Automated skinned multi-point penetration welding of a vehicle floor

Abstract

The application provides a kind of carriage floor automation skin multi-point penetration welding tooling equipment and method, including linear track, gantry frame, sensing mechanism, pressing mechanism, welding gun adjusting mechanism, welding gun, PLC controller;Gantry frame is set on walking guide mechanism by walking guide mechanism, so that gantry frame can move along linear track;Sensing mechanism is set at the bottom of gantry frame, for detecting the crossbeam of carriage floor;Pressing mechanism is set on gantry frame, for pressing skin on crossbeam;Welding gun is set on welding gun adjusting mechanism, welding gun adjusting mechanism is set on pressing mechanism, for adjusting the position of welding gun to facilitate the skin and crossbeam welding under gantry frame;PLC controller is used to receive the signal of sensing mechanism to control the start and stop of walking guide mechanism.The application can automatically find the position of crossbeam by setting sensing mechanism, automatically aim the welding gun at crossbeam and weld, which can meet the collinear production of multi-model floor skin welding.

Description

Technical Field

[0001] This invention relates to the field of welding technology for carriage floor plates, specifically to an automated multi-point penetration welding fixture and method for carriage floor plates. Background Technology

[0002] Currently, most domestic truck bed flooring welding requires flipping the floor 180 degrees using a flipping fixture before welding. This often involves a cage-type or sling-type flipping mechanism, which has a complex structure, low production efficiency, and cannot meet the diverse production requirements. Therefore, it is extremely important to design a fixture that can weld the flooring without flipping the bottom plate, to meet the needs of products of different lengths and improve production capacity. Summary of the Invention

[0003] The purpose of this invention is to address the shortcomings of existing technologies by providing an automated multi-point penetration welding fixture and method for vehicle floor panels. This fixture features a rational structure and high positioning accuracy. When the position of the crossbeam changes, no program modification is required to meet the floor panel welding needs of new vehicle models, and it can support co-line production of floor panel welding for multiple vehicle models. This equipment is adaptable to diversified and flexible production, easy to maintain, provides stable welding quality, and has high welding efficiency.

[0004] To solve the above-mentioned technical problems, in a first aspect, the present invention provides an automated multi-point penetration welding fixture for the floor of a carriage, including a linear track, a gantry frame, a sensing mechanism, a clamping mechanism, a welding torch adjustment mechanism, a welding torch, and a PLC controller.

[0005] The gantry frame is mounted on the travel guide mechanism via a travel guide mechanism, allowing the gantry frame to move along a straight track.

[0006] The sensing mechanism is located at the bottom of the gantry frame and is used to detect the crossbeams of the carriage floor.

[0007] The pressing mechanism is installed on the gantry frame and is used to press the skin onto the crossbeam;

[0008] The welding torch is mounted on the welding torch adjustment mechanism, which is mounted on the clamping mechanism, and is used to adjust the position of the welding torch to facilitate welding of the skin and crossbeams below the gantry frame;

[0009] The PLC controller is used to receive signals from the sensing mechanism to control the start and stop of the walking guide mechanism.

[0010] Furthermore, the pressing mechanism includes a pressing drive mechanism, a lifting frame, and a floating pressing component. The pressing drive mechanism is installed on the gantry frame, the lifting frame is vertically slidably disposed on the gantry frame, the output end of the pressing drive mechanism is connected to the lifting frame, and the floating pressing component is disposed on the lifting frame. The pressing drive mechanism is used to control the lifting frame to move in the vertical direction so that the floating pressing component presses the skin onto the crossbeam.

[0011] Furthermore, the floating clamping assembly includes a clamping block, an elastic element, and a mounting base. The mounting base is disposed on the lifting frame, and the clamping block is elastically connected to the mounting base through the elastic element, so that the clamping block can press the skin onto the crossbeam.

[0012] Furthermore, the clamping block has a welding groove, and the welding torch tip passes through the welding groove to perform penetration welding on the skin and crossbeam pressed under the clamping block.

[0013] Furthermore, a guide hole is provided on the mounting base, and a guide rod is slidably disposed in the guide hole. The upper end of the guide rod extends out of the guide hole and is provided with a stop block. The lower end of the guide rod extends downward and connects to the clamping block. The elastic element is disposed between the clamping block and the mounting base. The elastic element is sleeved on the guide rod, so that the clamping block moves along the length direction of the guide rod.

[0014] Furthermore, a distance sensor is provided on the mounting base. The distance sensor is used to detect the movement distance of the upper end of the guide rod. The distance sensor is connected to the PLC controller, so that the PLC controller can determine whether the clamping block is clamped based on the signal from the distance sensor.

[0015] Furthermore, a first limiting block is provided on the lifting frame, and a first fixing rod that cooperates with the first limiting block is provided on the gantry frame, which is used to limit the maximum distance of the lifting frame's descent.

[0016] Furthermore, the welding torch adjustment mechanism includes a horizontal adjustment drive mechanism, a vertical adjustment drive mechanism, a horizontal sliding plate, and a vertical sliding plate;

[0017] The lateral adjustment drive mechanism is mounted on the lifting frame, and the lateral slide plate is laterally mounted on the lifting frame. The output end of the lateral adjustment drive mechanism is connected to the lateral slide plate to control the lateral slide plate to move laterally.

[0018] The vertical adjustment drive mechanism is mounted on the horizontal slide plate, and the vertical slide plate is vertically slidably mounted on the horizontal slide plate. The output end of the vertical adjustment drive mechanism is connected to the vertical slide plate and is used to control the vertical slide plate to move vertically. The welding torch is mounted on the vertical slide plate.

[0019] Furthermore, a second limiting block is provided on the transverse sliding plate, and a second fixing rod is provided on the lifting frame to cooperate with the second limiting block. The second fixing rod is used to limit the transverse movement range of the transverse sliding plate. A third limiting block is provided on the transverse sliding plate to limit the maximum distance of the vertical sliding plate descent.

[0020] Secondly, the present invention provides an automated multi-point penetration welding method for the floor skin of a vehicle, comprising:

[0021] S1. After the car floor is delivered to the position, the traveling guide mechanism controls the gantry frame to move along the straight track;

[0022] S2. After the sensing mechanism detects the crossbeam, it sends a signal to the PLC controller, and the PLC controller sends a stop signal to the walking guide mechanism.

[0023] S3, the PLC controller sends a clamping signal to the clamping drive mechanism, and the clamping drive mechanism drives the floating clamping component on the lifting frame to press against the skin and crossbeam;

[0024] S4. The distance sensor detects the movement distance of the guide rod and sends the distance signal to the PLC controller. When all the distance signals received by the PLC controller are greater than the preset distance, the PLC controller sends a movement command to the welding torch adjustment mechanism.

[0025] S5. The welding torch adjustment mechanism controls the welding torch to move to the working position for penetration welding.

[0026] The beneficial effects of this invention are as follows:

[0027] 1. This invention, by incorporating a sensing mechanism, can automatically locate the crossbeam position, automatically align the welding torch with the crossbeam, and perform welding, thus shortening the debugging cycle and achieving extremely high positioning accuracy. Even if the crossbeam design position changes, no program modification is required to meet the requirements for floor skin welding of new vehicle models, and it can support co-line production of floor skin welding for multiple vehicle models.

[0028] 2. By setting up a floating clamping component, the present invention can ensure that the clamping block presses the skin tightly onto the crossbeam under the action of the elastic element, thereby improving the welding quality.

[0029] 3. This invention uses a through-welding method, which enables multi-point welding of the skin and floor beams of various vehicle models without rotating the floor plate 180°, and achieves single-sided welding and double-sided forming.

[0030] 4. By creating welding grooves on the clamping block, this invention ensures that the welding torch tip is aligned with the clamping points of the skin and crossbeam, thereby improving welding quality.

[0031] 5. By incorporating a distance sensor, this invention can detect the degree of clamping of the clamping block, thereby ensuring welding quality.

[0032] 6. By setting up a welding torch adjustment mechanism, the present invention can control the welding torch to automatically adjust and position horizontally and vertically.

[0033] 7. The PLC controller of the present invention can receive signals from the sensing mechanism and the distance sensor, and automatically control the movement of the gantry frame, the pressing and releasing of the pressing drive mechanism, and the movement of the welding torch adjustment mechanism, thereby realizing automatic penetration welding and improving welding efficiency. Attached Figure Description

[0034] Figure 1 This is a schematic diagram of the structure of the present invention;

[0035] Figure 2 for Figure 1 Enlarged view of point A in the middle;

[0036] Figure 3 This is the left view of the present invention;

[0037] Figure 4 This is a schematic diagram showing the installation of the clamping mechanism and welding torch adjustment mechanism of the present invention with the gantry frame;

[0038] Figure 5 for Figure 4 Enlarged view at point E in the middle;

[0039] Figure 6 This is a schematic diagram of the structure of the clamping mechanism and the welding torch adjustment mechanism of the present invention;

[0040] Figure 7 for Figure 6 Enlarged view at point B in the middle;

[0041] Figure 8 for Figure 6 Enlarged view at point C;

[0042] Figure 9 for Figure 6 Enlarged view at point D;

[0043] Figure 10 This is a schematic diagram of the connection structure between the transverse sliding plate and the clamping mechanism of the present invention.

[0044] Reference numerals: 1. Linear track; 2. Gantry frame; 3. Induction mechanism; 4. Adjustment bracket; 5. Inductive proximity magnetic sensor; 6. Clamping mechanism; 7. Welding torch adjustment mechanism; 8. Welding control cabinet; 9. Wire feeder; 10. Clamping drive mechanism; 11. Lifting frame; 12. Floating clamping assembly; 13. Clamping block; 14. Elastic element; 15. Mounting base; 16. Welding groove; 17. Guide rod; 18. Distance sensor; 19. First limit block; 20. First fixing rod; 21. Lateral adjustment drive mechanism; 22. Vertical adjustment drive mechanism; 23. Lateral slide plate; 24. Vertical slide plate; 25. Second limit block; 26. Third limit block; 27. Servo motor; 28. Rack; 29. ​​Guide wheel; 30. Welding torch; 31. Conveyor belt; 32. Carriage floor plate; 33. Stop block. Detailed Implementation

[0045] To make the technical problems, technical solutions, and beneficial effects to be solved by this application clearer, the following detailed description is provided in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and are not intended to limit the scope of this application.

[0046] This embodiment provides an automated multi-point penetration welding fixture for the floor skin of a carriage, including a linear track 1, a gantry frame 2, a sensing mechanism 3, a clamping mechanism 6, a welding torch adjustment mechanism 7, a welding torch 30, and a PLC controller.

[0047] like Figure 1 As shown, two straight tracks 1 are arranged in parallel, and a conveyor belt 31 is set between the two straight tracks 1. The car floor 32 is placed on the conveyor belt 31. The car floor 32 includes a skin and a crossbeam. After the car floor 32 is transported to the position by the conveyor belt 31, it is welded using an automated multi-point penetration welding fixture for the car floor skin.

[0048] like Figure 2 As shown, a rack 28 and a traveling guide mechanism are provided on the linear track 1. The traveling guide mechanism includes a servo motor 27 and a bracket. A roller is provided directly below the bracket, and the roller can roll on the upper surface of the linear guide. Multiple guide wheels 29 are provided on both sides below the bracket, and the guide wheels 29 can roll on both sides of the linear guide, so that the bracket moves along the linear guide. The servo motor 27 is mounted on the bracket, and a gear that meshes with the rack 28 is fixed at the output end of the servo motor 27, so that the servo motor 27 can control the movement of the bracket on the linear guide.

[0049] like Figure 1 As shown, the bottom ends of both sides of the gantry frame 2 are welded to the brackets on the two straight tracks 1, and the carriage floor 32 is located directly below the gantry frame 2.

[0050] like Figure 3As shown, a sensing mechanism 3 is provided at the bottom of the gantry frame 2. The sensing mechanism 3 includes an adjustment bracket 4 and an inductive proximity magnetic sensor 5. The adjustment bracket 4 can adjust the height of the inductive proximity magnetic sensor 5 to adapt to the height of the crossbeam of the carriage floor 32. When the crossbeam is aligned with the inductive proximity magnetic sensor 5, the inductive proximity magnetic sensor 5 will generate an electrical signal.

[0051] like Figure 3 , 4 As shown, the gantry frame 2 is equipped with multiple welding mechanisms, including a clamping mechanism 6, a welding torch adjustment mechanism 7, a welding torch 30, a welding control cabinet 8, and a wire feeder 9. Figure 4 Only one set of clamping mechanism 6, welding torch adjustment mechanism 7, and welding torch 30 is shown.

[0052] like Figure 6 As shown, the clamping mechanism 6 includes a clamping drive mechanism 10, a lifting frame 11, and a floating clamping assembly 12. The clamping drive mechanism 10 is bolted to the gantry frame 2. The lifting frame 11 is vertically slidably mounted on the slide rail of the gantry frame 2. The cross-section of the lifting frame 11 is L-shaped. The floating clamping assembly 12 is bolted to the lower end of the lifting frame 11. Figure 6 The lower right end of the middle lifting frame 11. The output end of the pressing drive mechanism 10 is connected to the lifting frame 11. Under the action of the pressing drive mechanism 10, the lifting frame 11 can move vertically up and down, so that the floating pressing assembly 12 presses the skin onto the crossbeam.

[0053] like Figure 5 As shown, a first limiting block 19 is bolted to the side of the lifting frame 11 near the wire feeder 9, and a first fixing rod 20 is bolted to the gantry frame 2. The first fixing rod 20 can limit the height of the lifting frame 11 as it descends.

[0054] like Figure 6 As shown, a lateral adjustment drive mechanism 21 is bolted to the side of the lifting frame 11 away from the wire feeder 9. A lateral slide plate 23 is slidably arranged on the side of the lifting frame 11 away from the wire feeder 9. The lateral slide plate 23 is slidably connected to the lifting frame 11 through a horizontally arranged slide rail. A horizontal rack 28 is provided at the upper end of the lateral slide plate 23. A gear that meshes with the rack 28 is provided at the output end of the lateral adjustment drive mechanism 21, thereby driving the lateral slide plate 23 to move horizontally left and right.

[0055] like Figure 8 As shown, a second limiting block 25 is provided at the upper end of the transverse sliding plate 23, and a second fixing rod is installed on the lifting frame 11 by bolts. The second fixing rod can limit the left and right movement range of the transverse sliding plate 23.

[0056] like Figure 9As shown, a vertical slide plate 24 is slidably mounted on the horizontal slide plate 23. The vertical slide plate 24 is slidably connected to the horizontal slide plate 23 via a vertically arranged slide rail. A vertical adjustment drive mechanism 22 is bolted to the horizontal slide plate 23, and the output end of the vertical adjustment drive mechanism 22 is connected to the vertical slide plate 24, thereby controlling the vertical slide plate 24 to move vertically. A third limit block 26 is bolted to the horizontal slide plate 23. The third limit block 26 is located below the vertical slide plate 24 and is used to limit the descent height of the vertical slide plate 24. The welding torch 30 is mounted on the vertical slide plate 24 via a mounting plate. Therefore, the position of the torch head of the welding torch 30 can be adjusted by the horizontal adjustment drive mechanism 21 and the vertical adjustment drive mechanism 22.

[0057] like Figure 7 As shown, the floating clamping assembly 12 includes a clamping block 13, an elastic element 14, a mounting base 15, and a distance sensor 18. The mounting base 15 is mounted on the lifting frame 11 and has multiple guide holes. A guide rod 17 is slidably mounted in each guide hole. The upper end of the guide rod 17 extends out of the guide hole and is fitted with a stop block 33 to prevent the guide rod 17 from disengaging from the guide hole. The lower end of the guide rod 17 extends downward and connects to the clamping block 13. The elastic element 14 is positioned between the clamping block 13 and the mounting base 15. The elastic element 14 is a spring and is sleeved on the guide rod 17, allowing the clamping block 13 to move along the length of the guide rod 17. Under the action of the spring, the clamping block 13 can press the skin onto the crossbeam. The clamping block 13 has a welding groove 16, which is U-shaped. The nozzle of the welding torch 30 passes through the welding groove 16 to perform penetration welding on the skin and crossbeam pressed under the clamping block 13.

[0058] The distance sensor 18 is mounted on the mounting base 15 via a mounting plate. The distance sensor 18 is located directly above the guide rod 17. When the clamping block 13 presses against the floor plate 32 of the carriage, the guide rod 17 will move upward. The distance sensor 18 can detect the movement distance of the upper end of the guide rod 17 to determine whether it is clamped.

[0059] The PLC controller can receive signals from the sensing mechanism 3 and the distance sensor 18, and send signals to the servo motor 27, the clamping drive mechanism 10, and the welding control cabinet 8.

[0060] The welding method of the automated multi-point penetration welding fixture for the car body floor includes:

[0061] S1. After the carriage floor 32 is conveyed to the position by the conveyor belt 31, the servo motor 27 controls the gantry frame 2 to move along the linear track 1.

[0062] S2. After the inductive proximity magnetic sensor 5 of the sensing mechanism 3 detects the crossbeam, it sends a signal to the PLC controller. The PLC controller sends a stop signal to the servo motor 27, and the servo motor 27 stops working. At this time, the clamping block 13 is aligned with the crossbeam of the carriage floor 32.

[0063] S3, the PLC controller sends a clamping signal to the clamping drive mechanism 10, the clamping drive mechanism 10 drives the lifting frame 11 to move downward, and the clamping block 13 gradually presses against the skin and crossbeam;

[0064] S4. The distance sensor 18 detects the movement distance of the guide rod 17 and sends the distance signal to the PLC controller. When all the distance signals received by the PLC controller are greater than the preset distance, it indicates that all welding points are pressed into place. The PLC controller sends a movement command to the welding gun adjustment mechanism 7.

[0065] S5. If the tip of the welding torch 30 is not aligned with the welding groove 16 of the clamping block 13, the horizontal adjustment drive mechanism 21 of the welding torch adjustment mechanism 7 controls the horizontal slide plate 23 to reset, so that the tip of the welding torch 30 is aligned with the welding groove 16 of the clamping block 13. The vertical adjustment drive mechanism 22 of the welding torch adjustment mechanism 7 controls the vertical slide plate 24 to move downward, so that after the tip of the welding torch 30 enters the working position, the PLC controller sends a signal to the welding control cabinet 8 to perform penetration welding.

[0066] This automated multi-point penetration welding fixture for the car body floor can perform multi-point welding of the floor skin and floor beams for various car models without rotating the floor 32 by 180 degrees. It uses a servo motor 27 in conjunction with a rack and pinion 28 to drive the gantry frame 2, providing a long drive distance, precise and controllable travel speed, and smooth operation. Employing an inductive proximity magnetic sensor 5 with an adjustable mounting bracket, it can automatically locate the beam to be welded, shortening the debugging cycle, providing extremely high positioning accuracy, and offering simplicity and efficiency. Single-sided welding and double-sided forming are possible, satisfying the welding of any floor structure skin within a length of 10.5 meters. This reduces tooling investment, simplifies debugging, greatly improves its flexibility in adapting to different car models, shortens the introduction time of new models, and can meet the needs of multi-model floor skin welding on a co-line production line. The equipment provides stable welding quality and high welding efficiency.

[0067] The above-described embodiments are only used to illustrate the technical solutions of this application, and are not intended to limit them. Although this application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of this application, and should all be included within the protection scope of this application.

Claims

1. An automated multi-point penetration welding fixture for the floor skin of a train carriage, characterized in that: Includes linear track (1), gantry frame (2), sensing mechanism (3), clamping mechanism (6), welding torch adjustment mechanism (7), welding torch (30), and PLC controller; The gantry frame (2) is mounted on the walking guide mechanism, so that the gantry frame (2) can move along the straight track (1); The sensing mechanism (3) is located at the bottom of the gantry frame (2) and is used to detect the crossbeams of the carriage floor (32); The pressing mechanism (6) is installed on the gantry frame (2) and is used to press the skin onto the crossbeam; The welding torch (30) is mounted on the welding torch adjustment mechanism (7), which is mounted on the clamping mechanism (6) to adjust the position of the welding torch (30) to facilitate welding of the skin and crossbeams below the gantry frame (2); The PLC controller is used to receive signals from the sensing mechanism (3) to control the start and stop of the walking guide mechanism; The pressing mechanism (6) includes a pressing drive mechanism (10), a lifting frame (11), and a floating pressing component (12). The pressing drive mechanism (10) is installed on the gantry frame (2). The lifting frame (11) is vertically slidably installed on the gantry frame (2). The output end of the pressing drive mechanism (10) is connected to the lifting frame (11). The floating pressing component (12) is installed on the lifting frame (11). The pressing drive mechanism (10) is used to control the lifting frame (11) to move vertically so that the floating pressing component (12) presses the skin onto the crossbeam. The floating clamping assembly (12) includes a clamping block (13), an elastic element (14), and a mounting base (15). The mounting base (15) is mounted on the lifting frame (11). The clamping block (13) is elastically connected to the mounting base (15) through the elastic element (14), so that the clamping block (13) can press the skin onto the crossbeam. The clamping block (13) has a welding groove (16), and the tip of the welding gun (30) passes through the welding groove (16) to perform penetration welding on the skin and crossbeam pressed under the clamping block (13); The welding torch adjustment mechanism (7) includes a horizontal adjustment drive mechanism (21), a vertical adjustment drive mechanism (22), a horizontal sliding plate (23), and a vertical sliding plate (24). The lateral adjustment drive mechanism (21) is mounted on the lifting frame (11), and the lateral slide plate (23) is laterally mounted on the lifting frame (11). The output end of the lateral adjustment drive mechanism (21) is connected to the lateral slide plate (23) to control the lateral slide plate (23) to move laterally. The vertical adjustment drive mechanism (22) is mounted on the horizontal slide plate (23), and the vertical slide plate (24) is vertically mounted on the horizontal slide plate (23). The output end of the vertical adjustment drive mechanism (22) is connected to the vertical slide plate (24) to control the vertical slide plate (24) to move vertically. The welding torch (30) is mounted on the vertical slide plate (24).

2. The automated multi-point penetration welding fixture for the car floor as described in claim 1, characterized in that: The mounting base (15) has a guide hole, and a guide rod (17) is slidably arranged in the guide hole. The upper end of the guide rod (17) extends out of the guide hole and is provided with a stop block (33). The lower end of the guide rod (17) extends downward and connects to the clamping block (13). The elastic element (14) is arranged between the clamping block (13) and the mounting base (15). The elastic element (14) is sleeved on the guide rod (17), so that the clamping block (13) moves along the length direction of the guide rod (17).

3. The automated multi-point penetration welding fixture for the car floor as described in claim 2, characterized in that: A distance sensor (18) is provided on the mounting base (15). The distance sensor (18) is used to detect the movement distance of the upper end of the guide rod (17). The distance sensor (18) is connected to the PLC controller so that the PLC controller can determine whether the clamping block (13) is clamped according to the signal of the distance sensor (18).

4. The automated multi-point penetration welding fixture for the car floor as described in claim 1, characterized in that: The lifting frame (11) is provided with a first limiting block (19), and the gantry frame (2) is provided with a first fixing rod (20) that cooperates with the first limiting block (19) to limit the maximum distance of the lifting frame (11) from falling.

5. The automated multi-point penetration welding fixture for the car floor as described in claim 1, characterized in that: A second limiting block (25) is provided on the horizontal sliding plate (23), and a second fixing rod that cooperates with the second limiting block (25) is provided on the lifting frame (11) to limit the lateral movement range of the horizontal sliding plate (23); a third limiting block (26) is provided on the horizontal sliding plate (23), and the third limiting block (26) is used to limit the maximum distance of the vertical sliding plate (24) from falling.

6. The welding method of the automated multi-point penetration welding fixture for the floor skin of a carriage as described in claim 3, characterized in that: include: S1. After the car floor (32) is delivered to the position, the traveling guide mechanism controls the gantry frame (2) to move along the straight track (1); S2. After the sensing mechanism (3) detects the crossbeam, it sends a signal to the PLC controller, and the PLC controller sends a stop signal to the walking guide mechanism. S3, the PLC controller sends a clamping signal to the clamping drive mechanism (10), and the clamping drive mechanism (10) drives the floating clamping component (12) on the lifting frame (11) to press against the skin and the crossbeam; S4. The distance sensor (18) detects the movement distance of the guide rod (17) and sends the distance signal to the PLC controller. When all the distance signals received by the PLC controller are greater than the preset distance, the PLC controller sends a movement command to the welding torch adjustment mechanism (7). S5. The welding torch adjustment mechanism (7) controls the welding torch (30) to move to the working position for penetration welding.

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