Multi-axis robot, machining device and welding method

Abstract

The application provides a multi-axis robot, a processing device and a welding method, the multi-axis robot comprising a base and two execution parts, the two execution parts being oppositely arranged on the base and being spaced along the length direction of the base, the execution part comprising a monitoring mechanism and an execution mechanism with at least five degrees of freedom, the execution mechanism being provided with an execution assembly at one end away from the base, the position of the execution assembly in the length direction of the base, the width direction of the base and the height direction of the base being adjustable, and the execution assembly being rotatably arranged around the length direction of the base and the width direction of the base to adjust the processing position of the execution assembly, the monitoring mechanism being movably arranged on the execution mechanism to monitor the processing condition of the execution assembly, and the two execution assemblies being oppositely arranged to process two opposite processing positions of a workpiece respectively. By adopting the scheme, the problem that the relative position of the monitoring mechanism and the execution assembly of the multi-axis robot in the prior art cannot be adjusted can be solved.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of multi-degree-of-freedom adjustment processing, in particular to a multi-axis robot, a processing device and a welding method. BACKGROUND

[0002] At present, the processing mode of simultaneously processing two relative positions to be processed in the same process by a multi-axis robot is relatively common, wherein the processing of the position to be processed includes welding, polishing, cutting and the like, which can be realized by different execution assemblies, for example, in the case of adopting a welding assembly as the execution assembly of the multi-axis robot in the prior art, the multi-axis robot can simultaneously weld two relative circular welds in the same process. However, the execution assembly of the multi-axis robot in the prior art for welding two welds has limited degrees of freedom or is mutually limited, which limits the applicability of the multi-axis robot and affects the applicability of the multi-axis robot. On the other hand, the monitoring mechanism of the multi-axis robot in the prior art is mainly arranged on the execution assembly, but the relative positions of the two are generally not adjustable, and in the welding process, the monitoring mechanism is prone to poor monitoring effect or affecting the processing of the execution assembly. SUMMARY

[0003] The present application provides a multi-axis robot, a processing device and a welding method to solve the problems of poor applicability of the multi-axis robot in the prior art due to the limited degrees of freedom of the execution assembly and the problem of the relative positions of the monitoring mechanism and the execution assembly being not adjustable.

[0004] In order to solve the above problems, according to one aspect of the present application, a multi-axis robot is provided, the multi-axis robot comprising a base and two execution parts, the two execution parts being oppositely arranged on the base and being spaced apart along the length direction of the base, the execution part comprising a monitoring mechanism and an execution mechanism having at least five degrees of freedom, the execution mechanism having an execution assembly at one end away from the base, the position of the execution assembly in the length direction of the base, the width direction of the base and the height direction of the base being adjustable, and the execution assembly being rotatably arranged around the length direction of the base and the width direction of the base to adjust the processing position of the execution assembly, the monitoring mechanism being movably arranged on the execution mechanism to monitor the processing of the execution assembly, and the two execution assemblies being oppositely arranged to process two relative positions to be processed of a workpiece respectively.

[0005] Further, the execution mechanism comprises a movement adjustment mechanism, a rotation adjustment mechanism and an execution assembly, the rotation adjustment mechanism being connected with the movement adjustment mechanism, one of the movement adjustment mechanism and the rotation adjustment mechanism being arranged below the base, and the execution assembly being arranged on the other, the movement adjustment mechanism being used to drive the execution assembly to move, and the rotation adjustment mechanism being used to drive the execution assembly to rotate to adjust the processing position of the execution assembly.

[0006] Further, the moving adjustment mechanism comprises a first adapter assembly, a second adapter assembly and a third adapter assembly connected in sequence, the extension direction of the first adapter assembly, the extension direction of the second adapter assembly and the extension direction of the third adapter assembly are perpendicular to each other, the first adapter assembly is arranged below the base, the executing assembly is arranged on the rotating adjustment mechanism, the second adapter assembly is movably arranged along the extension direction of the first adapter assembly, the third adapter assembly is movably arranged along the extension direction of the second adapter assembly, and the rotating adjustment mechanism is movably arranged along the extension direction of the third adapter assembly.

[0007] Further, the first adapter assembly comprises a first driving assembly, a first adapter frame and a first guide, the extension direction of the first adapter frame is parallel to the width direction of the base, the first guide is movably arranged on the first adapter frame and connected with the second adapter assembly, and the first driving assembly is arranged on the first adapter frame and drivingly connected with the first guide; the extension direction of the second adapter assembly is parallel to the length direction of the base, and the extension direction of the third adapter assembly is parallel to the height direction of the base.

[0008] Further, the moving adjustment mechanism is arranged below the base, the rotating adjustment mechanism comprises a first rotating assembly and a second rotating assembly connected with each other, the executing assembly is arranged on the second rotating assembly, the first rotating assembly is arranged on the moving adjustment mechanism, and the first rotating assembly and the second rotating assembly are respectively used for driving the executing assembly to rotate in different directions.

[0009] Further, the first rotating assembly comprises a first driving member, a first mounting frame and a first transmission assembly, the first transmission assembly is rotatably arranged in the first mounting frame and is in position-limiting cooperation with the first mounting frame, the first transmission assembly is connected with the second rotating assembly, and the first driving member is drivingly connected with the first transmission assembly to drive the second rotating assembly and the executing assembly to rotate around the length direction of the base; the second rotating assembly is used for driving the executing assembly to rotate around the height direction of the base.

[0010] Further, the monitoring mechanism comprises a laser sensing assembly and an observation assembly, the laser sensing assembly comprises a laser support group and a laser sensor connected with each other, the laser support group is connected with the executing mechanism, and the position of the laser sensor relative to the laser support group is adjustable, and the observation assembly further comprises an observation support group and an observation camera connected with each other, the observation support group is arranged on the laser support group, and the relative position of the observation camera relative to the observation support group is adjustable.

[0011] Further, the laser support group comprises a laser support arm, a first laser support, a second laser support and a third laser support connected in sequence, the laser sensor is connected through the third laser support and the second laser support, the laser support arm extends along the width direction of the base and is connected with the actuator, the first laser support extends along the length direction of the base and is movably arranged through the laser support arm, the second laser support is rotatably arranged on the first laser support, and the laser sensor and the observation assembly are movably arranged on the third laser support, so as to adjust the relative positions of the laser sensor, the observation camera and the actuator group.

[0012] Further, the observation support group comprises a first observation support and a second observation support connected in sequence, the observation camera is arranged on the second observation support, and the first observation support is movably arranged on the laser support group; the first observation support and the second observation support are hingedly connected, so as to adjust the relative positions of the observation camera and the laser sensor or the actuator group.

[0013] According to another aspect of the present application, a processing device is provided, which comprises an operating machine, a position changing assembly and the multi-axis robot described above, the position changing assembly is used for mounting a workpiece and driving the workpiece to rotate, the workpiece has a to-be-processed position formed by two opposite annular welds, and the operating machine and the multi-axis robot are drivingly connected to drive the multi-axis robot to move to or away from the to-be-processed position.

[0014] According to still another aspect of the present application, a welding method is provided, which is applied to the processing device described above, the actuator group at least comprises a welding assembly, the to-be-processed position is formed by annular welds, two welding assemblies are respectively used for welding two opposite annular welds, the workpiece comprises a T-shaped annular rib in a split state and a welding cylinder, and the welding method comprises the following steps:

[0015] S1: arranging the T-shaped annular rib in a split state on the position changing assembly, and moving the multi-axis robot to a position where two opposite annular welds of the T-shaped annular rib are respectively aligned by the two actuator groups;

[0016] S2: starting the position changing assembly and the multi-axis robot, and welding the two opposite annular welds of the T-shaped annular rib in the rotating process by the multi-axis robot;

[0017] S3: after the T-shaped annular rib is welded, horizontally placing the welding cylinder on the position changing assembly and arranging the T-shaped annular rib in the welding cylinder, moving the multi-axis robot into the welding cylinder, and respectively aligning two opposite annular welds formed between the T-shaped annular rib and the welding cylinder by the two actuator groups;

[0018] S4: starting the position changing assembly and the multi-axis robot, and welding the two opposite annular welds formed between the T-shaped annular rib and the welding cylinder in the rotating process by the multi-axis robot.

[0019] Further, the processing equipment further comprises a limiting roller detachably arranged on the position changing assembly,

[0020] S1 comprises arranging the T-shaped annular rib in a split state on the limiting roller, and the limiting roller is horizontally arranged on the position changing assembly;

[0021] S2 comprises that after the T-shaped annular rib is welded, the limiting roller is detached, and a welding cylinder is arranged.

[0022] Further, the T-shaped annular rib in a split state is a plurality of T-shaped annular ribs, the plurality of T-shaped annular ribs are arranged on the position changing assembly and are spaced along the extension direction of the position changing assembly, S1 and S2 are repeated to weld two opposite annular welds of the plurality of T-shaped annular ribs.

[0023] Further, the plurality of welded T-shaped annular ribs are arranged in the welding cylinder and are spaced along the axial direction of the welding cylinder, S3 and S4 are repeated to weld two opposite annular welds formed between the plurality of groups of T-shaped annular ribs and the welding cylinder.

[0024] The technical scheme of the application provides a multi-axis robot, which comprises a base and two execution units, the two execution units are oppositely arranged on the base and are spaced along the length direction of the base, each execution unit comprises a monitoring mechanism and an execution mechanism with at least five degrees of freedom, an execution assembly is arranged at the end of the execution mechanism away from the base, the position of the execution assembly in the length direction of the base, the width direction of the base and the height direction of the base is adjustable, and the execution assembly is rotatably arranged around the length direction of the base and the width direction of the base to adjust the processing position of the execution assembly, the monitoring mechanism is movably arranged on the execution mechanism to monitor the welding condition of the execution assembly, and the two execution assemblies are oppositely arranged to process two opposite positions to be processed of a workpiece respectively.

[0025] By using the scheme, the two execution assemblies are used to simultaneously process (processing includes welding, polishing and cutting, etc.) the two opposite positions to be processed of the workpiece, the processing efficiency is improved, each execution mechanism has at least five degrees of freedom, the single execution mechanism in the prior art has fewer degrees of freedom, or the two execution mechanisms have a total of six degrees of freedom, so that the execution assembly of each execution mechanism can be independently adjusted in five degrees of freedom directions, which is beneficial to improve the applicability of the multi-axis robot to the workpiece with two opposite positions to be processed. On the other hand, the monitoring mechanism is movably arranged on the execution mechanism to adjust the monitoring position of the monitoring mechanism according to the actual processing condition, the relative position of the monitoring mechanism and the execution mechanism in the prior art is not adjustable, which leads to poor monitoring effect of the monitoring mechanism or affects the processing of the execution mechanism in some processing conditions, and the reliability of the monitoring mechanism and the reliability of the multi-axis robot to process the workpiece are ensured. BRIEF DESCRIPTION OF DRAWINGS

[0026] The accompanying drawings, which form a part of this specification, are included to provide a further understanding of the application, and are incorporated herein by reference. The embodiments disclosed herein are illustrative of the application and are not meant to be limiting about the scope of the application. In the drawings:

[0027] Figure 1 A schematic view of a multi-axis robot is shown according to an embodiment of the present application;

[0028] Figure 2 A front view of a multi-axis robot is shown according to an embodiment of the present application; Figure 1

[0029] A bottom view of a multi-axis robot is shown according to an embodiment of the present application; Figure 3 Figure 1 A side view of a multi-axis robot is shown according to an embodiment of the present application;

[0030] Figure 4 Figure 1 A side view of a multi-axis robot is shown according to an embodiment of the present application;

[0031] Figure 5 A schematic view of a processing device is shown according to another embodiment of the present application.

[0032] In the drawings, the following reference signs are used:

[0033] 10, base;

[0034] 21, monitoring mechanism; 211, laser sensing assembly; 2111, laser sensor; 2112, laser support arm; 2113, first laser support; 2114, second laser support; 2115, third laser support; 212, observation assembly; 2121, observation camera; 2122, first observation support; 2123, second observation support;

[0035] 22, executing mechanism; 221, executing assembly; 222, first adapter assembly; 2221, first driving assembly; 2222, first adapter frame; 2223, first guide; 223, second adapter assembly; 2231, second driving assembly; 2232, second adapter frame; 2233, second guide; 224, third adapter assembly; 2241, third driving assembly; 2242, third adapter frame; 2243, third guide; 225, first rotating assembly; 2251, first driving member; 2252, first mounting frame; 2253, first transmission assembly; 226, second rotating assembly; 2261, second driving member; 2262, second mounting frame; 2263, second transmission assembly; 31, cooling box;

[0036] 41, operating machine; 42, displacement assembly; 43, limit roller; ​​

[0037] 51, T-shaped annular rib; 511, inner annular rib; 512, outer annular rib; 52, welded cylinder;

[0038] 60, multi-axis robot. DETAILED DESCRIPTION

[0039] The technical solutions in the embodiments of the present application will be described clearly and completely below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all the embodiments. The description of the at least one exemplary embodiment is actually only illustrative, but not as any limitation on the present application and its application or use. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without any creative work, fall within the scope of protection of the present application.

[0040] As shown in Figures 1 to 4 The embodiment of the present application provides a multi-axis robot 60, which comprises a base 10 and two execution parts oppositely arranged on the base 10 and spaced along the length direction of the base 10, the execution part comprising a monitoring mechanism 21 and an execution mechanism 22 having at least five degrees of freedom, the execution mechanism 22 having an execution assembly 221 at one end away from the base 10, the position of the execution assembly 221 in the length direction of the base 10, the width direction of the base 10 and the height direction of the base 10 being adjustable, and the execution assembly 221 being rotatably arranged around the length direction of the base 10 and the width direction of the base 10 to adjust the processing position of the execution assembly 221, and the monitoring mechanism 21 being movably arranged on the execution mechanism 22 to monitor the welding condition of the execution assembly 221, and the two execution assemblies 221 being oppositely arranged to respectively weld two opposite annular welds of a workpiece.

[0041] In the embodiment, the two opposite positions to be machined of the workpiece are simultaneously machined by the two execution assemblies 221 (machining includes welding, polishing, cutting, etc.), which improves the machining efficiency, and each execution mechanism 22 has at least five degrees of freedom, avoiding the case that the single execution mechanism 22 has fewer degrees of freedom in the prior art, or the two execution mechanisms 22 have a total of six degrees of freedom, so that the execution assembly 221 of each execution mechanism 22 can realize independent adjustment in five degrees of freedom directions, which is beneficial to improve the applicability of the multi-axis robot 60 to the workpiece with two opposite positions to be machined. On the other hand, the monitoring mechanism 21 is movably arranged on the execution mechanism 22, so as to adjust the monitoring position of the monitoring mechanism 21 according to the actual machining condition, avoiding the case that the relative position of the monitoring mechanism 21 and the execution mechanism 22 cannot be adjusted in the prior art, which leads to the case that the monitoring effect of the monitoring mechanism 21 is poor or affects the machining of the execution mechanism 22 in some machining conditions, thereby ensuring the reliability of the monitoring mechanism 21 and the reliability of the multi-axis robot 60 to the workpiece.

[0042] Specifically, the length direction of the base 10 is defined as the X direction, the width direction of the base 10 is defined as the Y direction, and the height direction of the base 10 is defined as the Z direction. The multi-axis robot in the embodiment is a ten-axis robot, and the execution mechanism 22 is a five-axis execution mechanism, which enables the execution assembly 221 to have movement degrees of freedom along the X direction, the Y direction and the Z direction, and rotation degrees of freedom around the X direction and the Y direction. The execution assembly 221 is a plurality of execution assemblies 221, and the plurality of execution assemblies 221 are respectively welding assemblies, polishing assemblies, cutting assemblies and other assemblies capable of realizing different machining effects. Any one of the execution assemblies 221 is detachably arranged, so as to be replaced by an operator according to the actual machining condition.

[0043] As shown in FIG. 1, the base 10 is provided with a plurality of monitoring mechanisms 21, and each monitoring mechanism 21 is arranged on the execution mechanism 22. Figures 1 to 4As shown, the actuator 22 comprises a moving adjusting mechanism, a rotating adjusting mechanism and an actuating assembly 221, the rotating adjusting mechanism is connected with the moving adjusting mechanism, one of the moving adjusting mechanism and the rotating adjusting mechanism is arranged below the base 10, and the actuating assembly 221 is arranged on the other one, the moving adjusting mechanism is used to drive the actuating assembly 221 to move, and the rotating adjusting mechanism is used to drive the actuating assembly 221 to rotate, so as to adjust the processing position of the actuating assembly 221. In this way, the movement and rotation adjustment of the actuating assembly 221 are realized through the moving adjusting mechanism and the rotating adjusting mechanism respectively, so that the adjustment of the processing position of the actuating assembly 221 is facilitated. Specifically, in the embodiment, the moving adjusting mechanism is arranged below the base 10, the rotating adjusting mechanism is arranged on the moving adjusting mechanism, and the actuating assembly 221 is arranged on the rotating adjusting mechanism. When it is necessary to adjust the processing position, the moving driving of the rotating adjusting mechanism and the actuating assembly 221 can be realized through the moving adjusting mechanism first, and then the rotating driving of the actuating assembly 221 is realized through the rotating adjusting mechanism, so as to determine the processing position. The monitoring mechanism 21 is connected with the moving adjusting mechanism and can move in a partial degree of freedom direction with the moving adjusting mechanism, so as to ensure the reliability of the monitoring of the monitoring mechanism 21. Alternatively, in other embodiments not shown in the figure, the rotating adjusting mechanism is arranged below the base 10, the moving adjusting mechanism is arranged on the rotating adjusting mechanism, and the adjusting of the processing position is the same as above and the order of adjustment can be changed.

[0044] Specifically, the moving adjusting mechanism comprises a first adapter assembly 222, a second adapter assembly 223 and a third adapter assembly 224 connected in sequence, the extension direction of the first adapter assembly 222, the extension direction of the second adapter assembly 223 and the extension direction of the third adapter assembly 224 are perpendicular to each other, the first adapter assembly 222 is arranged below the base 10, the actuating assembly 221 is arranged on the rotating adjusting mechanism, the second adapter assembly 223 is movably arranged along the extension direction of the first adapter assembly 222, the third adapter assembly 224 is movably arranged along the extension direction of the second adapter assembly 223, and the rotating adjusting mechanism is movably arranged along the extension direction of the third adapter assembly 224.

[0045] In the embodiment, the extension direction of the first adapter assembly 222, the extension direction of the second adapter assembly 223 and the extension direction of the third adapter assembly 224 correspond to the X direction, the Y direction and the Z direction respectively and are parallel to each other, the first adapter assembly 222, the second adapter assembly 223 and the third adapter assembly 224 are used to adjust the movement of the actuating assembly 221 in the X direction, the Y direction and the Z direction, and the monitoring mechanism 21 is arranged on one of the adapter assemblies. In this way, the movement adjustment of the actuating assembly 221 is facilitated.

[0046] Further, the first adapter assembly 222 comprises a first driving assembly 2221, a first adapter frame 2222 and a first guide 2223, the extension direction of the first adapter frame 2222 is parallel to the width direction of the base 10, the first guide 2223 is movably arranged on the first adapter frame 2222 and connected with the second adapter assembly 223, the first driving assembly 2221 is arranged on the first adapter frame 2222 and drivingly connected with the first guide 2223; the extension direction of the second adapter assembly 223 is parallel to the length direction of the base 10, and the extension direction of the third adapter assembly 224 is parallel to the height direction of the base 10.

[0047] In the embodiment, the second adapter assembly 223 comprises a second driving assembly 2231, a second adapter frame 2232 and a second guide 2233, the third adapter assembly 224 comprises a third driving assembly 2241, a third adapter frame 2242 and a third guide 2243, the extension direction of the third adapter frame 2242 is parallel to the Z direction and has a third guide slot, the third guide 2243 is limitingly fitted with the third guide slot and movably arranged along the extension direction of the third adapter frame 2242, the rotation adjusting mechanism and the execution assembly 221 connected with each other are arranged on the third guide 2243 to adjust the position of the rotation adjusting mechanism and the execution assembly 221 in the Z direction through the movement of the third guide 2243; the extension direction of the second adapter frame 2232 is parallel to the X direction and has a second guide slot, the second guide 2233 is limitingly fitted with the second guide slot and movably arranged along the extension direction of the second adapter frame 2232, the third adapter frame 2242 is arranged on the second guide 2233 to adjust the position of the third adapter assembly 224, the rotation adjusting mechanism and the execution assembly 221 in the X direction through the movement of the second guide 2233; the extension direction of the first adapter frame 2222 is parallel to the X direction and has a first guide slot, the first guide 2223 is limitingly fitted with the first guide slot and movably arranged along the extension direction of the first adapter frame 2222, the second adapter frame 2232 is arranged on the first guide 2223 to adjust the position of the second adapter assembly 223, the third adapter assembly 224, the rotation adjusting mechanism and the execution assembly 221 in the X direction through the movement of the first guide 2223. In this way, the movement of the execution assembly 221 is adjusted.

[0048] Optionally, the first driving assembly 2221, the second driving assembly 2231 and the third driving assembly 2241 have the same structure and are each composed of a driving motor, a roller screw and a synchronous belt wheel set. Specifically, the synchronous belt wheel set includes a synchronous belt and two synchronous belt wheels. The driving motor is arranged on the adapter frame and is drivingly connected with one of the synchronous belt wheels. The roller screw is arranged on the guide member and is drivingly connected with the other synchronous belt wheel. The driving motor drives one synchronous belt wheel to rotate and drives the other synchronous belt wheel and the roller screw to move through the synchronous belt, thereby achieving the movement driving of the guide member. The driving motor is arranged in a direction parallel to the extension direction of the corresponding driving assembly, for example, the driving motor of the first driving assembly 2221 is arranged on the first adapter frame 2222 and has the same extension direction as the first adapter frame 2222.

[0049] In this embodiment, the movement adjusting mechanism is arranged below the base 10. The rotation adjusting mechanism includes a first rotation assembly 225 and a second rotation assembly 226 connected with each other. The execution assembly 221 is arranged on the second rotation assembly 226. The first rotation assembly 225 is arranged on the movement adjusting mechanism. The first rotation assembly 225 and the second rotation assembly 226 are respectively used for driving the execution assembly 221 to rotate in different directions. In this way, the first rotation assembly 225 is used for driving the second rotation assembly 226 and the execution assembly 221 to rotate in one direction. The second rotation assembly 226 is used for driving the execution assembly 221 to rotate in another direction. The execution assembly 221 has two different rotation degrees of freedom, which is beneficial to provide the applicability of the execution assembly 221. The first rotation assembly 225 is arranged on the third guide member 2243 of the third adapter assembly 224. In this way, the combination of the rotation adjusting mechanism and the movement adjusting mechanism enables the execution assembly 221 to have five degrees of freedom. Both the execution assemblies 221 have five degrees of freedom, which is beneficial to improve the applicability of the multi-axis robot.

[0050] Specifically, the first rotation assembly 225 includes a first driving member 2251, a first mounting frame 2252 and a first transmission assembly 2253. The first transmission assembly 2253 is rotatably arranged in the first mounting frame 2252 and is limitingly matched with the first mounting frame 2252. The first transmission assembly 2253 is connected with the second rotation assembly 226. The first driving member 2251 is drivingly connected with the first transmission assembly 2253 to drive the second rotation assembly 226 and the execution assembly 221 to rotate around the length direction of the base 10. The second rotation assembly 226 is used for driving the execution assembly 221 to rotate around the height direction of the base 10.

[0051] In the embodiment, the second rotating assembly 226 comprises a second driving member 2261, a second mounting rack 2262 and a second transmission assembly 2263, the first transmission assembly 2253 and the second mounting rack 2262 are connected, and the second driving member 2261 and the second transmission assembly 2263 are drivingly connected to drive the executing assembly 221 connected with the second transmission assembly 2263 to rotate around the height direction (Z direction) of the base 10. In this way, the executing assembly 221 has the degrees of freedom of rotation around the X direction and the Z direction, which facilitates the rotation adjustment of the executing assembly 221 and is beneficial to improve the applicability of the multi-axis robot. Specifically, the rotation direction of the rotation degree of freedom of the executing assembly 221 can be adjusted according to actual conditions, which is not limited to the rotation direction in the embodiment.

[0052] Alternatively, the first driving member 2251 and the second driving member 2261 are both driving motors, the first transmission assembly 2253 and the second transmission assembly 2263 have the same structure and are both composed of a mounting shell, a transmission protrusion, a synchronous pulley set and a speed reducer, the mounting shell is connected with the mounting rack, the synchronous pulley set is arranged in the mounting rack, the transmission protrusion is rotatably arranged in the mounting shell and protrudes from the mounting shell, the speed reducer is arranged in the mounting shell and connected with the transmission protrusion, the synchronous pulley set comprises a synchronous belt and two synchronous pulleys, the driving motor is arranged on the mounting rack and drivingly connected with one of the synchronous pulleys, the other driving pulley is drivingly connected with the speed reducer and drives the transmission protrusion to rotate through the speed reducer to realize the rotation adjustment of the executing assembly 221. Wherein, the driving motor is arranged above the corresponding mounting shell, and the extension direction thereof is parallel to the extension direction of the speed reducer in the corresponding mounting shell, the extension direction of the driving motor of the first transmission assembly 2253 is parallel to the Y direction and the tail thereof faces the positive direction of the Y direction (as shown in FIG. 15), in this way, the cantilever size of the first transmission assembly 2253 along the Y direction is reduced, and the rigidity and stability of the first rotating assembly 225 are improved, and the second rotating assembly 226 is the same. Figure 1

[0053] As shown in Figures 1 to 4 The monitoring mechanism 21 comprises a laser sensing assembly 211 and an observation assembly 212, the laser sensing assembly 211 comprises a laser support set and a laser sensor 2111 connected with each other, the laser support set is connected with the executing mechanism 22, and the position of the laser sensor 2111 relative to the laser support set is adjustable, and the observation assembly 212 further comprises an observation support set and an observation camera 2121 connected with each other, the observation support set is arranged on the laser support set, and the relative position of the observation camera 2121 relative to the observation support set is adjustable.

[0054] ​In the embodiment, the execution assembly 221 adopts a welding assembly, and welding of two opposite welds of the workpiece is respectively realized by two welding assemblies. During the welding process, a molten pool is generated. The molten pool refers to a part of the base material that is melted into a pool due to the heat of the welding arc, that is, a part of the liquid metal with a certain shape formed on the welding part during the welding. In the embodiment, the laser sensor 2111 is used to monitor the welding condition and welding state of the welding assembly, and the observation camera 2121 is used to monitor the state of the molten pool during the welding process. The laser support group is connected with the second adapter assembly 223 of the execution mechanism 22. Specifically, the laser support group is connected with the second adapter frame 2232, so that the monitoring mechanism 21 as a whole can move along the Y direction with the second adapter frame 2232, thereby facilitating the guarantee of the relative position of the monitoring position of the monitoring mechanism 21 and the welding position of the welding assembly in the Y direction, and further realizing the fine adjustment of the monitoring mechanism 21 according to the relative position, so as to guarantee the monitoring effect. Further, the fine adjustment of the monitoring mechanism 21 includes the adjustment of the relative position of the laser sensor 2111 relative to the laser support group and the adjustment of the relative position of the observation camera 2121 relative to the observation support group, thereby avoiding the relative position of the monitoring mechanism 21 and the execution mechanism 22 in the prior art being unadjustable, which leads to the poor monitoring effect of the monitoring mechanism 21 or the influence on the welding of the weld by the welding assembly in some welding conditions, and guarantees the reliability of the monitoring of the monitoring mechanism 21. It should be noted that the observation camera 2121 can also observe the molten pool generated in the above processing when the execution assembly 221 adopts a cutting assembly to perform plasma cutting or flame cutting.

[0055] Optionally, when the execution assembly 221 adopts a welding assembly, the execution mechanism 22 further comprises a protective cover, which is detachably arranged at the end of the welding assembly to provide a protection area for the welding assembly to process the workpiece. In this way, the welding process is protected by the protective cover, and the protection mode includes but is not limited to providing a protective gas, thereby guaranteeing the reliability of the welding of the workpiece by the multi-axis robot. In the embodiment, the welding assembly is two, and the two welding assemblies weld two opposite welds. One protective cover is detachably arranged at the end of each welding assembly, thereby guaranteeing the reliability of the welding.

[0056] Specifically, the laser support group comprises a laser support arm 2112, a first laser support 2113, a second laser support 2114 and a third laser support 2115 connected in sequence, the laser sensor 2111 is connected through the third laser support 2115 and the second laser support 2114, the laser support arm 2112 extends along the width direction of the base 10 and is connected with the execution mechanism 22, the first laser support 2113 extends along the length direction of the base 10 and is movably arranged through the laser support arm 2112, the second laser support 2114 is rotatably arranged on the first laser support 2113, and the laser sensor 2111 and the observation assembly 212 are movably arranged on the third laser support 2115 to adjust the relative positions of the laser sensor 2111, the observation camera 2121 and the welding assembly.

[0057] In the embodiment, the laser support arm 2112 is connected with the first guide 2223 and extends along the Y direction, and the adjustment of the position of the monitoring mechanism 21 in the Y direction as a whole can be realized through the movement of the first guide 2223 in the Y direction. It can be understood that the adjustment of the position of the monitoring mechanism 21 in the Y direction and the adjustment of the position of the welding assembly in the Y direction are synchronous to ensure the monitoring effect of the monitoring mechanism 21 on the welding assembly. The first laser support 2113 is a strip-shaped structure and movably extends through the laser support arm 2112 along the X direction to adjust the positions of the second laser support 2114, the third laser support 2115, the laser sensor 2111 and the observation assembly 212 in the X direction; the second laser support 2114 is a tripod structure, one end of the second laser support 2114 is loosely hinged with one end of the first laser support 2113, and the other end of the second laser support 2114 is fixedly connected with the third laser support 2115 to adjust the rotary position of the third laser support 2115, the laser sensor 2111 and the observation assembly 212 around the Y direction; the third laser support 2115 is a frame structure, the laser sensor 2111 is movably arranged on the frame to adjust the relative positions (X direction and / or Z direction) of the laser sensor 2111 and the third laser support 2115. In this way, the laser sensor 2111 has at least three degrees of freedom of movement and one degree of freedom of rotation, which facilitates the adjustment of the relative positions of the laser sensor 2111 and the welding assembly according to actual conditions and ensures the reliability of monitoring and welding. Further, the observation assembly 212 is movably arranged on the side of the third laser support 2115 away from the laser sensor 2111, which facilitates the adjustment of the relative positions of the observation camera 2121 and the welding assembly according to actual conditions.

[0058] Optionally, the moving direction of the laser sensor 2111 relative to the third laser support 2115 is the same as the moving direction of the observation assembly 212 relative to the third laser support 2115, facilitating the processing of the slot on the third laser support 2115 for limiting and guiding the movement of the two. The hinge connection between the first laser support 2113 and the second laser support 2114 is realized by a bolt and a clamping end at the end of the first laser support 2113. One end of the second laser support 2114 is provided with a clamping jaw, a clamping shaft is rotatably arranged in the clamping jaw, and a bolt is detachably arranged to press the clamping jaw or release the clamping jaw, thereby realizing the rotational adjustment of the clamping shaft. The third laser support 2115 is fixedly connected to the other end of the second laser support 2114 by two bolts. The connection position of the laser support arm 2112 and the first guide 2223 is provided with a fixed end cover which is fixedly arranged on the first guide 2223 and has a guide key groove, and the laser support arm 2112 has a protruding key which is limitedly matched with the guide key groove, thereby ensuring the reliability of the support of the first guide 2223 to the laser support arm 2112.

[0059] Further, the observation support group includes the first observation support 2122 and the second observation support 2123 which are sequentially connected, the observation camera 2121 is arranged on the second observation support 2123, and the first observation support 2122 is movably arranged on the laser support group. The first observation support 2122 and the second observation support 2123 are hingedly connected to adjust the relative positions of the observation camera 2121 and the laser sensor 2111 or the welding assembly.

[0060] In the embodiment, one end of the first observation support 2122 is movably arranged on the third laser support 2115, and the other end of the first observation support 2122 and the second observation support 2123 are hingedly connected. In this way, the observation camera 2121 has at least one movement degree of freedom and one rotation degree of freedom to adjust the relative position of the observation camera 2121 relative to the laser sensor 2111 and / or the welding assembly. The movement degree of freedom is the movement degree of freedom in the X direction and / or the Z direction, and the rotation degree of freedom is the rotation degree of freedom around the Z direction and / or the X direction.

[0061] Optionally, the laser sensor 2111 includes a shell, a protection assembly, an industrial camera, and a first reflection assembly. The protection assembly is arranged on the shell and has a camera illumination port for receiving light. The industrial camera is fixedly arranged in the shell and has a length direction facing the industrial camera. The length direction of the industrial camera is perpendicular to the direction of the camera illumination port. The shell protects the industrial camera. The first reflection assembly is arranged in the shell. After external light passes through the camera illumination port, the light is reflected to the lens of the industrial camera through the first reflection assembly, thereby realizing the monitoring of the welding condition.

[0062] Optionally, the multi-axis robot 60 further comprises a cooling assembly for cooling the laser sensing assembly 211 and / or the observation assembly 212 to ensure the reliability of the monitoring mechanism 21. In the embodiment, the cooling assembly comprises two cooling boxes 31 and two cooling pipes, the cooling boxes 31 are used for storing cooling fluid and are arranged on the base 10, and the two cooling pipes are respectively communicated with the two laser sensing assemblies 211 to provide cooling fluid for the laser sensor 2111. It should be noted that the composition and arrangement position of the cooling assembly can be determined according to actual conditions, and the cooling object of the cooling assembly is not limited to the above embodiment, and the cooling object can include the laser sensing assembly 211, the observation assembly 212 and the light source and other components that will generate heat, such as in another embodiment, the cooling box 31 is arranged on the ground and simultaneously cools the laser sensing assembly 211 and the observation assembly 212 through the cooling pipe, which will not be repeated here.

[0063] As shown in Figure 5 Another embodiment of the present application provides a processing equipment, the processing equipment comprises an operating machine 41, a displacement assembly 42 and the above-mentioned multi-axis robot 60, the displacement assembly 42 is used for mounting a workpiece and driving the workpiece to rotate, the workpiece has two opposite positions to be processed, and the operating machine 41 and the multi-axis robot 60 are drivingly connected to drive the multi-axis robot 60 to move to the position to be processed or away from the position to be processed. In this way, the movement of the multi-axis robot 60 is adjusted by the operating machine 41, and the rotation of the workpiece is adjusted by the displacement assembly 42, so that the multi-axis robot 60 and the position to be processed on the workpiece are aligned, and reliable processing of the multi-axis robot 60 on the position to be processed is realized. In the embodiment, the execution assembly 221 adopts a welding assembly, and the position to be processed is formed by an annular weld. The rotation of the displacement assembly 42 can also realize rapid welding of the multi-axis robot 60 on the two opposite annular welds of the workpiece, without frequent adjustment of the position of the multi-axis robot 60, thereby improving the welding efficiency. In the embodiment, the operating machine 41 adopts a cross operating machine, and the displacement assembly 42 adopts a roller stand. It should be noted that the selection of the operating machine 41 and the displacement assembly 42 is not limited to the above-mentioned embodiment, and the displacement assembly 42 can also adopt a displacement machine or other structures that can realize mounting and rotation driving of the workpiece, which will not be repeated here.

[0064] Still another embodiment of the present application provides a welding method, which is applied to the above-mentioned processing equipment, the execution assembly 221 at least comprises a detachable welding assembly, the position to be processed is formed by an annular weld, and the two welding assemblies are respectively used for welding the two opposite annular welds. The workpiece comprises a T-shaped annular rib 51 and a welding cylinder 52 in a split state. The welding method comprises the following steps:

[0065] S1: the T-shaped ring rib 51 in a split state is arranged on the positioner 42, and the multi-axis robot 60 is moved to a position where the two execution assemblies 221 are respectively aligned with the two opposite ring welds of the T-shaped ring rib 51;

[0066] S2: the positioner 42 and the multi-axis robot 60 are started, and the multi-axis robot 60 welds the two opposite ring welds of the T-shaped ring rib 51 in rotation;

[0067] S3: the T-shaped ring rib 51 is welded, the welded cylinder 52 is horizontally placed on the positioner 42, and the T-shaped ring rib 51 is arranged in the welded cylinder 52, the multi-axis robot 60 is moved into the welded cylinder 52, and the two execution assemblies 221 are respectively aligned with the two opposite ring welds formed between the T-shaped ring rib 51 and the welded cylinder 52;

[0068] S4: the positioner 42 and the multi-axis robot 60 are started, and the multi-axis robot 60 welds the two opposite ring welds formed between the T-shaped ring rib 51 and the welded cylinder 52 in rotation.

[0069] In the embodiment, the two opposite ring welds of the T-shaped ring rib 51 in a split state are first welded, then the two opposite ring welds formed between the matched T-shaped ring rib 51 and the welded cylinder 52 are welded after the welding is completed, and the target workpiece is obtained. During the welding process, the operator can adjust the position of the multi-axis robot 60, the position of the execution assembly 221 of the multi-axis robot 60, the start and stop of the positioner 42, and the welding start and stop of the multi-axis robot 60 according to the actual situation, so as to ensure the reliability of the welding.

[0070] Specifically, the processing equipment further comprises a limiting drum 43 which is detachably arranged on the positioner 42,

[0071] S1 comprises: arranging the T-shaped ring rib 51 in a split state on the limiting drum 43, and horizontally placing the limiting drum 43 on the positioner 42;

[0072] S2 comprises: after the T-shaped ring rib 51 is welded, the limiting drum 43 is disassembled, and the welded cylinder 52 is installed.

[0073] In the embodiment, when welding the two opposite annular welds (fillet welds) of the T-shaped annular rib 51 in the split state, it needs to be placed on the limiting roller 43 to facilitate the positioning and driving of the T-shaped annular rib 51 in the split state, and to ensure the reliability and stability of the T-shaped annular rib 51 forming. After the welding of the T-shaped annular rib 51 is completed, the T-shaped annular rib 51 is disassembled from the limiting roller 43 and assembled into the welding cylinder 52 to realize the pre-assembly of the two, and the limiting roller 43 is disassembled from the displacement assembly 42 and assembled into the welding cylinder 52. The displacement assembly 42 drives the welding cylinder 52 and the T-shaped annular rib 51 in it to rotate together, and the two opposite annular welds (fillet welds) formed between them are welded by the multi-axis robot 60 to obtain the target workpiece. In this way, the welding efficiency of the target workpiece is improved.

[0074] Further, the T-shaped annular rib 51 in the split state is a plurality of T-shaped annular ribs 51, which are arranged on the displacement assembly 42 and spaced along the extension direction of the displacement assembly 42. S1 and S2 are repeated to weld the two opposite annular welds of the plurality of T-shaped annular ribs 51. In this way, the sequential welding of the plurality of T-shaped annular ribs 51 arranged on the displacement assembly 42 is realized by the movement of the multi-axis robot 60, avoiding the situation that the T-shaped annular rib 51 in the split state can only be arranged on the displacement assembly 42 once, and the T-shaped annular rib 51 and the displacement assembly 42 are disassembled and assembled once for each welding, further improving the welding efficiency of the T-shaped annular rib 51.

[0075] Further, the plurality of T-shaped annular ribs 51 welded are arranged in the welding cylinder 52 and spaced along the axial direction of the welding cylinder 52. S3 and S4 are repeated to weld the two opposite annular welds formed between the plurality of T-shaped annular ribs 51 and the welding cylinder 52. In this way, the sequential welding of the plurality of T-shaped annular ribs 51 arranged in the welding cylinder 52 and the welding cylinder 52 is realized by the movement of the multi-axis robot 60, avoiding the situation that only one T-shaped annular rib 51 is installed in the welding cylinder 52 for welding each time, and the welding cylinder 52 is disassembled and re-supplied with a T-shaped annular rib 51 once for each welding, further improving the welding efficiency of the target workpiece formed by welding the welding cylinder 52 and the T-shaped annular rib 51.

[0076] Specifically, the T-shaped annular rib 51 comprises an inner ring rib 511 and an outer ring rib 512, the width of the inner ring rib 511 is greater than that of the outer ring rib 512, the outer ring rib 512 is sleeved on the outer periphery of the inner ring rib 511 and is welded with the inner ring rib 511, the outer peripheral surface of the outer ring rib 512 forms two opposite annular welds with two side surfaces of the inner ring rib 511 respectively, and the two opposite annular welds are simultaneously welded in the same welding process by the multi-axis robot 60. The T-shaped annular rib 51 welded is arranged in the welded cylinder 52, the outer peripheral surface of the outer ring rib 512 of the T-shaped annular rib 51 is limitedly matched with the inner wall of the welded cylinder 52, and the two side surfaces of the outer ring rib 512 form two opposite annular welds with the inner wall of the welded cylinder 52, the two opposite annular welds formed here can also be simultaneously welded in the same welding process by the multi-axis robot 60, and the positions of the multi-axis robots 60 in the two welding processes are different.

[0077] It is to be noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of example embodiments according to the present application. As used herein, the singular forms "a", "an" and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise. It will be further understood that the terms "comprises" and / or "comprising," when used in this specification, specify the presence of stated features, steps, operations, elements, components, and / or groups thereof, but do not preclude the presence or addition of one or more other features, steps, operations, elements, components, and / or groups thereof.

[0078] The relative arrangement of parts and steps, numerical expressions, and numerical values set forth in the examples are not intended to limit the scope of the application unless otherwise specifically stated. It is to be understood that the drawings are not necessarily to scale as the dimensions of the parts shown are for the purpose of illustration and description only and not limiting of the scope of the application. Techniques, methods, and apparatus known to those of ordinary skill in the relevant art can not be discussed in detail herein. However, where appropriate, such techniques, methods, and apparatus should be considered as falling within the scope of the application. In the examples shown and discussed herein, any specific values should be interpreted as merely illustrative and not as a limitation of the application. Thus, other example embodiments of the application can have different values. It is noted that like references and descriptions set forth herein (disregarding any prefixing numeral) designate like parts throughout the several views and that references set forth in one view or embodiment can be located in other views or embodiments utilizing like designations, so that their description herein will be understood.

[0079] In the description of the application, it needs to be understood that the orientation words such as "front, back, upper, lower, left, right", "transverse, vertical, perpendicular, horizontal" and "top, bottom" and the like indicated orientation or position relationship is generally based on the orientation or position relationship shown in the drawings, only for the convenience of describing the application and simplifying the description, without making the opposite statement, these orientation words do not indicate and imply that the device or element referred to must have a particular orientation or be constructed and operated in a particular orientation, therefore, it cannot be understood as a limitation on the scope of protection of the application; the orientation words "inner, outer" refer to the inner and outer relative to the contour of each component.

[0080] For the convenience of description, spatial relative terms such as "over", "above", "upper surface", "upper" and the like can be used herein to describe the spatial position relationship of one device or feature with other devices or features as shown in the drawings. It should be understood that the spatial relative terms are intended to include different orientations in use or operation in addition to the orientation of the device described in the drawings. For example, if the device in the drawing is inverted, the device described as "above" or "over" other devices or structures will be positioned "below" or "under" other devices or structures. Thus, the exemplary term "above" can include both "above" and "below" orientations. The device can also be positioned in other different ways (rotated 90 degrees or in other orientations), and the spatial relative descriptions used herein are interpreted accordingly.

[0081] In addition, it should be noted that the use of "first", "second" and the like to define parts only facilitates the differentiation of corresponding parts, and the above words have no special meaning unless otherwise stated, therefore, it cannot be understood as a limitation on the scope of protection of the application.

[0082] The above is only the preferred embodiment of the application and is not intended to limit the application. For those skilled in the art, the application can have various modifications and changes. Any modification, equivalent replacement, improvement, etc. made within the spirit and principles of the application shall be included in the protection scope of the application.

Claims

1. A multi-axis robot, characterized in that, The multi-axis robot comprises a base (10) and two execution parts oppositely arranged on the base (10) and spaced along the length direction of the base (10), the execution part comprises a monitoring mechanism (21) and an execution mechanism (22) with at least five degrees of freedom, the execution mechanism (22) has an execution assembly (221) at one end away from the base (10), the position of the execution assembly (221) in the length direction of the base (10), the width direction of the base (10) and the height direction of the base (10) is adjustable, and the execution assembly (221) is rotatably arranged in the length direction of the base (10) and the width direction of the base (10) to adjust the processing position of the execution assembly (221), the monitoring mechanism (21) is movably arranged on the execution mechanism (22) to monitor the processing of the execution assembly (221), and the two execution assemblies (221) are oppositely arranged to process two opposite positions to be processed of a workpiece respectively. The monitoring mechanism (21) comprises a laser sensing assembly (211) and an observation assembly (212), the laser sensing assembly (211) comprises a laser support group and a laser sensor (2111) connected with each other, the laser support group is connected with the execution mechanism (22), and the position of the laser sensor (2111) relative to the laser support group is adjustable, the observation assembly (212) further comprises an observation support group and an observation camera (2121) connected with each other, the observation support group is arranged on the laser support group, and the relative position of the observation camera (2121) relative to the observation support group is adjustable. The laser support group comprises a laser support arm (2112), a first laser support (2113), a second laser support (2114) and a third laser support (2115) connected in sequence, the laser sensor (2111) is connected through the third laser support (2115) and the second laser support (2114), the laser support arm (2112) extends along the width direction of the base (10) and is connected with the execution mechanism (22), the first laser support (2113) extends along the length direction of the base (10) and is movably arranged through the laser support arm (2112), the second laser support (2114) is rotatably arranged on the first laser support (2113), and the laser sensor (2111) and the observation assembly (212) are movably arranged on the third laser support (2115) to adjust the relative positions of the laser sensor (2111), the observation camera (2121) and the execution assembly (221). The observation support group comprises a first observation support (2122) and a second observation support (2123) connected in sequence, the observation camera (2121) is arranged on the second observation support (2123), the first observation support (2122) is movably arranged on the laser support group, and the first observation support (2122) and the second observation support (2123) are hingedly connected to adjust the relative positions of the observation camera (2121) and the laser sensor (2111) or the execution assembly (221).

2. The multi-axis robot of claim 1, wherein, The execution mechanism (22) comprises a movement adjusting mechanism, a rotation adjusting mechanism and an execution assembly (221), the rotation adjusting mechanism is connected with the movement adjusting mechanism, one of the movement adjusting mechanism and the rotation adjusting mechanism is arranged below the base (10), and the execution assembly (221) is arranged on the other, the movement adjusting mechanism is used for driving the execution assembly (221) to move, and the rotation adjusting mechanism is used for driving the execution assembly (221) to rotate, so as to adjust the processing position of the execution assembly (221).

3. The multi-axis robot of claim 2, wherein, The movement adjusting mechanism comprises a first adapter assembly (222), a second adapter assembly (223) and a third adapter assembly (224) connected in sequence, the extension directions of the first adapter assembly (222), the second adapter assembly (223) and the third adapter assembly (224) are perpendicular two by two, the first adapter assembly (222) is arranged below the base (10), the execution assembly (221) is arranged on the rotation adjusting mechanism, the second adapter assembly (223) is movably arranged along the extension direction of the first adapter assembly (222), the third adapter assembly (224) is movably arranged along the extension direction of the second adapter assembly (223), and the rotation adjusting mechanism is movably arranged along the extension direction of the third adapter assembly (224).

4. The multi-axis robot of claim 3, wherein, The first adapter assembly (222) comprises a first driving assembly (2221), a first adapter frame (2222) and a first guide (2223), the extension direction of the first adapter frame (2222) is parallel to the width direction of the base (10), the first guide (2223) is movably arranged on the first adapter frame (2222) and connected with the second adapter assembly (223), and the first driving assembly (2221) is arranged on the first adapter frame (2222) and drivingly connected with the first guide (2223); the extension direction of the second adapter assembly (223) is parallel to the length direction of the base (10), and the extension direction of the third adapter assembly (224) is parallel to the height direction of the base (10).

5. The multi-axis robot of claim 2, wherein, The moving adjusting mechanism is arranged below the base (10), the rotating adjusting mechanism comprises a first rotating assembly (225) and a second rotating assembly (226) connected with each other, the executing assembly (221) is arranged on the second rotating assembly (226), the first rotating assembly (225) is arranged on the moving adjusting mechanism, and the first rotating assembly (225) and the second rotating assembly (226) are respectively used for driving the executing assembly (221) to rotate in different directions.

6. The multi-axis robot of claim 5, wherein, The first rotating assembly (225) comprises a first driving member (2251), a first mounting rack (2252) and a first transmission assembly (2253), the first transmission assembly (2253) is rotatably arranged in the first mounting rack (2252) and is limitedly matched with the first mounting rack (2252), the first transmission assembly (2253) is connected with the second rotating assembly (226), and the first driving member (2251) is drivingly connected with the first transmission assembly (2253) to drive the second rotating assembly (226) and the executing assembly (221) to rotate around the length direction of the base (10); and the second rotating assembly (226) is used for driving the executing assembly (221) to rotate around the height direction of the base (10).

7. A processing apparatus characterized by comprising: The processing equipment comprises an operating machine (41), a displacement assembly (42) and the multi-axis robot in any one of claims 1 to 6, the displacement assembly (42) is used for mounting a workpiece and driving the workpiece to rotate, the workpiece has two opposite positions to be processed, and the operating machine (41) and the multi-axis robot are drivingly connected to drive the multi-axis robot to move to or away from the position to be processed.

8. A welding method characterized by, The welding method is applied to the processing equipment in claim 7, the executing assembly (221) at least comprises detachable welding assemblies, the position to be processed is formed by annular weld seams, two welding assemblies are respectively used for welding two opposite annular weld seams, the workpiece comprises a T-shaped annular rib (51) in a split state and a welding cylinder (52), and the welding method comprises the following steps: S1: arranging the T-shaped annular rib (51) in a split state on the displacement assembly (42), and moving the multi-axis robot to a position where two welding assemblies are respectively aligned with two opposite annular weld seams of the T-shaped annular rib (51); S2: starting the displacement assembly (42) and the multi-axis robot, and welding, by the multi-axis robot, the two opposite annular weld seams of the T-shaped annular rib (51) in a rotating process; S3: after the T-shaped annular rib (51) is welded, horizontally placing the welding cylinder (52) on the displacement assembly (42) and arranging the T-shaped annular rib (51) in the welding cylinder (52), and moving the multi-axis robot into the welding cylinder (52) so that two welding assemblies are respectively aligned with two opposite annular weld seams formed between the T-shaped annular rib (51) and the welding cylinder (52); S4: start the positioner (42) and the multi-axis robot, and the multi-axis robot welds two opposite annular welds formed between the T-shaped annular rib (51) and the welding cylinder (52) during rotation.

9. The welding method of claim 8, wherein, The processing equipment further comprises a limiting drum (43) detachably arranged on the positioner (42), S1 comprises arranging the T-shaped annular rib (51) in a split state on the limiting drum (43), and the limiting drum (43) is horizontally placed on the positioner (42); S2 comprises: after the T-shaped annular rib (51) is welded, the limiting drum (43) is disassembled, and the welding cylinder (52) is installed.

10. The welding method of claim 8, wherein, The T-shaped annular rib (51) in a split state is a plurality of T-shaped annular ribs (51), and the plurality of T-shaped annular ribs (51) are arranged on the positioner (42) and are spaced along the extension direction of the positioner (42). Repeat S1 and S2 to weld two opposite annular welds of the plurality of T-shaped annular ribs (51).

11. The welding method of claim 10, wherein, A plurality of welded T-shaped annular ribs (51) are arranged in the welding cylinder (52) and are spaced along the axial direction of the welding cylinder (52). Repeat S3 and S4 to weld two opposite annular welds formed between the plurality of T-shaped annular ribs (51) and the welding cylinder (52).

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