A stainless steel welding device based on positioning and clamping

Abstract

The present invention discloses a stainless steel welding equipment based on positioning and clamping, which belongs to the technical field of stainless steel welding equipment. It includes a sensing processing platform, a welding device, and an automated clamping mechanism. The center of gravity of the workpiece and multi-angle visual information are obtained through the sensing processing platform. The position of the movable frame is adjusted based on the operation of the first electric drive guide rail, and the coordinates and angles of the adjustment table are adjusted with high precision based on the coordinated operation of the first electric telescopic rod and the second electric telescopic rod. First, based on the operation of the primary clamping mechanism, the positions of multiple groups of secondary clamping mechanisms are adjusted over a large range, and based on the operation of the secondary clamping mechanism, the position of the clamping arm is correspondingly refined and adjusted to achieve a highly adaptable clamping function for the workpiece, thereby ensuring the stability and quality of the welding process. Then, positioning and driving work are performed based on the positioning drive mechanism, and automated welding work is performed in multiple welding points and welding sections based on the welding device to avoid the occurrence of insufficient welding stability and precision.

Description

Technical Field

[0001] The invention belongs to the technical field of stainless steel welding equipment, and in particular relates to stainless steel welding equipment based on positioning and clamping. Background Art

[0002] Stainless steel welding equipment is the tools and machines used to weld stainless steel materials. Stainless steel is a corrosion-resistant, high-strength and durable metal material widely used in manufacturing, construction and other fields.

[0003] Welding equipment mainly includes welding power source, welding gun / handle, gas source equipment, wire feeding system and auxiliary equipment. The welding power source provides the required power and current, and can select DC or AC power supply to meet different welding needs. The welding gun / handle is a hand-held tool for the welder to carry welding current and heat, and the welding process is controlled by a trigger. The gas source equipment is used to provide protective gas to prevent the welding area from reacting with air and oxidizing. The wire feeding system supplies and feeds the wire for filling materials. Auxiliary equipment includes welding masks, gloves, protective clothing and welding workbenches, etc., which protect the welder's safety and provide a comfortable working environment. The combined use of these equipment can achieve high-quality and efficient stainless steel welding.

[0004] In the actual use of existing welding equipment, since traditional welding equipment lacks a positioning and clamping structure, or the clamping structure is only implemented through a simple clamp, it is easy for the clamp to have a low fit and poor clamping stability, which affects the clamping accuracy. In the later welding process, the workpiece may move or deviate from the required position, causing the weld to be offset or uneven, affecting the welding quality, resulting in a decrease in weld quality, increasing the risk of welding defects, and may require subsequent repair work, which needs to be improved.

[0005] In view of this, the present invention is proposed. Summary of the invention

[0006] In order to solve the above technical problems, the basic concept of the technical solution adopted by the present invention is:

[0007] A stainless steel welding device based on positioning and clamping, comprising a sensing processing platform, a welding device, and an automatic clamping mechanism;

[0008] The sensing processing platform is responsible for placing the corresponding stainless steel workpiece and obtaining the workpiece morphological characteristics and center of gravity fulcrum;

[0009] The welding device is located at the front end of the sensing processing platform, and achieves the welding function of the workpiece by automated means;

[0010] The automated clamping mechanism includes a positioning drive mechanism and a multi-stage clamping mechanism;

[0011] The positioning drive mechanism is located on the side surface of the sensing processing platform, and its output end is fixedly connected to the multi-stage clamping mechanism, and is responsible for adjusting the three-dimensional coordinates and angles of the multi-stage clamping mechanism;

[0012] The multi-stage clamping mechanism includes a primary clamping mechanism and a secondary clamping mechanism. The secondary clamping mechanism is symmetrically transmission-connected to the outer surface of the primary clamping mechanism. Based on the operation of the primary clamping mechanism and the secondary clamping mechanism, the corresponding stainless steel workpiece is clamped for subsequent welding process.

[0013] As a further solution of the present invention: the sensing processing platform includes a base, a rotary drive seat is fixedly mounted on the upper surface of the base, a tray is mounted on the output end of the rotary drive seat, pressure sensing sheets are evenly distributed on the upper surface of the tray, and the center of gravity data of the placed workpiece is obtained based on multiple groups of pressure sensing sheets;

[0014] A column is fixedly installed at the rear end of the upper surface of the sensing processing platform, an electric drive adjustment frame is installed on the front top of the column, and an industrial camera is installed at the output end of the electric drive adjustment frame to obtain multi-angle visual data of the placed workpiece.

[0015] As a further solution of the present invention: the welding device includes an outer frame, a argon arc welding machine is fixedly installed on the inner side of the outer frame, the output end of the argon arc welding machine is equipped with a welding head through a connecting line, a support plate is fixedly installed on the upper surface of the outer frame, and a robotic arm adjustment mechanism is fixedly installed on the upper surface of the support plate.

[0016] As a further solution of the present invention: the mechanical arm adjustment mechanism includes an electrically driven steering seat, the electrically driven steering seat is fixedly mounted on the upper surface of the support plate, a steering platform is mounted on the output end of the electrically driven steering seat, a first driving arm is disposed on the outer surface of the steering platform, a first steering motor and a second steering motor are fixedly mounted on both ends of the first driving arm, and the output end of the first steering motor is fixedly connected to the steering platform;

[0017] The output end of the second steering motor is equipped with a second driving arm, the output end of the second driving arm is transmission-connected to the third steering motor, the output end of the third steering motor is equipped with a fourth steering motor, the output end of the fourth steering motor is equipped with a hydraulic rod, the output end of the hydraulic rod is equipped with a front bracket, and the front bracket is fixedly connected to the welding head by bolts.

[0018] As a further solution of the present invention: the positioning drive mechanism includes a first electrically driven guide rail, the inner side of the first electrically driven guide rail is transmission-connected to a movable frame, the inner side of the movable frame is transmission-connected to an electrically driven steering shaft, and a lower support is fixedly installed on the outer surface of the electrically driven steering shaft.

[0019] As a further solution of the present invention: a first support arm is mounted on the upper surface of the lower support, and a top end of the first support arm is rotatably connected to a rotating shaft;

[0020] Both sides of the lower support are rotatably connected with a first-level electric telescopic rod, and the output ends of the two groups of the first-level electric telescopic rods are rotatably connected to the rotating shaft;

[0021] An upper support is fixedly installed on the outer surface of the rotating shaft, a second support arm is fixedly installed on the top of the upper support, a secondary electric telescopic rod is equidistantly rotated and connected to the outer surface of the upper support, an adjustment platform is arranged on the top of the second support arm, the second support arm is connected to the adjustment platform via a universal ball shaft, and the secondary electric telescopic rod is connected to the adjustment platform via an elastic shaft.

[0022] As a further solution of the present invention: the first-level clamping mechanism includes a support table, the top end of the support table is rotatably connected to a flip frame, the rear end inner side of the flip frame is rotatably connected to a first electric telescopic rod, the output end of the first electric telescopic rod is rotatably connected to the support table, and a clamping assembly is installed on the surface of the flip frame.

[0023] As a further solution of the present invention: the clamping assembly comprises a main support frame, a driving plate is installed on the inner side of the main support frame, the inner side of the driving plate is transmission-connected with an electric drive threaded sleeve, the inner side of the electric drive threaded sleeve is threadedly connected with a threaded rod, and the front end of the threaded rod is rotationally connected with a linkage frame;

[0024] The two sides of the main support frame are rotatably connected with a tripod and a balancing shaft, the ends of the tripod and the balancing shaft are rotatably connected with a connecting frame, the other end of the tripod is equipped with a linkage shaft, and the two sides of the linkage frame are provided with linkage grooves, and the linkage shaft is slidably connected to the inner side of the linkage groove;

[0025] A second electric drive guide rail is installed at the front end of the connecting frame, and a position adjustment frame is transmission-connected to the inner side of the second electric drive guide rail, and the position adjustment frame is fixedly connected to the secondary clamping mechanism.

[0026] As a further solution of the present invention: the secondary clamping mechanism includes a fifth steering motor, the fifth steering motor is fixedly connected to the positioning frame, the output end of the fifth steering motor is fixedly installed with an outer bracket, the inner side of the outer bracket is fixedly installed with a driving motor, the output end of the driving motor penetrates into the upper surface of the outer bracket and is equipped with a driving gear, the upper surface of the outer bracket is rotatably connected with a linkage gear, the linkage gear is meshed with the driving gear, and the outer surfaces of the linkage gear and the driving gear are both fixedly installed with clamping frames.

[0027] As a further solution of the present invention: a second electric telescopic rod is rotatably connected to the inner side of the clamping frame, a bogie is installed at the output end of the second electric telescopic rod, a clamping arm is installed on the outer surface of the bogie, the clamping arm is rotatably connected to the inner side of the clamping frame, and pressure sensors are evenly distributed on the outer surface of the clamping arm.

[0028] Beneficial effects:

[0029] The center of gravity of the workpiece and multi-angle visual information are obtained by sensing the processing platform, and the position of the movable frame is adjusted based on the operation of the first electric drive guide rail. Based on the coordinated operation of the first electric telescopic rod and the second electric telescopic rod, the coordinates and angles of the adjustment table are adjusted with high precision. In the multi-stage clamping mechanism, firstly, based on the operation of the first-stage clamping mechanism, the positions of multiple groups of secondary clamping mechanisms are adjusted over a large range, and based on the operation of the secondary clamping mechanism, the positions of the clamping arms are correspondingly adjusted in detail. Based on the combination structure of multiple groups of clamping arms, a highly adaptable clamping function for the workpiece is realized, ensuring the uniform distribution of the clamping force and the stability and quality of the welding process. Then, positioning and driving work are performed based on the positioning drive mechanism, and automated welding work is performed based on the welding device in multiple welding points and welding sections to avoid the occurrence of insufficient welding stability and precision.

[0030] The specific implementation modes of the present invention are further described in detail below in conjunction with the accompanying drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0031] In the attached picture:

[0032] Figure 1 It is a schematic diagram of the three-dimensional structure of the present invention;

[0033] Figure 2 This is a schematic diagram of the sensing and processing platform of the present invention;

[0034] Figure 3 It is a schematic diagram of the welding device of the present invention;

[0035] Figure 4 It is a partial structural schematic diagram of the welding device of the present invention;

[0036] Figure 5 This is a schematic diagram of the automatic clamping mechanism of the present invention;

[0037] Figure 6 This is an exploded schematic diagram of the positioning drive mechanism of the present invention;

[0038] Figure 7 It is a schematic diagram of the multi-stage clamping mechanism of the present invention;

[0039] Figure 8 For the present invention Figure 7 Explosion diagram of some structures;

[0040] Fig. 9For the present invention Figure 8 Schematic diagram of some structures;

[0041] Fig.10 It is a schematic diagram of the secondary clamping mechanism of the present invention.

[0042] In the figure: 1. sensing and processing platform; 101. base; 102. rotary drive seat; 103. tray; 104. column; 105. electric drive adjustment frame; 106. industrial camera;

[0043] 2. Welding device; 201. Outer frame; 202. Argon arc welding machine; 203. Welding head; 204. Support plate; 205. Electric drive steering seat; 206. Steering platform; 207. First driving arm; 208. First steering motor; 209. Second steering motor; 210. Second driving arm; 211. Third steering motor; 212. Fourth steering motor; 213. Hydraulic rod; 214. Front bracket;

[0044] 3. Positioning drive mechanism; 301. First electric drive rail; 302. Movable frame; 303. Electric drive steering shaft; 304. Lower support; 305. First support arm; 306. Rotating shaft; 307. Primary electric telescopic rod; 308. Upper support; 309. Second support arm; 310. Secondary electric telescopic rod; 311. Adjustment table;

[0045] 4. Primary clamping mechanism; 401. Support table; 402. Turning frame; 403. First electric telescopic rod; 404. Main support frame; 405. Driving plate; 406. Electric drive threaded sleeve; 407. Threaded rod; 408. Linkage frame; 409. Tripod; 410. Balance shaft; 411. Connecting frame; 412. Second electric drive guide rail; 413. Positioning frame;

[0046] 5. Secondary clamping mechanism; 501. Fifth steering motor; 502. External bracket; 503. Driving motor; 504. Driving gear; 505. Linkage gear; 506. Clamping frame; 507. Second electric telescopic rod; 508. Steering frame; 509. Clamping arm. DETAILED DESCRIPTION

[0047] In order to make the purpose, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. The following embodiments are used to illustrate the present invention.

[0048] like Figures 1 to 10 As shown, a stainless steel welding device based on positioning and clamping includes a sensing processing platform 1, a welding device 2, and an automated clamping mechanism;

[0049] The sensing processing platform 1 is responsible for placing the corresponding stainless steel workpiece and obtaining the workpiece morphological characteristics and center of gravity fulcrum;

[0050] The welding device 2 is located at the front end of the sensing processing platform 1, and achieves the welding function of the workpiece by automated means;

[0051] The automated clamping mechanism includes a positioning drive mechanism 3 and a multi-stage clamping mechanism;

[0052] The positioning drive mechanism 3 is located on the side surface of the sensing processing platform 1, and its output end is fixedly connected to the multi-stage clamping mechanism, and is responsible for adjusting the three-dimensional coordinates and angles of the multi-stage clamping mechanism;

[0053] The multi-stage clamping mechanism includes a primary clamping mechanism 4 and a secondary clamping mechanism 5. The secondary clamping mechanism 5 is symmetrically connected to the outer surface of the primary clamping mechanism 4. Based on the operation of the primary clamping mechanism 4 and the secondary clamping mechanism 5, the corresponding stainless steel workpiece is clamped for subsequent welding process.

[0054] The center of gravity of the workpiece can be detected and measured in real time by a sensor or a visual system through the sensing processing platform 1. The multi-angle visual information industrial camera 106 acquires and provides comprehensive visual data of the workpiece.

[0055] Based on the operation of the first electric drive rail 301, the position of the movable frame 302 is adjusted. The first electric telescopic rod 403 and the second electric telescopic rod 507 work together to achieve high-precision adjustment of the coordinates and angles of the adjustment platform 311. In this way, the workpiece can be accurately positioned and prepared for the subsequent clamping and welding process.

[0056] In the multi-level clamping mechanism, the first-level clamping mechanism 4 is first used to perform a wide range of adjustments to adjust the positions of multiple sets of second-level clamping mechanisms 5. This allows the entire workpiece to be positioned and fixed quickly. Subsequently, based on the operation of the second-level clamping mechanism 5, the position of the clamping arm 509 is finely adjusted. This hierarchical clamping mechanism design can adapt to workpieces of different shapes and sizes, and ensures a uniform distribution of clamping force, thereby ensuring the stability and quality of the welding process.

[0057] The combination structure of multiple clamp arms 509 can flexibly adapt to the shapes and sizes of various workpieces. This structural design can provide a highly adaptable clamping function to ensure the stability and accuracy of the workpiece during the welding process.

[0058] Next, the positioning and driving work is performed using the positioning and driving mechanism 3. This mechanism can automatically locate the welding point according to the predetermined welding path and welding parameters, and control the welding device 2 to perform the automated welding task. Through precise positioning and driving, the precise alignment of the welding point and the stable control of the welding path can be achieved, ensuring the high precision and consistency of the welding quality.

[0059] In summary, through the high-precision coordinated operation of the sensing processing platform 1, precise positioning adjustment, multi-stage clamping mechanism and positioning drive mechanism 3, precise positioning, high-precision adjustment and automatic welding of the workpiece can be achieved. This meticulous process control and automation function can effectively improve welding quality, production efficiency and operational convenience, and meet the high requirements for stainless steel welding equipment.

[0060] Specifically, Figure 2 As shown, the sensing processing platform 1 includes a base 101, a rotary drive seat 102 is fixedly installed on the upper surface of the base 101, a tray 103 is installed at the output end of the rotary drive seat 102, and pressure sensing sheets are evenly distributed on the upper surface of the tray 103. The center of gravity data of the placed workpiece is obtained based on multiple groups of pressure sensing sheets;

[0061] A column 104 is fixedly installed at the rear end of the upper surface of the sensing processing platform 1, an electric drive adjustment frame 105 is installed on the front top of the column 104, and an industrial camera 106 is installed at the output end of the electric drive adjustment frame 105 to obtain multi-angle visual data of the placed workpiece.

[0062] The sensing processing platform 1 is mainly composed of a base 101, a rotary drive seat 102, a tray 103, a pressure sensor sheet, a column 104, an electric drive adjustment frame 105 and an industrial camera 106.

[0063] The base 101 is the bottom part of the platform, providing support and stability. A rotary drive seat 102 is fixedly mounted on the upper surface of the base 101, and the rotary drive seat 102 realizes rotational motion through an electric device. A tray 103 is installed at the output end of the rotary drive seat 102 for placing workpieces.

[0064] Pressure sensing sheets are evenly distributed on the upper surface of the tray 103. These pressure sensing sheets can sense and measure the weight and center of gravity distribution of the workpiece on the tray 103. Through the data of multiple groups of pressure sensing sheets, the center of gravity information of the workpiece can be accurately obtained.

[0065] A column 104 is fixedly mounted on the rear end of the upper surface of the sensing processing platform 1. An electric drive adjustment frame 105 is installed on the front top of the column 104, and the electric drive adjustment frame 105 can achieve high-precision position and angle adjustment. An industrial camera 106 is installed at the output end of the electric drive adjustment frame 105 to obtain multi-angle visual data of the workpiece placed on the platform.

[0066] Through the coordinated work of these sensing devices, the sensing processing platform 1 can obtain the center of gravity data and multi-angle visual information of the workpiece in real time. These data can be used in subsequent positioning adjustment, clamping and welding processes to achieve precise positioning, high-precision adjustment and quality control of the workpiece.

[0067] Specifically, Figure 3 As shown, the welding device 2 includes an outer frame 201, an argon arc welding machine 202 is fixedly installed on the inner side of the outer frame 201, a welding head 203 is installed on the output end of the argon arc welding machine 202 through a connecting line, a support plate 204 is fixedly installed on the upper surface of the outer frame 201, and a robotic arm adjustment mechanism is fixedly installed on the upper surface of the support plate 204.

[0068] The welding device 2 is mainly composed of an outer frame 201, an argon arc welding machine 202, a welding head 203, a support plate 204 and a mechanical arm adjustment mechanism.

[0069] The outer frame 201 is the main structure of the welding device 2, providing stable support and protection. A argon arc welder 202 is fixedly installed inside, and the argon arc welder 202 is the main equipment for argon arc welding. The output end of the argon arc welder 202 is equipped with a welding head 203 through a connecting line, and the welding head 203 is used to release the arc and perform welding operations.

[0070] A support plate 204 is fixedly mounted on the upper surface of the outer frame 201, and the support plate 204 provides a platform and support for the welding process. A mechanical arm adjustment mechanism is fixedly mounted on the upper surface of the support plate 204, and the adjustment mechanism is used to control and adjust the position and angle of the mechanical arm.

[0071] Through the coordinated work of these components, the welding device 2 can complete the welding operation on the workpiece. The argon arc welding machine 202 releases an arc through the welding head 203 to heat and melt the welding point of the workpiece to form a weld. The mechanical arm adjustment mechanism can control the position and angle of the welding head to ensure the accuracy and stability of the welding process.

[0072] In summary, the components of the welding device 2 include an outer frame 201, an argon arc welding machine 202, a welding head 203, a support plate 204 and a mechanical arm adjustment mechanism. The reasonable layout and coordinated operation of these components can achieve high-quality and high-efficiency welding operations.

[0073] Specifically, Figure 4 As shown, the mechanical arm adjustment mechanism includes an electric drive steering seat 205, which is fixedly mounted on the upper surface of the support plate 204, and a steering platform 206 is mounted on the output end of the electric drive steering seat 205. The outer surface of the steering platform 206 is provided with a first driving arm 207, and the first two ends of the first driving arm 207 are respectively fixedly mounted with a first steering motor 208 and a second steering motor 209, and the output end of the first steering motor 208 is fixedly connected to the steering platform 206;

[0074] The output end of the second steering motor 209 is equipped with a second driving arm 210, and the output end of the second driving arm 210 is transmission-connected to the third steering motor 211, and the output end of the third steering motor 211 is equipped with a fourth steering motor 212, and the output end of the fourth steering motor 212 is equipped with a hydraulic rod 213, and the output end of the hydraulic rod 213 is equipped with a front bracket 214, and the front bracket 214 is fixedly connected to the welding head 203 by bolts.

[0075] The mechanical arm adjustment mechanism includes an electrically driven steering seat 205 , a steering platform 206 , a first driving arm 207 , a second driving arm 210 , a first steering motor 208 , a second steering motor 209 , a third steering motor 211 , a fourth steering motor 212 , a hydraulic rod 213 and a front bracket 214 .

[0076] The electrically driven steering seat 205 is used as the basic component of the mechanical arm adjustment mechanism, which adjusts the direction of the steering platform 206 and supports and rotates the mechanical arm through the steering platform 206. The first driving arm 207 is located outside the steering platform 206. The first steering motor 208 is fixedly connected to the steering platform 206 through its output end, providing the rotational movement of the first driving arm 207. The second steering motor 209 operates to drive the second driving arm 210 to rotate, and the third steering motor 211 is adjusted to face the direction through the second driving arm 210. The fourth steering motor 212 is driven to rotate through the operation of the third steering motor 211. The hydraulic rod 213 is driven to rotate based on the operation of the fourth steering motor 212, and the position of the front bracket 214 is adjusted based on the telescopic adjustment of the hydraulic rod 213. The front bracket 214 is fixedly connected to the welding head 203 through bolts, and the welding head 203 is tightly combined with the mechanical arm adjustment mechanism.

[0077] Through the design of this mechanical arm adjustment mechanism, the position and angle of the welding head 203 can be accurately adjusted. The coordinated work of each steering motor and the hydraulic rod 213 enables the mechanical arm to be adjusted in multiple degrees of freedom and to achieve flexible movement and positioning to meet the needs of different welding tasks. The flexibility and multi-degree-of-freedom adjustment capability of the mechanical arm adjustment mechanism can adapt to workpieces of different shapes and sizes. It can adjust the position and angle of the welding head 203 to adapt to workpieces with different welding angles, curved surfaces or complex structures, improve the adaptability and versatility of welding, improve production efficiency and reduce manual intervention.

[0078] In summary, the mechanical arm adjustment mechanism includes an electrically driven steering seat 205, a steering platform 206, a driving arm, a steering motor, a hydraulic rod 213 and a front bracket 214. Through the operation of these components, high-precision adjustment of the position and angle of the welding head 203 is achieved, ensuring that the welding device 2 can accurately perform the welding task.

[0079] Specifically, Figure 6As shown, the positioning drive mechanism 3 includes a first electric drive rail 301 , the inner side of the first electric drive rail 301 is transmission-connected to a movable frame 302 , the inner side of the movable frame 302 is transmission-connected to an electric drive steering shaft 303 , and a lower support 304 is fixedly installed on the outer surface of the electric drive steering shaft 303 .

[0080] The positioning drive mechanism 3 is composed of a first electric drive guide rail 301 , a movable frame 302 , an electric drive steering shaft 303 and a lower support 304 .

[0081] The first electric drive rail 301 is a basic component of the entire positioning drive mechanism 3 and is fixed on a corresponding position of the device. It can realize the movement of the rail through an electric drive to control the position of the positioning drive mechanism 3.

[0082] The inner side of the first electric drive guide rail 301 is drivingly connected with a movable frame 302. The movable frame 302 slides on the guide rail and can move forward and backward along the axial direction of the guide rail.

[0083] The inner side of the movable frame 302 is connected to the electric drive steering shaft 303. The electric drive steering shaft 303 is a key component connecting the movable frame 302 and the lower support 304, and is responsible for transferring the electric power to the positioning drive mechanism 3 to achieve drive and control.

[0084] The outer surface of the electric drive steering shaft 303 is fixedly mounted with a lower support 304, and the lower support 304 carries and supports the movable frame 302 and the electric drive steering shaft 303. The design of the lower support 304 can provide stable support and ensure the reliability and accuracy of the positioning drive mechanism 3.

[0085] The function of the positioning drive mechanism 3 is to position and move the equipment or workpiece as required. Through the organic combination of the electric drive rail, the movable frame 302, the electric drive steering shaft 303 and the lower support 304, the precise positioning and adjustment of the equipment or workpiece can be achieved. This can meet different operation requirements and improve production efficiency and accuracy.

[0086] In summary, the positioning drive mechanism 3 is composed of a first electrically driven guide rail 301, a movable frame 302, an electrically driven steering shaft 303 and a lower support 304. Through their coordinated work, the positioning and movement of the equipment or workpiece are achieved with precision and reliability, thereby improving the accuracy and efficiency of the production process.

[0087] Specifically, Figure 6 As shown, a first support arm 305 is mounted on the upper surface of the lower support 304, and a rotating shaft 306 is rotatably connected to the top end of the first support arm 305;

[0088] Both sides of the lower support 304 are rotatably connected with a primary electric telescopic rod 307, and the output ends of the two sets of primary electric telescopic rods 307 are rotatably connected to the rotating shaft 306;

[0089] An upper support 308 is fixedly installed on the outer surface of the rotating shaft 306, and a second support arm 309 is fixedly installed on the top of the upper support 308. The outer surface of the upper support 308 is connected to a secondary electric telescopic rod 310 for equidistant rotation in an annular direction. An adjustment platform 311 is provided on the top of the second support arm 309. The second support arm 309 is connected to the adjustment platform 311 through a universal ball shaft, and the secondary electric telescopic rod 310 is connected to the adjustment platform 311 through an elastic shaft.

[0090] The lower support 304 provides support for the rotating shaft 306 through the first support arm 305 and limits the rotation trajectory of the rotating shaft 306. At the same time, the lower support provides support for two sets of primary electric telescopic rods 307. The primary electric telescopic rods 307 drive the rotating shaft 306 to rotate by adjusting the positions of their respective output ends, thereby realizing the angle adjustment function of the rotating shaft 306 and the upper support 308.

[0091] During the rotation of the rotating shaft 306, the upper support 308 rotates accordingly, and the angle of the second support arm 309 is adjusted accordingly. The second support arm 309 is connected to the adjustment platform 311 through a universal ball shaft, providing support for the adjustment platform 311 and limiting its rotation trajectory. The elastic shaft installed on the adjustment platform 311 is driven to adjust its position by extending and retracting the secondary electric telescopic rod 310. In addition, the position adjustment method of multiple sets of elastic shafts can achieve fine adjustment of the angle of the adjustment platform 311.

[0092] In summary, the lower support 304 provides support for the rotating shaft 306 through the first support arm 305, and at the same time limits the rotation trajectory of the rotating shaft 306; the lower bracket provides support for the first-level electric telescopic rod 307 and controls the position of its output end, thereby driving the rotating shaft 306 to rotate. During the rotation process, the upper support 308 is adjusted in angle through the second support arm 309 and the universal ball shaft, and at the same time, the angle of the adjustment platform 311 is finely adjusted through the coordinated adjustment of the second-level electric telescopic rod 310 and the elastic shaft. Such a mechanism design provides flexible angle adjustment and stable support functions, and is suitable for scenes that require precise positioning and angle adjustment.

[0093] Specifically, Figure 8 As shown, the primary clamping mechanism 4 includes a support table 401, the top of the support table 401 is rotatably connected to a flip frame 402, the rear end inner side of the flip frame 402 is rotatably connected to a first electric telescopic rod 403, the output end of the first electric telescopic rod 403 is rotatably connected to the support table 401, and a clamping assembly is installed on the surface of the flip frame 402.

[0094] The primary clamping mechanism 4 is composed of a support platform 401, a flip frame 402, a first electric telescopic rod 403 and a clamping assembly.

[0095] The support platform 401 is a basic component of the primary clamping mechanism 4, and is rotatably connected to the turning frame 402 through its top end. The support platform 401 provides stable support for the turning frame 402 and bears the weight of the clamping assembly and the workpiece.

[0096] The flip frame 402 is located at the top of the support platform 401 and is linked with the support platform 401 through a rotational connection. The first electric telescopic rod 403 is rotatably connected to the inner side of the rear end of the flip frame 402, so that the telescopic adjustment of the flip frame 402 can be achieved. The output end of the first electric telescopic rod 403 is rotatably connected to the support platform 401, and the relative position and angle of the flip frame 402 can be changed through the telescopic adjustment of the telescopic rod.

[0097] The surface of the turning frame 402 is provided with a clamping assembly, which is used to fix and clamp the workpiece.

[0098] The primary clamping mechanism 4 can realize positioning and fixing of the workpiece under the coordinated action of the support platform 401, the flip frame 402, the first electric telescopic rod 403 and the clamping assembly. The workpiece can be rotated and adjusted in position through the rotation connection of the support platform 401 and the flip frame 402.

[0099] Specifically, Figures 8 to 10 As shown, the clamping assembly includes a main support frame 404, a driving plate 405 is installed on the inner side of the main support frame 404, an electric drive threaded sleeve 406 is transmission-connected to the inner side of the driving plate 405, a threaded rod 407 is threadedly connected to the inner side of the electric drive threaded sleeve 406, and a linkage frame 408 is rotatably connected to the front end of the threaded rod 407;

[0100] The two sides of the main support frame 404 are rotatably connected with a tripod 409 and a balance shaft 410, and the ends of the tripod 409 and the balance shaft 410 are rotatably connected with a connecting frame 411. The other end of the tripod 409 is equipped with a linkage shaft. Both sides of the linkage frame 408 are provided with linkage grooves, and the linkage shaft is slidably connected to the inner side of the linkage groove;

[0101] A second electric drive rail 412 is installed at the front end of the connecting frame 411 , and a position adjustment frame 413 is transmission-connected to the inner side of the second electric drive rail 412 . The position adjustment frame 413 is fixedly connected to the secondary clamping mechanism 5 .

[0102] In the clamping assembly, the main support frame 404 is used as the basic structure, and the driving plate 405 is installed on the inside. The operation of the driving plate 405 drives the electric drive threaded sleeve 406 to rotate, and the operation of the electric drive threaded sleeve 406 generates a driving force for the threaded rod 407, and the position of the linkage frame 408 is adjusted accordingly. During the position adjustment process, the linkage frame 408 applies force to the linkage shaft based on the linkage groove, and adjusts the angle of the tripod 409 through the linkage shaft. The tripod 409 drives the connecting frame 411 to rotate, and based on the connection with the balance shaft 410, the angle of the connecting frame 411 is adjusted accordingly. The second electric drive guide rail 412 operates to drive the adjustment frame 413 to move, and adjusts the position of each group of secondary clamping mechanisms 5 accordingly.

[0103] Through the above-mentioned assembly and operation mode, the clamping assembly can clamp and position the workpiece, and at the same time, through the coordinated work of the linkage frame 408 and the adjustment frame 413, the position of the secondary clamping mechanism 5 can be adjusted. Such a structural design provides more flexibility and accuracy, and is suitable for the scenario of multi-axis adjustment and fixation of the workpiece.

[0104] Specifically, Fig.10 As shown, the secondary clamping mechanism 5 includes a fifth steering motor 501, which is fixedly connected to the positioning frame 413, and the output end of the fifth steering motor 501 is fixedly installed with an outer bracket 502, and the inner side of the outer bracket 502 is fixedly installed with a driving motor 503, and the output end of the driving motor 503 passes through the upper surface of the outer bracket 502 and is equipped with a driving gear 504, and the upper surface of the outer bracket 502 is rotatably connected with a linkage gear 505, and the linkage gear 505 is meshed with the driving gear 504, and the outer surfaces of the linkage gear 505 and the driving gear 504 are fixedly installed with a clamping frame 506.

[0105] The secondary clamping mechanism 5 includes a fifth steering motor 501 , a positioning frame 413 , an outer bracket 502 , a driving motor 503 , a driving gear 504 , a linkage gear 505 and a clamping frame 506 .

[0106] During the operation of the secondary clamping mechanism 5, the fifth steering motor 501 plays a key driving role. It drives the rotation of the outer bracket 502 through the driving device on its output end. The outer bracket 502, as a bearing device, provides stable support for the entire clamping system.

[0107] At the same time, the driving motor 503 fixed in the outer bracket 502 starts to operate, and its output end is connected to the driving gear 504. The driving gear 504 transmits power to the linkage gear 505 through the rotational movement. The meshing of the two gears causes the linkage gear 505 to rotate under the reverse action of the driving gear 504.

[0108] Then, the workpiece can be clamped by the structure of two sets of clamping frames 506. The clamping frames 506 are installed on the outer surfaces of the linkage gear 505 and the driving gear 504, and have an appropriate structure to ensure reliable clamping force. As the linkage gear 505 rotates, the clamping frame 506 fixes the clamping tool or clamp claws and other clamping components on the workpiece to maintain the stable position of the workpiece. Under the drive of the fifth steering motor 501, the secondary clamping mechanism 5 transmits power to the clamping frame 506 through the linkage movement of multiple gears, thereby achieving clamping and stable positioning of the workpiece.

[0109] Specifically, Fig.10 As shown, the inner side of the clamping frame 506 is rotatably connected to the second electric telescopic rod 507, the output end of the second electric telescopic rod 507 is equipped with a bogie 508, the outer surface of the bogie 508 is equipped with a clamping arm 509, the clamping arm 509 is rotatably connected to the inner side of the clamping frame 506, and the outer surface of the clamping arm 509 is evenly distributed with pressure sensors.

[0110] Inside the clamping frame 506, the second electric telescopic rod 507 is extended and retracted to adjust the position of the bogie 508, and the bogie 508 drives the clamping arm 509 so that the corresponding clamping arm 509 rotates to adapt to workpieces of different sizes. Pressure sensors are evenly distributed on the outer surface of the clamping arm 509, which can be used to monitor the clamping force or the pressure of the workpiece.

[0111] Through such a design, the clamping frame 506 can adapt to workpieces of different sizes by adjusting the telescopic adjustment of the second electric telescopic rod 507. The structure of the bogie 508 and the clamping arm 509 provides a stable clamping platform, and the clamping force or the pressure of the workpiece is monitored by the pressure sensor. This arrangement enables the clamping frame 506 to clamp the workpiece accurately and stably according to actual needs, and can monitor the change of the clamping force in real time.

[0112] Working principle:

[0113] Through the sensing processing platform 1, the center of gravity of the workpiece can be detected and measured in real time through sensors or vision systems. The multi-angle visual information is acquired by the industrial camera 106, providing comprehensive visual data of the workpiece (in the perception processing platform 1, the base 101 serves as the bottom support part and is equipped with a rotary drive seat 102. The rotary drive seat 102 realizes rotational motion through an electric device, and a tray 103 is installed at the output end for placing the workpiece. Pressure sensing sheets are evenly distributed on the upper surface of the tray 103. These pressure sensing sheets can sense and measure the weight and center of gravity distribution of the workpiece on the tray 103. Through the data of multiple groups of pressure sensing sheets, the center of gravity information of the workpiece can be accurately obtained. The electric drive adjustment frame 105 can achieve high-precision position and angle adjustment. The output end of the electric drive adjustment frame 105 is equipped with an industrial camera 106 for acquiring multi-angle visual data of the workpiece placed on the platform. Through the coordinated work of these perception devices, the perception processing platform 1 can acquire the center of gravity data and multi-angle visual information of the workpiece in real time. These data can be used in subsequent positioning adjustment, clamping and welding processes to achieve precise positioning, high-precision adjustment and quality control of the workpiece).

[0114] Based on the operation of the first electric drive guide rail 301, the position of the movable frame 302 is adjusted. The first electric telescopic rod 403 and the second electric telescopic rod 507 work together to achieve high-precision adjustment of the coordinates and angles of the adjustment platform 311. In this way, the workpiece can be accurately positioned and prepared for the subsequent clamping and welding processes (the first electric drive guide rail 301 is the basic component of the entire positioning drive mechanism 3 and is fixed at the corresponding position of the equipment. It can realize the movement of the guide rail through an electric drive to control the position of the positioning drive mechanism 3. The movable frame 302 slides on the guide rail and can move back and forth along the axial direction of the guide rail. The electric drive steering shaft 303 is a key component connecting the movable frame 302 and the lower support 304, and is responsible for transferring electric power to the positioning drive mechanism 3 to achieve drive and control. The lower support 304 provides support for the rotating shaft 306 through the first support arm 305, and limits the rotation trajectory of the rotating shaft 306. At the same time, the lower bracket is two groups of one The first-level electric telescopic rod 307 provides support. The first-level electric telescopic rod 307 drives the rotating shaft 306 to rotate by adjusting the position of each output end, thereby realizing the angle adjustment function of the rotating shaft 306 and the upper support 308. During the rotation of the rotating shaft 306, the upper support 308 rotates accordingly, and the angle of the second support arm 309 is also adjusted accordingly. The second support arm 309 is connected to the adjustment platform 311 through a universal ball shaft to provide support for the adjustment platform 311 and limit its rotation trajectory. Through the extension and retraction of the second-level electric telescopic rod 310, the elastic shaft installed on the adjustment platform 311 is driven to adjust its position. In addition, the position adjustment method of multiple sets of elastic shafts can realize fine adjustment of the angle of the adjustment platform 311.)

[0115] In the multi-stage clamping mechanism, the first-stage clamping mechanism 4 is first used to perform a wide range of adjustments to adjust the positions of multiple groups of second-stage clamping mechanisms 5. In this way, the entire workpiece can be quickly positioned and fixed. (The support table 401 is the basic component of the first-stage clamping mechanism 4, and is rotatably connected to the flip frame 402 through its top. The support table 401 provides stable support for the flip frame 402, and bears the weight of the clamping assembly and the workpiece. The flip frame 402 is located at the top of the support table 401, and is linked to the support table 401 through a rotatable connection. The inner side of the rear end of the flip frame 402 is rotatably connected to the first electric telescopic rod 403, so that the telescopic adjustment of the flip frame 402 can be achieved. The output end of the first electric telescopic rod 403 is rotatably connected to the support table 401, and the relative position and angle of the flip frame 402 can be changed through the telescopic adjustment of the telescopic rod. A clamping assembly is installed on the surface of the flip frame 402, and the clamping assembly is used to fix and clamp the workpiece. The first-stage clamping mechanism 4 is coordinated with the support table 401, the flip frame 402, the first electric telescopic rod 403 and the clamping assembly. The workpiece can be positioned and fixed by using the support table 401 and the flip frame 402. The workpiece can be rotated and adjusted in position by the rotation connection of the support table 401 and the flip frame 402. In the clamping assembly, the main support frame 404 is used as the basic structure, and the driving plate 405 is assembled inside. The operation of the driving plate 405 drives the electric drive threaded sleeve 406 to rotate, and the operation of the electric drive threaded sleeve 406 generates a driving force for the threaded rod 407, and the position of the linkage frame 408 is adjusted accordingly. During the position adjustment process, the linkage frame 408 applies force to the linkage shaft based on the linkage groove, and adjusts the angle of the tripod 409 through the linkage shaft. The tripod 409 drives the connecting frame 411 to rotate, and based on the connection of the balance shaft 410, the angle of the connecting frame 411 is adjusted accordingly. The second electric drive guide rail 412 drives the adjustment frame 413 to move, and adjusts the position of each group of secondary clamping mechanisms 5 accordingly)

[0116] Subsequently, based on the operation of the secondary clamping mechanism 5, the position of the clamping arm 509 is finely adjusted. This hierarchical clamping mechanism design can adapt to workpieces of different shapes and sizes, and ensure the uniform distribution of clamping force, thereby ensuring the stability and quality of the welding process (during the operation of the secondary clamping mechanism 5, the fifth steering motor 501 plays a key driving role. It drives the rotation of the outer bracket 502 through the driving device on its output end. The outer bracket 502 serves as a bearing device and provides stable support for the entire clamping system. At the same time, the drive motor 503 fixed in the outer bracket 502 starts to operate, and its output end is connected to the driving gear 504. The power is transmitted to the linkage gear 505 through the rotational movement of the driving gear 504. The meshing of the two gears causes the linkage gear 505 to rotate under the reverse action of the driving gear 504. Then, the workpiece can be clamped by the structure of two sets of clamping frames 506. The clamping frame 50 6 is installed on the outer surface of the linkage gear 505 and the driving gear 504, and has an appropriate structure to ensure reliable clamping force. As the linkage gear 505 rotates, the clamping frame 506 fixes the clamping tool or clamp claws and other clamping components on the workpiece to maintain the stable position of the workpiece. Driven by the fifth steering motor 501, the secondary clamping mechanism 5 transmits power to the clamping frame 506 through the linkage movement of multiple gears to achieve clamping and stable positioning of the workpiece. On the inner side of the clamping frame 506, the second electric telescopic rod 507 is extended and retracted to adjust the position of the bogie 508, and the clamping arm 509 is driven by the bogie 508 to rotate the corresponding clamping arm 509 to adapt to workpieces of different sizes. Pressure sensors are evenly distributed on the outer surface of the clamping arm 509, which can be used to monitor the clamping force or the pressure of the workpiece. )

[0117] Through the combination structure of multiple groups of clamp arms 509, it can flexibly adapt to the shapes and sizes of various workpieces. This structural design can provide a highly adaptable clamping function to ensure the stability and accuracy of the workpiece during the welding process. Next, the positioning and driving work is performed using the positioning drive mechanism 3. This mechanism can automatically locate the welding point according to the predetermined welding path and welding parameters, and control the welding device 2 to perform the automated welding task. Through precise positioning and driving, precise alignment of welding points and stable control of welding paths can be achieved, ensuring high precision and consistency of welding quality (the electrically driven steering seat 205 is the basic component of the robot arm adjustment mechanism, which adjusts the direction of the steering platform 206 and supports and rotates the robot arm through the steering platform 206. The first driving arm 207 is located on the outside of the steering platform 206, and the first steering motor 208 is fixedly connected to the steering platform 206 through its output end, providing the rotational movement of the first driving arm 207, and the second steering motor 209 is operated to drive the second driving arm 210 to rotate, and the facing direction of the third steering motor 211 is adjusted through the second driving arm 210, and the fourth steering motor 212 is driven to rotate through the operation of the third steering motor 211, and the hydraulic rod 213 is driven to rotate based on the operation of the fourth steering motor 212, and the position of the front bracket 214 is adjusted based on the telescopic adjustment of the hydraulic rod 213, thereby driving the welding head 203.).

[0118] The above shows and describes the basic principles, main features and advantages of the present invention. It should be understood by those skilled in the art that the present invention is not limited to the above embodiments. The above embodiments and descriptions are only for explaining the principles of the present invention. Without departing from the spirit and scope of the present invention, the present invention may have various changes and improvements, which fall within the scope of the present invention to be protected. The scope of protection of the present invention is defined by the attached claims and their equivalents.

Claims

1. A stainless steel welding device based on positioning and clamping, characterized in that: It comprises a sensing processing platform (1), a welding device (2), and an automated clamping mechanism; The sensing processing platform (1) is responsible for placing the corresponding stainless steel workpiece and obtaining the workpiece morphological characteristics and center of gravity fulcrum; The welding device (2) is located at the front end of the sensing processing platform (1) and achieves the welding function of the workpiece by automated means; The automated clamping mechanism comprises a positioning drive mechanism (3) and a multi-stage clamping mechanism; The positioning drive mechanism (3) is located on the side surface of the sensing processing platform (1), and its output end is fixedly connected to the multi-stage clamping mechanism and is responsible for adjusting the three-dimensional coordinates and angles of the multi-stage clamping mechanism; The multi-stage clamping mechanism comprises a primary clamping mechanism (4) and a secondary clamping mechanism (5), wherein the secondary clamping mechanism (5) is symmetrically transmission-connected to the outer surface of the primary clamping mechanism (4), and based on the operation of the primary clamping mechanism (4) and the secondary clamping mechanism (5), the corresponding stainless steel workpiece is clamped to carry out a subsequent welding process; The primary clamping mechanism (4) comprises a support platform (401), the top end of the support platform (401) is rotatably connected to a flip frame (402), the inner side of the rear end of the flip frame (402) is rotatably connected to a first electric telescopic rod (403), the output end of the first electric telescopic rod (403) is rotatably connected to the support platform (401), and a clamping assembly is installed on the surface of the flip frame (402); The clamping assembly comprises a main support frame (404), a driving plate (405) is mounted on the inner side of the main support frame (404), the inner side of the driving plate (405) is transmission-connected to an electric drive threaded sleeve (406), the inner side of the electric drive threaded sleeve (406) is threadedly connected to a threaded rod (407), and the front end of the threaded rod (407) is rotationally connected to a linkage frame (408); Both sides of the main support frame (404) are rotatably connected to a tripod (409) and a balancing shaft (410); the ends of the tripod (409) and the balancing shaft (410) are rotatably connected to a connecting frame (411); the other end of the tripod (409) is provided with a linkage shaft; both sides of the linkage frame (408) are provided with linkage grooves; the linkage shaft is slidably connected to the inner side of the linkage groove; A second electric drive guide rail (412) is installed at the front end of the connecting frame (411), a position adjustment frame (413) is transmission-connected to the inner side of the second electric drive guide rail (412), and the position adjustment frame (413) is fixedly connected to the secondary clamping mechanism (5); The secondary clamping mechanism (5) comprises a fifth steering motor (501), the fifth steering motor (501) is fixedly connected to the positioning frame (413), an outer bracket (502) is fixedly mounted on the output end of the fifth steering motor (501), a driving motor (503) is fixedly mounted on the inner side of the outer bracket (502), the output end of the driving motor (503) passes through the upper surface of the outer bracket (502) and is equipped with a driving gear (504), the upper surface of the outer bracket (502) is rotatably connected with a linkage gear (505), the linkage gear (505) is meshed with the driving gear (504), and a clamping frame (506) is fixedly mounted on the outer surfaces of the linkage gear (505) and the driving gear (504).

2. The stainless steel welding equipment based on positioning and clamping according to claim 1 is characterized in that: The sensing processing platform (1) comprises a base (101), a rotary drive seat (102) is fixedly mounted on the upper surface of the base (101), a tray (103) is mounted on the output end of the rotary drive seat (102), pressure sensing sheets are evenly distributed on the upper surface of the tray (103), and the center of gravity data of the placed workpiece is obtained based on multiple groups of pressure sensing sheets; A column (104) is fixedly mounted on the rear end of the upper surface of the sensing processing platform (1), an electric drive adjustment frame (105) is mounted on the top of the front end of the column (104), and an industrial camera (106) is mounted on the output end of the electric drive adjustment frame (105) to obtain multi-angle visual data of the placed workpiece.

3. The stainless steel welding equipment based on positioning and clamping according to claim 1 is characterized in that: The welding device (2) comprises an outer frame (201), an argon arc welding machine (202) is fixedly mounted on the inner side of the outer frame (201), a welding head (203) is mounted on the output end of the argon arc welding machine (202) via a connecting line, a support plate (204) is fixedly mounted on the upper surface of the outer frame (201), and a mechanical arm adjustment mechanism is fixedly mounted on the upper surface of the support plate (204).

4. The stainless steel welding equipment based on positioning and clamping according to claim 3 is characterized in that: The mechanical arm adjustment mechanism comprises an electrically driven steering seat (205), the electrically driven steering seat (205) being fixedly mounted on the upper surface of a support plate (204), a steering platform (206) being mounted at the output end of the electrically driven steering seat (205), a first driving arm (207) being disposed on the outer surface of the steering platform (206), a first steering motor (208) and a second steering motor (209) being fixedly mounted at both ends of the first driving arm (207), and an output end of the first steering motor (208) being fixedly connected to the steering platform (206); The output end of the second steering motor (209) is equipped with a second driving arm (210), the output end of the second driving arm (210) is transmission-connected to a third steering motor (211), the output end of the third steering motor (211) is equipped with a fourth steering motor (212), the output end of the fourth steering motor (212) is equipped with a hydraulic rod (213), the output end of the hydraulic rod (213) is equipped with a front bracket (214), and the front bracket (214) is fixedly connected to the welding head (203) via bolts.

5. The stainless steel welding equipment based on positioning and clamping according to claim 1 is characterized in that: The positioning drive mechanism (3) comprises a first electric drive guide rail (301), the inner side of the first electric drive guide rail (301) is drivingly connected to a movable frame (302), the inner side of the movable frame (302) is drivingly connected to an electric drive steering shaft (303), and a lower support (304) is fixedly mounted on the outer surface of the electric drive steering shaft (303).

6. The stainless steel welding equipment based on positioning and clamping according to claim 5 is characterized in that: A first support arm (305) is mounted on the upper surface of the lower support (304), and a top end of the first support arm (305) is rotatably connected to a rotating shaft (306); Both sides of the lower support (304) are rotatably connected to a primary electric telescopic rod (307), and the output ends of the two groups of the primary electric telescopic rods (307) are rotatably connected to the rotating shaft (306); An upper support (308) is fixedly mounted on the outer surface of the rotating shaft (306); a second support arm (309) is fixedly mounted on the top of the upper support (308); a secondary electric telescopic rod (310) is rotatably connected to the outer surface of the upper support (308) in an equidistant manner in an annular direction; an adjustment platform (311) is provided at the top of the second support arm (309); the second support arm (309) is connected to the adjustment platform (311) via a universal ball shaft; and the secondary electric telescopic rod (310) is connected to the adjustment platform (311) via an elastic shaft.

7. The stainless steel welding equipment based on positioning and clamping according to claim 6 is characterized in that: The inner side of the clamping frame (506) is rotatably connected to a second electric telescopic rod (507); the output end of the second electric telescopic rod (507) is provided with a bogie (508); the outer surface of the bogie (508) is provided with a clamping arm (509); the clamping arm (509) is rotatably connected to the inner side of the clamping frame (506); and pressure sensors are evenly distributed on the outer surface of the clamping arm (509).

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