A self-positioning bucket welding tool

Abstract

The present invention discloses a self-positioning bucket welding tool, and relates to the technical field of bucket processing equipment. The present invention includes a tracking mechanism, which is provided with a support column, a cantilever is rotatably connected to the top of the support column, a positioning piece is installed on one side of the cantilever, a welding arm is installed on the bottom of the cantilever, a displacement mechanism is provided on one side of the support column, and the displacement mechanism includes a base, a support table is rotatably connected to one side of the base, a goniometer is provided on one side of the support table, a turntable mechanism is rotatably connected to the top of the support table, the turntable mechanism can rotate parallel to the support table, a welding table is provided on the top of the turntable mechanism, and a bucket is installed on the top of the welding table. The present invention realizes a high-precision automatic welding function of self-positioning of the bucket by performing stable and accurate automatic welding on each welding point of the bucket in a limited space.

Description

Technical Field

[0001] The invention relates to the technical field of bucket processing equipment, and in particular to a self-positioning bucket welding tool. Background Art

[0002] Crawler bucket loader is a highly efficient continuous production equipment with high mobility and all-terrain soil-turning and rock-breaking capabilities. The quality of the bucket is directly related to its working performance. During the bucket manufacturing process, components such as the cover plate, bucket teeth, hinge plates and side plates on both sides need to be assembled and welded on the tooling.

[0003] The patent specification with publication number CN114310079B discloses an excavator bucket welding device, which includes a direction-changing adjustable driving device, a fixed base, a cyclone type smoke and dust purification device and a welding device, wherein the fixed base is arranged on the direction-changing adjustable driving device, the cyclone type smoke and dust purification device is located above the direction-changing adjustable driving device, the welding device is located on one side of the direction-changing adjustable driving device, and the direction-changing adjustable driving device includes a driving screw, a driving motor, a slider, a pushing frame, a bearing frame, a sliding rod, an adjustment base and a workbench;

[0004] The tooling installs the welding gun on the welding frame, the welding frame on the transverse drive device, and then the transverse drive device on the vertical drive device, and uses the transverse and vertical two-dimensional movement to achieve coverage of different heights of each welding point of the bucket, and sets the base of the fixed bucket on a laterally displaceable support frame; the shortcomings of this technical solution are that, firstly, although the transverse drive device cooperates with the vertical drive device to fully cover the welding points, since the fixed base can only move forward and backward, when welding a side away from the vertical drive device, it is necessary to shift the welding gun to a position far away from the vertical drive device, resulting in a huge occupation of space for the entire tooling and low space utilization; secondly, the bucket as a whole is composed of multiple parts, and the welding points required for welding are distributed all over its body, front, back, left and right, and mechanical welding is a non-manual operation, so when welding these many welding points, it is necessary to ensure the accurate welding of the positions of each welding point. As an automatic welding device, the tooling does not position the welding points, resulting in the inability to determine the welding accuracy of each welding point after welding is completed. Summary of the invention

[0005] The purpose of the present invention is to provide a self-positioning bucket welding tool, and the technical problems to be solved are as follows: the existing bucket automatic welding tool has the problems of low space utilization and uncertain welding accuracy.

[0006] The purpose of the present invention can be achieved by the following technical solutions:

[0007] A self-positioning bucket welding tool comprises a following mechanism, wherein the following mechanism is provided with a support column, a cantilever is rotatably connected to the top of the support column, a positioning piece is installed on one side of the cantilever, a welding arm is installed on the bottom of the cantilever, a displacement mechanism is provided on one side of the support column, the displacement mechanism comprises a base, a support platform is rotatably connected to one side of the base, a goniometer is provided on one side of the support platform, a turntable mechanism is rotatably connected to the top of the support platform, the turntable mechanism can rotate parallel to the support platform, a welding platform is provided on the top of the turntable mechanism, a bucket is installed on the top of the welding platform, the welding platform is used to fix the various components of the bucket, and the goniometer is used to cooperate with the positioning piece to locate the welding points of the bucket.

[0008] As a further solution of the present invention: the displacement mechanism also includes a driving motor 1 installed on one side of the inside of the base, a driving gear 1 is installed at the output end of the driving motor 1, the driving gear 1 is meshed with a driven gear ring 1, the driven gear ring 1 is fixedly connected to the support platform, the base is provided with a positioning shaft at the axis center of the driven gear ring 1, and the goniometer is installed between the positioning shaft and the support platform.

[0009] As a further solution of the present invention: the support platform includes a side support plate, a support bin is provided at the bottom end of one side of the side support plate, the goniometer includes a pointer fixedly connected to one side of the positioning shaft, and an angle plate is fixedly connected to the middle of the side support plate.

[0010] As a further solution of the present invention: the turntable mechanism includes a second drive motor installed inside the support bin, a second driving gear is installed at the output end of the second drive motor, the second driving gear is meshed with a second driven gear ring, and the top end of the second driven gear ring is connected to the welding table.

[0011] As a further solution of the present invention: the welding platform includes a bottom welding plate fixedly connected to the second driven gear ring, a welding seat is fixedly connected to the top of the bottom welding plate, multiple cylinder frames are installed on both sides of the top of the welding seat, a clamping cylinder is installed on the top of the cylinder frame, a hinge plate positioning frame is fixedly connected to the middle of the top of the welding seat adjacent to the cylinder frame, an inner support frame is installed in the middle of the top of the welding seat, the outer contour of the inner support frame is adapted to the inner shape of the bucket, and an abutment interface is provided on the side of the inner support frame away from the hinge plate positioning frame.

[0012] As a further solution of the present invention: the bucket includes a cover plate, the inner side of the cover plate is adaptively overlapped with the inner support frame, a plurality of bottom grinding plates are arranged along the arc surface on the top end of the cover plate, side plates are arranged on both sides of the cover plate, the side plates are abutted with the clamping cylinder on the adjacent side, a side grinding plate is arranged on the side of the side plate close to the bottom grinding plate, two hinged plates are arranged on the side of the cover plate close to the hinge plate positioning frame, the hinged plates are adaptively connected with the hinge plate positioning frame, a base blade plate is arranged on the side of the cover plate away from the hinge plate positioning frame, the base blade plate overlaps the abutment interface, and a plurality of digging teeth are evenly arranged on the side of the base blade plate.

[0013] As a further solution of the present invention: the tracking mechanism also includes a driving motor three installed inside the cantilever, the output end of the driving motor three is installed with a driving gear three, the driving gear three is meshed with a driven gear ring three, the driven gear ring three is fixedly connected to the support column, the welding arm includes a mechanical arm seat, the mechanical arm seat is installed on the side of the bottom surface of the cantilever away from the support column, the bottom of the mechanical arm seat is rotatably connected to a main rotating arm, the side of the main rotating arm away from the mechanical arm seat is rotatably connected to a secondary rotating arm, and a welding gun is installed at the end of the secondary rotating arm.

[0014] As a further solution of the present invention: the positioning member includes a frame fixedly connected to one side of the cantilever, a camera is installed on the top of the frame, the camera is used to shoot the rotation angle of the goniometer and position the bucket, and a position sensor is installed on one side of the camera, and the position sensor is used to monitor the rotation angle of the cantilever.

[0015] Beneficial effects of the present invention:

[0016] 1. In the present invention, a welding platform is installed on the displacement mechanism, two groups of clamping cylinders are arranged on both sides of the welding platform, a hinge plate positioning frame is arranged on one side of the welding platform, and an inner support frame is arranged in the middle, and an abutment interface is arranged on the side of the inner support frame away from the hinge plate positioning frame. Since the bucket is provided with various components including side plates, hinge plates, base blade plates and bottom grinding plates based on the package plate, the welding platform supports and locks the various components of the bucket correspondingly through the aforementioned structures, which aims to avoid the displacement of various components during mobile welding during the process of mechanical automatic welding of various components of the bucket, and keep the stability of the component when welding a specific component, thereby avoiding the influence of the displacement of the bucket and the displacement of components on the welding accuracy of the bucket, and improving the welding accuracy.

[0017] 2. In the present invention, a goniometer is arranged on one side of the displacement mechanism, and a positioning piece is arranged on one side of the following mechanism. After the turntable mechanism installed on the displacement mechanism rotates the bucket to the welding arm facing the bottom side of the following mechanism, the welding gun welds the bucket. After the welding is completed, the displacement mechanism will rotate to change the welding point. At this time, the camera of the goniometer can observe the rotation angle of the displacement mechanism, and then the following mechanism rotates, and the cantilever is adapted to rotate by the position sensor of the positioning piece. The camera then provides the information of the rotated bucket to the welding arm, and the welding arm welds the welding point after displacement, thereby realizing the positioning function when automatically welding and changing the welding point;

[0018] Furthermore, when welding the bucket, the bucket can keep the welding surface facing the welding arm at all times due to the rotation of the turntable mechanism, and the various components of the bucket are in a stable state during the welding process, and the welding points can be positioned during welding. Therefore, during the process of welding the bucket, the device can perform stable and accurate automatic welding on each welding point of the bucket in a limited space, thereby realizing a high-precision automatic welding function for self-positioning of the bucket. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] The present invention will be further described below in conjunction with the accompanying drawings.

[0020] Figure 1 It is a schematic diagram of the overall structure of the present invention;

[0021] Figure 2 It is a schematic diagram of the partial internal structure of the shifting mechanism of the present invention;

[0022] Figure 3 It is a schematic diagram of the partial internal structure of the turntable mechanism of the present invention;

[0023] Figure 4 It is a partial exploded view of the welding station of the present invention;

[0024] Figure 5 The present invention Figure 1 A magnified detail of the center point A;

[0025] Figure 6 It is a partial structural schematic diagram of the connection between the fixing mechanism and the welding arm of the present invention;

[0026] Figure 7 The present invention Figure 6 Enlarged detail of point B in the middle.

[0027] In the figure: 1. following mechanism; 11. supporting column; 12. cantilever; 13. positioning member; 131. frame; 132. camera; 133. position sensor; 14. driving motor three; 15. driving gear three; 16. driven gear ring three; 2. welding arm; 21. mechanical arm seat; 22. main rotating arm; 23. secondary rotating arm; 24. welding gun; 3. displacement mechanism; 31. base; 32. support platform; 321. side support plate; 322. support bin; 33. goniometer; 331. pointer; 332. angle plate; 3 4. Driving motor 1; 35. Driving gear 1; 36. Driven gear ring 1; 37. Positioning shaft; 4. Turntable mechanism; 41. Driving motor 2; 42. Driving gear 2; 43. Driven gear ring 2; 5. Welding table; 51. Bottom welding plate; 52. Welding seat; 53. Cylinder frame; 54. Clamping cylinder; 55. Hinge plate positioning frame; 56. Inner support frame; 57. Butt joint; 6. Bucket; 61. Package plate; 62. Bottom grinding plate; 63. Side plate; 64. Side grinding plate; 65. Articulated plate; 66. Base blade plate; 67. Digging teeth. DETAILED DESCRIPTION

[0028] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0029] like Figures 1 to 7 As shown, a self-positioning bucket welding tool includes a tracking mechanism 1, which includes a support column 11, the top of the support column 11 is rotatably connected to a cantilever 12, a positioning piece 13 is installed on one side of the cantilever 12, a welding arm 2 is installed at the bottom of the cantilever 12, a displacement mechanism 3 is arranged on one side of the support column 11, the displacement mechanism 3 includes a base 31, one side of the base 31 is rotatably connected to a support platform 32, one side of the support platform 32 is provided with a goniometer 33, the top of the support platform 32 is rotatably connected to a turntable mechanism 4, the turntable mechanism 4 can be horizontally rotated based on the support platform 32, a welding platform 5 is arranged on the top of the turntable mechanism 4, a bucket 6 is installed on the top of the welding platform 5, and the goniometer 33 is used to cooperate with the positioning piece 13 to locate the welding point of the bucket 6.

[0030] like Figure 1 , Figure 2 and Figure 5As shown, the displacement mechanism 3 also includes a driving motor 34 installed on one side of the inner part of the base 31, and a driving gear 35 is installed at the output end of the driving motor 34. The driving gear 35 meshes with a driven gear ring 36, and the driven gear ring 36 is fixedly connected to the support platform 32. The base 31 is provided with a positioning shaft 37 at the axis center of the driven gear ring 36, and the goniometer 33 is installed between the positioning shaft 37 and the support platform 32; the goniometer 33 includes a pointer 331 fixedly connected to the positioning shaft 37, and the support platform 32 is adapted to the pointer 331 and fixedly connected to an angle plate 332 below the positioning shaft 37 (see Figure 5 );

[0031] It should be noted that when the driving motor 34 in the base 31 rotates, the driving gear 35 at the output end drives the driven gear ring 36 to rotate. When the driven gear ring 36 rotates, the support platform 32 fixedly connected thereto rotates accordingly. Preferably, the side shape of the support platform 32 is "L"-shaped, including a side support plate 321 and a support bin 322 fixedly connected to the bottom end of the side support plate 321. The middle part of the side support plate 321 is fixedly connected to the angle plate 332 along the lateral direction of the positioning shaft 37. When the driving motor 34 drives the support platform 32 to rotate, The angle plate 332 rotates accordingly, while the positioning shaft 37 remains stationary during this rotation process, and a pointer 331 is fixedly connected to the positioning shaft 37. The indication of the rotation angle of the angle plate 332 by the positioning pointer 331 realizes the measurement function of the rotation angle of the support platform 32 by the displacement mechanism 3; in addition, since the support platform 32 is used to fix the welding platform 5, and the bucket 6 is fixed on the top of the welding platform 5, the movement of the welding point of the bucket 6 is also realized during the rotation of the support platform 32, which is convenient for the replacement of welding points during the subsequent welding of the welding arm 2.

[0032] like Figure 3 As shown, the turntable mechanism 4 includes a second driving motor 41 installed inside the support bin 322, a second driving gear 42 is installed at the output end of the second driving motor 41, the second driving gear 42 is meshed with a second driven gear ring 43, and the top end of the second driven gear ring 43 is connected to the welding table 5;

[0033] It should be noted that when the driving motor 241 inside the support platform 32 is driven, the driving gear 242 is driven to transmit to the driven gear ring 243. When the driven gear ring 243 rotates, it drives the welding platform 5 connected to the top to rotate, thereby realizing the horizontal rotation of the bucket 6 installed on the top of the welding platform 5. In particular, since the support platform 32 will perform an arc motion in the vertical direction, the support platform 32 will also drive the welding platform 5 to rotate when it rotates. The horizontal motion of the welding platform 5 driven by the driving motor 241 is only relative to the top surface of the support bin 322; the support platform 32 is driven by the driving motor 241 to rotate 360 ​​degrees. During the rotation process, the welding surface of the bucket 6 can be kept facing the side close to the welding arm 2, thereby shortening the moving distance of the welding arm 2 and the fixing mechanism 1 to improve space utilization. In addition, when the support platform 32 is rotated by the driving motor 134, its rotation angle does not exceed the welding point of the welding arm 2 on the edge of the bucket 6.

[0034] like Figure 3 and Figure 4 As shown, the welding platform 5 includes a bottom welding plate 51 fixedly connected to the driven gear ring 2 43, a welding seat 52 is fixedly connected to the top of the bottom welding plate 51, three cylinder frames 53 are installed on both sides of the top of the welding seat 52, and a clamping cylinder 54 is installed on the top of the cylinder frame 53. A hinge plate positioning frame 55 is fixedly connected to the middle of the side adjacent to the cylinder frame 53 at the top of the welding seat 52, and an inner support frame 56 is installed in the middle of the top of the welding seat 52. The outer contour of the inner support frame 56 is adapted to the shape of the inner side of the bucket 6, and a side of the inner support frame 56 away from the hinge plate positioning frame 55 is provided with an abutment interface 57;

[0035] The bucket 6 includes a wrap plate 61 adapted to overlap with the inner support frame 56, the inner side of the wrap plate 61 is adapted to overlap with the inner support frame 56, a plurality of bottom grinding plates 62 are arranged along the arc surface at the top of the wrap plate 61, side plates 63 are arranged on both sides of the wrap plate 61, the side plates 63 are abutted with three clamping cylinders 54 on the adjacent sides, a side grinding plate 64 is arranged on the side of the side plate 63 close to the bottom grinding plate 62, two hinge plates 65 are arranged on the side of the wrap plate 61 close to the hinge plate positioning frame 55, the hinge plates 65 are adapted to be connected with the hinge plate positioning frame 55, a base blade plate 66 is arranged on the side of the wrap plate 61 away from the hinge plate positioning frame 55, the base blade plate 66 is overlapped at the abutment interface 57, and a plurality of digging teeth 67 are evenly arranged on the side of the base blade plate 66;

[0036] It should be noted that the bucket 6 is composed of the above-mentioned many parts. After the parts are initially fixed to various places around the package plate 61, they are placed on the inner support frame 56 of the welding table 5, and then the two sides of the bucket 6 are fixed by the clamping cylinders 54 on both sides. Preferably, the arrangement height of the clamping cylinders 54 is a low-high-low arrangement, which is adapted to the shape of the side plate 63 to improve the uniformity of force and improve the clamping stability. The side with the hinge plate 65 is fixed by the hinge plate positioning frame 55. The hinge plate 65 is provided with a hinge hole connected to the excavator, and the hinge plate positioning frame 55 is provided with a connection hole corresponding to the hinge hole (see Figure 4 ), after the hinge plate positioning frame 55 and the hinge plate 65 are connected, the adjacent through holes can be locked by bolts to complete the fixation of the bucket 6 on that side. In addition, a "V"-shaped abutment interface 57 is set on the side of the welding platform 5 away from the hinge plate 65, so the abutment interface 57 can support the base blade plate 66 on that side of the bucket 6. At this point, the four sides and the internal contour of the bucket 6 are supported by the supporting structure at the corresponding position on the welding platform 5. The bucket 6 can maintain the stability of each component when moving and changing the welding point. At the same time, the positioning of the components can be maintained during welding to avoid the displacement of the components during welding, so that the bucket 6 is in a stable state during movement and welding, thereby improving the welding accuracy.

[0037] like Figure 6 and Figure 7 As shown, the following mechanism 1 also includes a driving motor 3 14 installed on the inner side of the cantilever 12, a driving gear 3 15 is installed on the output end of the driving motor 3 14, the driving gear 3 15 is meshed with a driven gear ring 3 16, the driven gear ring 3 16 is fixedly connected to the support column 11, and the welding arm 2 includes a mechanical arm seat 21, the mechanical arm seat 21 is installed on the side of the bottom surface of the cantilever 12 away from the support column 11, the bottom of the mechanical arm seat 21 is rotatably connected to the main rotating arm 22, the side of the main rotating arm 22 away from the mechanical arm seat 21 is rotatably connected to the secondary rotating arm 23, and the end of the secondary rotating arm 23 is installed with a welding gun 24;

[0038] The positioning member 13 includes a frame 131 fixedly connected to one side of the cantilever 12. The frame 131 is installed in an oblique downward direction facing the bucket 6. A camera 132 is installed on the top of the frame 131. The camera 132 is used to shoot the rotation angle of the goniometer 33 and the positioning of the bucket 6. A position sensor 133 is installed on one side of the camera 132. The position sensor 133 is used to monitor the rotation angle of the cantilever 12.

[0039] It should be noted that after the driving motor 2 41 drives the welding table 5 to rotate the bucket 6 to the side close to the welding gun 24, the welding gun 24 welds the side of the bucket 6 facing the welding gun 24 under the rotation adjustment of the main rotating arm 22 and the secondary rotating arm 23 of the robot arm. After welding is completed, the driving motor 1 34 drives the support table 32 to rotate, and the position information of the bucket 6 locked on the welding table 5 changes accordingly, so as to change the lateral welding position of the bucket 6. At the same time, the changed position information needs to be positioned. At this time, the camera 132 obtains the rotation angle of the goniometer 33, and the driving motor 3 14 rotates synchronously to drive the cantilever 12 to rotate, so as to adjust the welding position of the welding arm 2. The rotation angle of the cantilever 12 is detected by the position sensor 133. After rotating to an appropriate angle, the camera 132 feeds back the position information of the rotated bucket 6 to the welding arm 2, and then the welding gun 24 adjusts the height for welding, thereby realizing the precise positioning welding function of the welding points of each component of the bucket 6.

[0040] The above is a detailed description of an embodiment of the present invention, but the content is only a preferred embodiment of the present invention and cannot be considered to limit the scope of implementation of the present invention. All equivalent changes and improvements made within the scope of the present invention should still fall within the scope of the patent coverage of the present invention.

Claims

1. A self-positioning bucket welding tool, comprising a fixing mechanism (1), wherein the fixing mechanism (1) is provided with a support column (11), wherein the top end of the support column (11) is rotatably connected to a cantilever (12), and wherein: A positioning member (13) is installed on one side of the cantilever (12); a welding arm (2) is installed at the bottom of the cantilever (12); a displacement mechanism (3) is provided on one side of the support column (11); the displacement mechanism (3) comprises a base (31); one side of the base (31) is rotatably connected to a support platform (32); one side of the support platform (32) is provided with a goniometer (33); the top of the support platform (32) is rotatably connected to a turntable mechanism (4); the turntable mechanism (4) can rotate parallel to the support platform (32); a welding platform (5) is provided on the top of the turntable mechanism (4); a bucket (6) is installed on the top of the welding platform (5); the welding platform (5) is used to fix various components of the bucket (6); and the goniometer (33) is used to cooperate with the positioning member (13) to locate the welding points of the bucket (6); The welding table (5) comprises a bottom welding plate (51) fixedly connected to the turntable mechanism (4); a welding seat (52) is fixedly connected to the top of the bottom welding plate (51); a plurality of cylinder frames (53) are installed on both sides of the top of the welding seat (52); a clamping cylinder (54) is installed on the top of the cylinder frame (53); a hinge plate positioning frame (55) is fixedly connected to the middle of the top of the welding seat (52) adjacent to the cylinder frame (53); an inner support frame (56) is installed in the middle of the top of the welding seat (52); the outer contour of the inner support frame (56) is adapted to the inner shape of the bucket (6); and a butt interface (57) is provided on the side of the inner support frame (56) away from the hinge plate positioning frame (55); The bucket (6) comprises a wrap plate (61), the inner side of the wrap plate (61) is adapted to overlap with the inner support frame (56), a plurality of bottom grinding plates (62) are arranged along the arc surface at the top of the wrap plate (61), side plates (63) are arranged on both sides of the wrap plate (61), the side plates (63) are abutted with the clamping cylinder (54) on the adjacent side, a side grinding plate (64) is arranged on the side of the side plate (63) close to the bottom grinding plate (62), two hinge plates (65) are arranged on the side of the wrap plate (61) close to the hinge plate positioning frame (55), the hinge plates (65) are adapted to be connected with the hinge plate positioning frame (55), a base blade plate (66) is arranged on the side of the wrap plate (61) away from the hinge plate positioning frame (55), the base blade plate (66) is overlapped with the abutment interface (57), and a plurality of digging teeth (67) are evenly arranged on the side of the base blade plate (66); The positioning member (13) comprises a frame (131) fixedly connected to one side of the cantilever (12); a camera (132) is installed on the top of the frame (131); the camera (132) is used to photograph the rotation angle of the goniometer (33) and to position the bucket (6); a position sensor (133) is installed on one side of the camera (132); the position sensor (133) is used to monitor the rotation angle of the cantilever (12).

2. The self-positioning bucket welding tool according to claim 1, characterized in that: The displacement mechanism (3) further comprises a driving motor (34) mounted on one side of the interior of the base (31); a driving gear (35) is mounted on the output end of the driving motor (34); the driving gear (35) is meshed with a driven gear ring (36); the driven gear ring (36) is fixedly connected to the support platform (32); a positioning shaft (37) is provided on the base (31) at the axis of the driven gear ring (36); and the goniometer (33) is mounted between the positioning shaft (37) and the support platform (32).

3. The self-positioning bucket welding tool according to claim 2, characterized in that: The support platform (32) comprises a side support plate (321), a support bin (322) is provided at the bottom end of one side of the side support plate (321), the goniometer (33) comprises a pointer (331) fixedly connected to one side of the positioning shaft (37), and an angle plate (332) is fixedly connected to the middle of the side support plate (321).

4. The self-positioning bucket welding tool according to claim 3, characterized in that: The turntable mechanism (4) comprises a second drive motor (41) installed inside the support bin (322); a second driving gear (42) is installed at the output end of the second drive motor (41); the second driving gear (42) is meshed with a second driven gear ring (43); the top end of the second driven gear ring (43) is connected to the welding table (5).

5. The self-positioning bucket welding tool according to claim 1, characterized in that: The tracking mechanism (1) further comprises a driving motor 3 (14) installed inside the cantilever (12); a driving gear 3 (15) is installed at the output end of the driving motor 3 (14); the driving gear 3 (15) is meshed with a driven gear ring 3 (16); the driven gear ring 3 (16) is fixedly connected to the support column (11); the welding arm (2) comprises a mechanical arm seat (21); the mechanical arm seat (21) is installed on a side of the bottom surface of the cantilever (12) away from the support column (11); a main rotating arm (22) is rotatably connected to the bottom of the mechanical arm seat (21); a secondary rotating arm (23) is rotatably connected to the side of the main rotating arm (22) away from the mechanical arm seat (21); a welding gun (24) is installed at the end of the secondary rotating arm (23).

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