the welding driving component drives the movable welding head to move linearly toward the fixed welding head.

[0009] Preferably, the welding seat includes an X-axis movable seat and a Y-axis movable seat, the X-axis movable seat is arranged on the Y-axis movable seat, and the resistance welding machine is arranged on the X-axis movable seat, and the position movement of the resistance welding machine is realized by the X-axis movable seat and the Y-axis movable seat.

[0010] Preferably, the welding station also includes a rotating seat, which includes a rotating plate and a rotating bracket. The rotating plate is provided with a plurality of push rods matching the fixture, and the plurality of push rods are arranged on the same circumference. The rotating bracket is provided with a rotating lifting drive component, and the rotating lifting drive component is drivingly connected to the rotating seat, and the rotating lifting drive component mobilizes the rotating seat to perform lifting and rotating movements.

[0011] Preferably, the thread cutting station includes a thread cutting bracket, a thread cutting drive component and a scissors component, the thread cutting drive component is arranged on the thread cutting bracket, the scissors component is arranged on the execution end of the thread cutting drive component, the scissors component includes a scissors seat and a scissors cylinder, a fixed blade and a movable blade are arranged on the scissors seat, the movable blade is slidably arranged on the scissors seat, the movable blade is drivingly connected to the scissors cylinder, and the scissors cylinder drives the movable blade to move toward the fixed blade.

[0012] Preferably, the scissors component further comprises a fixed shaping block and a movable shaping block, the fixed shaping block is arranged on the fixed blade, the movable shaping block is arranged on the movable blade, and both the fixed shaping block and the movable shaping block are provided with shaping openings.

[0013] Preferably, the rotary jacking driving component includes a jacking cylinder and a rotary motor, the rotary motor is connected to the rotary bracket via a motor seat, the rotary motor is driven and connected to the rotary seat via a synchronous belt, the jacking cylinder piston rod is driven and connected to the jacking bracket, and the jacking cylinder drives the rotary bracket to move up and down.

[0014] Preferably, the loading and unloading station includes a material rack and a material grabber for clamping the metallurgy, the material grabber is arranged on the material picking plate, and the material rack is provided with a loading and unloading driving component, the loading and unloading driving component is connected to the material picking plate, and the loading and unloading driving component drives the material grabber on the material picking plate to make a linear motion.

[0015] Preferably, the material picking gripper includes a double-axis cylinder and two material picking claws driven and connected to the double-axis cylinder, the double-axis cylinder is arranged on the material picking plate, a material picking guide rail is arranged on the material picking plate, a material picking slide block is arranged on the material picking guide rail, the material picking claw is connected to the material picking slide block, a clamping block is arranged on the free end of the material picking claw, a clamping groove matching the shape of the metallurgical tool is arranged on the clamping block, and the double-axis cylinder drives the two material picking claws to move relative to each other.

[0016] Preferably, the visual inspection station comprises a multi-axis manipulator and a camera, and the camera is arranged on the execution end of the multi-axis manipulator.

[0017] Beneficial effects of the present invention:

[0018] The fully automatic resistance welding machine of the present invention integrates four working procedures of loading and unloading, wire trimming, welding and visual inspection on a turntable mechanism. The turntable mechanism drives the stator to work synchronously at the loading and unloading station, the wire trimming station, the welding station and the visual inspection station. No personnel are required in the process of welding the stator star point, lead wires and terminals, etc., which can effectively improve the overall working speed, reduce labor intensity, save human resources, and greatly improve production efficiency and automation. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 It is a structural schematic diagram of a full-automatic resistance welding machine of the present invention.

[0020] Figure 2 It is an overall schematic diagram of the present invention.

[0021] Figure 3 It is a schematic diagram of the loading and unloading stations of the present invention.

[0022] Figure 4 It is a schematic diagram of a thread trimming station of the present invention.

[0023] Figure 5 It is a schematic diagram of a welding station of the present invention.

[0024] Figure 6 It is a schematic diagram of a rotating seat of the present invention.

[0025] Explanation of reference numerals in the figure: 100, turntable mechanism; 101, indexing plate; 102, indexing plate support seat; 103, positioning assembly; 200, loading and unloading station; 201, material rack; 202, material picking plate; 203, double-axis cylinder; 204, material picking guide rail; 205, material picking claw; 206, clamping block; 207, loading and unloading motor; 208, loading and unloading screw rod; 300, thread trimming station; 301, thread trimming bracket; 302, scissor seat; 303, fixed blade; 304, mobile blade; 305, scissor cylinder; 306, fixed shaping block; 307, mobile shaping block; 308, first cylinder; 309, second cylinder; 310, third cylinder; 400, welding station; 401, welding frame; 402, resistance welding machine; 403, fixed welding head; 404, mobile welding head; 405, welding motor; 406, welding screw; 407, X-axis moving seat; 408, Y-axis moving seat; 409, substrate; 410, mobile motor; 411, mobile screw; 420, rotating seat; 421, rotating plate; 422, ejector; 423, rotating bracket; 424, rotating motor; 425, lifting cylinder; 500, visual inspection station; 501, multi-axis manipulator; 502, camera; DETAILED DESCRIPTION

[0026] The present invention is further described below in conjunction with the accompanying drawings and specific embodiments so that those skilled in the art can better understand the present invention and implement it, but the embodiments are not intended to limit the present invention.

[0027] Reference Figure 1-6 As shown, a fully automatic resistance welding machine includes a turntable mechanism 100, on which a loading and unloading station 200, a wire cutting station 300, a welding station 400 and a visual inspection station 500 are sequentially arranged, and the turntable mechanism 100 drives the stator to flow and transport among the loading and unloading station 200, the wire cutting station 300, the welding station 400 and the visual inspection station 500 in sequence;

[0028] The loading and unloading station 200 is used to load the jig of the stator to be welded onto the jig of the turntable mechanism 100 or to output and unload the jig carrying the stator after the inspection at the visual inspection station 500; the wire trimming station 300 is used to trim and shape the excessively long terminal lead wires of the stator; the welding station 400 is used to weld the star point or lead wire terminal after trimming and shaping; the visual inspection station 500 is used to inspect the star point or lead wire terminal after welding.

[0029] The fully automatic resistance welding machine of the present invention integrates four working procedures of loading and unloading, wire trimming, welding and visual inspection on a turntable mechanism 100. The turntable mechanism 100 drives the stator to work synchronously at the loading and unloading station 200, the wire trimming station 300, the welding station 400 and the visual inspection station 500. No personnel are required in the process of welding the stator star point, lead wires and terminals, which can effectively improve the overall working speed, reduce labor intensity, save human resources, and greatly improve production efficiency and automation.

[0030] The end wiring includes overlong terminal lead wires, star points or lead wire terminals. Specifically, the wire cutting station is used to cut and shape the end wiring of the stator (overlong terminal lead wires); the welding station is used to weld the end wiring (star points or lead wire terminals) after cutting and shaping; the visual inspection station is used to inspect the welded end wiring (star points or lead wire terminals).

[0031] The welding station 400 includes a resistance welding machine 402 and a welding seat, the resistance welding machine 402 is arranged on the welding seat, the resistance welding machine 402 includes a body, a welding frame 401, a fixed welding head 403 and a movable welding head 404, the fixed welding head 403 and the movable welding head 404 are arranged opposite to each other, the body is arranged on the welding frame 401, the body is connected with the fixed welding head 403 and the movable welding head 404, the fixed welding head 403 is connected with the welding frame 401; a welding drive component, the movable welding head 404 is driven and connected with the welding drive component, and the welding drive component drives the movable welding head 404 to move linearly toward the fixed welding head 403.

[0032] The welding driving component includes a welding motor 405 and a welding screw 406 . The welding motor 405 is drivingly connected to the welding screw 406 . The welding screw 406 is disposed on the welding frame 401 via a bearing seat. The movable welding head 404 is slidably disposed on the welding screw 406 .

[0033] The welding seat includes an X-axis moving seat 407 and a Y-axis moving seat 408. The X-axis moving seat 407 is arranged on the Y-axis moving seat 408. The resistance welding machine 402 is arranged on the X-axis moving seat 407. The position movement of the resistance welding machine 402 is achieved through the X-axis moving seat 407 and the Y-axis moving seat 408.

[0034] The moving driving components of the X-axis moving seat 407 and the Y-axis moving seat 408 have the same structure, and the moving driving components include a moving motor 410 and a moving screw 411. The moving screw 411 is connected to the base plate 409 of the welding station 400 through a bearing seat. The bottom plate of the Y-axis moving seat 408 is slidably disposed on the base plate 409, and the bottom plate of the X-axis moving seat 407 is slidably disposed on the bottom plate of the Y-axis moving seat 408. The moving motor 410 is drivingly connected to the moving screw 411. A moving nut is provided on the moving screw 411, and the moving nut is connected to the bottom plate of the Y-axis moving seat 408. The structure of the X-axis moving seat 407 is the same as that of the Y-axis moving seat 408, except that the movement direction is vertically set.

[0035] The welding station 400 also includes a rotating seat 420, which includes a rotating plate 421 and a rotating bracket 423. The rotating plate 421 is provided with a plurality of ejector rods 422 that match the fixture, and the plurality of ejector rods 422 are arranged on the same circumference. The rotating bracket 423 is provided with a rotating lifting driving component, and the rotating lifting driving component is drivingly connected to the rotating seat 420, and the rotating lifting driving component mobilizes the rotating seat 420 to perform lifting and rotating movements.

[0036] The welding driving component drives the mobile welding head 404 to move toward the fixed welding head 403 to weld the star point and the copper tube or the lead wire and the terminal, which can quickly make the star point and the copper tube or the lead wire and the terminal of the stator finally welded and formed. The present invention can complete all resistance welding operations between the star point and the copper tube or the lead wire and the terminal, automatically control, and effectively improve the work efficiency.

[0037] The thread trimming station 300 includes a thread trimming bracket 301, a thread trimming drive component and a scissors component. The thread trimming drive component is arranged on the thread trimming bracket 301, and the scissors component is arranged on the execution end of the thread trimming drive component. The scissors component includes a scissors seat 302 and a scissors cylinder 305. The scissors seat 302 is provided with a fixed blade 303 and a movable blade 304. The movable blade 304 is slidably arranged on the scissors seat 302. The movable blade 304 is drivingly connected to the scissors cylinder 305, and the scissors cylinder 305 drives the movable blade 304 to move toward the fixed blade 303.

[0038] The scissors component further comprises a fixed shaping block and a movable shaping block 307 . The fixed shaping block 306 is arranged on the fixed blade 303 , and the movable shaping block is arranged on the movable blade 304 . Both the fixed shaping block and the movable shaping block 307 are provided with shaping openings.

[0039] The line cutting drive component includes a first cylinder 308, a second cylinder 309, and a third cylinder 310. The first cylinder 308 is connected to the scissors bracket through a vertical rod. The first cylinder 308 piston rod end is provided with a first block, the second cylinder 309 is provided on the first block, the second cylinder 309 piston rod end is provided with a second block, the third cylinder 310 is provided on the second block, and the third cylinder 310 piston rod end is drivingly connected to the scissors seat 302.

[0040] The rotary lifting driving component includes a lifting cylinder 425 and a rotating motor 424. The rotating motor 424 is connected to the rotating bracket 423 through a motor seat. The rotating motor 424 is driven and connected to the rotating seat 421 through a synchronous belt. The piston rod of the lifting cylinder 425 is driven and connected to the lifting bracket. The lifting cylinder 425 drives the rotating bracket 423 to move up and down.

[0041] The loading and unloading station 200 includes a material rack 201 and a material grabbing gripper for clamping a jig carrying a stator. Specifically, the material grabbing gripper has a structure with the same appearance as the jig carrying the stator. The material grabbing gripper is arranged on a material picking plate 202. The material rack 201 is provided with a loading and unloading driving component. The loading and unloading driving component is driven and connected to the material picking plate 202. The loading and unloading driving component drives the material grabbing gripper on the material picking plate 202 to perform linear motion.

[0042] The material picking gripper includes a double-axis cylinder 203 and two material picking claws 205 driven and connected to the double-axis cylinder 203. The double-axis cylinder 203 is arranged on the material picking plate 202. The material picking plate 202 is provided with a material picking guide rail 204. The material picking guide rail 204 is provided with a material picking slider. The material picking claw 205 is connected to the material picking slider. A clamping block 206 is provided on the free end of the material picking claw 205. The clamping block 206 is provided with a clamping groove matching the shape of the metallurgical tool carrying the stator. The double-axis cylinder 203 drives the two material picking claws 205 to move relative to each other.

[0043] The loading and unloading driving components include a loading and unloading motor 207 and a loading and unloading screw rod 208. The loading and unloading screw rod 208 is connected to the material rack 201 through a bearing seat. The loading and unloading motor 207 is drivingly connected to the loading and unloading screw rod 208. The loading and unloading screw rod 208 is provided with loading and unloading nuts. The loading and unloading nuts are connected to the material picking plate 202. The material picking plate 202 is slidably arranged on the material rack 201.

[0044] The material picking gripper is responsible for loading and unloading materials from the production line to the production line, realizing the loading and unloading of the stator and speeding up the cycle.

[0045] The visual inspection station 500 includes a multi-axis robot 501 and a camera 502 . The camera 502 is disposed on the execution end of the multi-axis robot 501 .

[0046] The multi-axis manipulator 501 includes any one of a 3-axis manipulator, a 4-axis manipulator, a 5-axis manipulator, a 6-axis manipulator, and a 7-axis manipulator.

[0047] The turntable mechanism 100 includes a dividing plate 101, a turntable driving component connected to the dividing plate 101, and a supporting seat of the dividing plate 101. The dividing plate 101 is connected to the turntable driving component through a rotating dividing axis. A supporting bearing is arranged on the bottom surface of the dividing plate 101, and the supporting bearing is arranged on the supporting bearing seat 102 of the dividing plate 101. The dividing plate 101 is provided with four workstations for placing a stator fixture.

[0048] The turntable mechanism 100 also includes a positioning assembly 103, which includes a positioning cylinder and a positioning frame. The positioning cylinder is arranged on the positioning frame. A positioning hole is arranged on the indexing disk 101. A dividing positioning pin is arranged on the piston rod of the positioning cylinder. The dividing positioning pin is inserted into the positioning hole.

[0049] The turntable driving component is a reduction motor, and the reduction motor is arranged on the bottom plate of the frame.

[0050] The turntable mechanism 100 used in the present invention has the same structure as the turntable mechanism 100 in the three-station shaping machine applied for by our company.

[0051] Usage process

[0052] 1. On the production line, workers put copper tubes or terminals on star points or lead-out wires, and the material grabber takes the jig carrying the stator after welding from the loading and unloading station 200 of the indexing plate 101 and puts it on the production line. At the same time, the material grabber grabs the jig carrying the stator to be welded from the loading production line and puts it into the loading and unloading station 200;

[0053] 2. Looking from top to bottom, the indexing plate 101 rotates 90° clockwise, the stator of the loading and unloading station 200 moves to the wire cutting station 300, the scissor cylinder 305 drives the movable blade 304 to move toward the fixed blade 303 to cut the excessively long lead wire, and the fixed shaping block and the movable shaping block 307 cut and shape the star point electromagnetic wire or the lead wire;

[0054] 3. The indexing plate 101 rotates 90° clockwise, and the cut and shaped stator rotates to the welding station 400. The welding drive component drives the mobile welding head 404 to move toward the fixed welding head 403, and resistance welding is performed on the star point between the mobile welding head 404 and the fixed welding head 403 and the copper sleeve or the lead wire and the terminal;

[0055] 4. Driven by the rotating lifting driving component, the rotating seat 420 positions and aligns multiple star points on the stator with the copper tube or the lead wires with the terminals one by one for resistance welding;

[0056] 5. The indexing plate 101 rotates 90° clockwise, and the welded stator rotates to the visual inspection station 500, and the camera 502 inspects the welded parts of the stator;

[0057] 6. The indexing plate 101 rotates 90° clockwise, and the material grabber takes the jig carrying the welded stator from the loading and unloading station 200 of the indexing plate 101 and puts it on the production line. At the same time, the material grabber grabs the jig carrying the stator to be welded from the loading production line and puts it into the loading and unloading station 200;

[0058] The above process is in an uninterrupted cycle, and four stations can work at the same time. Every time it rotates 90°, one motor completes welding and one motor moves to the loading and unloading station 200, working uninterruptedly.

[0059] The above-described embodiments are only preferred embodiments for fully illustrating the present invention, and the protection scope of the present invention is not limited thereto. Equivalent substitutions or changes made by those skilled in the art based on the present invention are within the protection scope of the present invention. The protection scope of the present invention shall be subject to the claims.

Claims

1. A fully automatic resistance welding machine, characterized in that: It includes a turntable mechanism, on which loading and unloading stations, a wire cutting station, a welding station and a visual inspection station are sequentially arranged, and the turntable mechanism drives the stator to flow and transport among the loading and unloading stations, the wire cutting station, the welding station and the visual inspection station in sequence; Loading and unloading stations are used to load the jig carrying the stator to be welded from the assembly line to the turntable mechanism or to output and unload the stator after the visual inspection station has completed the inspection; the wire cutting station is used to cut and shape the terminal lead wires of the stator; the welding station is used to weld the star point or lead wire terminal after cutting and shaping; the visual inspection station is used to inspect the star point or lead wire terminal after welding; The welding station also includes a rotating seat, which includes a rotating plate and a rotating bracket. The rotating plate is provided with a plurality of ejector rods matching the jig, and the plurality of ejector rods are arranged on the same circumference. The rotating bracket is provided with a rotating jacking driving component, which is drivingly connected to the rotating seat, and the rotating jacking driving component mobilizes the rotating seat to perform lifting and rotating motions. The welding station comprises a resistance welding machine and a welding seat, wherein the resistance welding machine is arranged on the welding seat, the resistance welding machine comprises a machine body, a welding frame, a fixed welding head and a movable welding head, wherein the fixed welding head and the movable welding head are arranged opposite to each other, the machine body is arranged on the welding frame, the machine body is connected with the fixed welding head and the movable welding head, and the fixed welding head is connected with the welding frame; a welding driving component, wherein the movable welding head is drivingly connected with the welding driving component, and the welding driving component drives the movable welding head to move linearly toward the fixed welding head; The thread trimming station comprises a thread trimming bracket, a thread trimming driving component and a scissors component, wherein the thread trimming driving component is arranged on the thread trimming bracket, the scissors component is arranged on the execution end of the thread trimming driving component, the scissors component comprises a scissors seat and a scissors cylinder, a fixed blade and a movable blade are arranged on the scissors seat, the movable blade is slidably arranged on the scissors seat, the movable blade is drivingly connected to the scissors cylinder, and the scissors cylinder drives the movable blade to move toward the fixed blade; The scissors component also includes a fixed shaping block and a mobile shaping block, the fixed shaping block is arranged on the fixed blade, the mobile shaping block is arranged on the mobile blade, and the fixed shaping block and the mobile shaping block are provided with shaping openings; During use, workers put copper tubes or terminals on the star point or lead-out wire on the production line, and the material grabber takes the jig carrying the stator after welding from the loading and unloading station of the indexing plate and puts it on the production line. At the same time, the material grabber grabs the jig carrying the stator to be welded from the loading and unloading station of the loading production line and puts it into the loading and unloading station. The indexing plate rotates 90° clockwise, and the stator at the loading and unloading station is transferred to the wire cutting station. The scissor cylinder drives the moving blade to move toward the fixed blade to cut the excessively long lead-out wire, and the fixed shaping block and the moving shaping block cut and shape the star point electromagnetic wire or the lead-out wire; the indexing plate rotates 90° clockwise, and the stator after cutting and shaping is rotated to the welding station, and the welding drive component drives the moving welding head Move toward the fixed welding head, and perform resistance welding on the star point and copper sleeve or the lead wire and terminal between the mobile welding head and the fixed welding head. Driven by the rotating jacking drive component, the rotating seat positions and aligns multiple star points on the stator with the copper tube or the lead wire and the terminal one by one for resistance welding. The indexing plate rotates 90° clockwise, and the welded stator rotates to the visual inspection station. The camera inspects the welding part of the welded stator. The indexing plate rotates 90° clockwise, and the material grabber takes the jig carrying the welded stator from the loading and unloading station of the indexing plate and puts it on the production line. At the same time, the material grabber grabs the jig carrying the stator to be welded from the loading and unloading station, and puts it into the production line. The above processes are cyclical without interruption.

2. The fully automatic resistance welding machine according to claim 1, characterized in that: The welding seat includes an X-axis moving seat and a Y-axis moving seat. The X-axis moving seat is arranged on the Y-axis moving seat. The resistance welding machine is arranged on the X-axis moving seat. The position movement of the resistance welding machine is realized by the X-axis moving seat and the Y-axis moving seat.

3. The fully automatic resistance welding machine according to claim 1, characterized in that: The rotary lifting driving component includes a lifting cylinder and a rotating motor. The rotating motor is connected to the rotating bracket through a motor seat. The rotating motor is driven and connected to the rotating seat through a synchronous belt. The lifting cylinder piston rod is driven and connected to the lifting bracket. The lifting cylinder drives the rotating bracket to move up and down.

4. The fully automatic resistance welding machine according to claim 1, characterized in that: The loading and unloading station includes a material rack and a material grabber for clamping the metallurgy, the material grabber is arranged on a material picking plate, and a loading and unloading driving component is arranged on the material rack, the loading and unloading driving component is connected to the driving of the material picking plate, and the loading and unloading driving component drives the material grabber on the material picking plate to make linear motion.

5. The fully automatic resistance welding machine according to claim 4, characterized in that: The material picking gripper includes a double-axis cylinder and two material picking claws connected to the double-axis cylinder, the double-axis cylinder is arranged on the material picking plate, the material picking plate is provided with a material picking guide rail, the material picking guide rail is provided with a material picking slider, the material picking claw is connected to the material picking slider, the free end of the material picking claw is provided with a clamping block, the clamping block is provided with a clamping groove matching the shape of the metallurgical tool, and the double-axis cylinder drives the two material picking claws to move relative to each other.

6. The fully automatic resistance welding machine according to claim 1, characterized in that: The visual inspection station includes a multi-axis manipulator and a camera, and the camera is arranged on the execution end of the multi-axis manipulator.

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