Automatic welding platform and welding method for mine hydraulic support

Abstract

The invention relates to an automatic mine hydraulic support welding platform which comprises a platform base, a moving seat is assembled on the platform base in the front-back direction in a guiding and moving mode, a vertical groove is formed in the moving seat, a lifting support is assembled in the vertical groove in a guiding and moving mode, and the space between the lifting support and the groove bottom of the vertical groove is filled with hydraulic oil. An oil inlet and an oil outlet are formed in the groove wall of the vertical groove, the oil inlet is connected with an oil pump, a welding platform with the rotating axis extending in the left-right direction is hinged to the lifting support, a longitudinal guide rail with the guiding direction extending in the front-back direction is arranged on the upper side of the welding platform, and a welding gun base is assembled on the longitudinal guide rail in a guiding and moving mode. A welding gun and a positioning roller in contact rolling fit with the upper end surface of the top plate of the top beam are arranged on the welding gun seat; and the positioning roller is positioned on the front side of the welding gun. According to the automatic welding platform and method for the mine hydraulic support, automatic welding between a top beam top plate and a top beam left side plate (or a top beam right side plate) can be achieved.

Description

Technical Field

[0001] The invention relates to the technical field of automated welding, and in particular to an automated welding platform and a welding method for a mine hydraulic support. Background Art

[0002] The mine hydraulic support is the main supporting equipment in coal mine equipment. It is a box-type welded structure. There are many parts of the mine hydraulic support, including the top beam, the shield beam and the base. The structure of the top beam is as follows: Figure 1 As shown, the top beam 10 is a box-type welded structure as a whole, which includes a top beam top plate 3, a top beam bottom plate 9 and top beam side plates arranged around the top beam top plate and the top beam bottom plate. The top beam side plates include a top beam front side plate 1, a top beam rear side plate 8, a top beam left side plate 7 and a top beam right side plate. The top beam side plates are all welded to the top beam bottom plate and the top beam top plate.

[0003] When in use, the top beam is a cantilever structure with the rear end connected to the bracket body and the front end suspended. Therefore, in order to ensure the supporting strength of the top beam, the rear end thickness of the top beam is greater than the front end thickness of the top beam, that is, the height of the left side plate and the right side plate of the top beam is higher at the rear end and lower at the front end, which is reflected in the welds between the top plate of the top beam and the left side plate and the right side plate of the top beam. The weld between the top plate of the top beam and the left side plate of the top beam (or the right side plate of the top beam) includes a first straight weld 6 at one end and a second weld 4 at one end intersecting with the first weld at a certain angle, and the top plate of the top beam includes a straight plate section 5 corresponding to the first weld and an oblique straight plate section 2 corresponding to the second weld.

[0004] Since the first weld and the second weld intersect at an angle rather than being a weld extending in a straight line, it is not easy to automate the first weld and the second weld. They either need to be operated manually, which is labor-intensive and difficult to ensure welding quality. Or they need to be welded by a fully automatic welding robot with more degrees of freedom. The purchase cost of this fully automatic welding robot is very high, and the failure rate is high, which will increase the production cost of the product and the burden on the enterprise. Summary of the invention

[0005] The object of the present invention is to provide an automatic welding platform for a mine hydraulic support which can realize automatic welding between a top beam top plate and a left side plate of the top beam (or between right side plates of the top beam); the object of the present invention is also to provide a welding method for the automatic welding platform for a mine hydraulic support.

[0006] In order to solve the above technical problems, the technical solution of an automatic welding platform for a mine hydraulic support in the present invention is as follows: The invention relates to an automated welding platform for a mining hydraulic support, comprising a platform base, a movable seat being installed on the platform base for guiding movement along the front-back direction, the movable seat being driven by a movable seat driving mechanism, a vertical groove being arranged on the movable seat, a lifting support being installed for guiding movement in the vertical groove, hydraulic oil being filled between the lifting support and the bottom of the vertical groove, an oil inlet and an oil outlet being arranged on the groove wall of the vertical groove, the oil inlet being connected to an oil pump, the oil outlet being connected to an oil outlet switch valve and a buffer oil tank, a welding platform with a rotation axis extending in the left-right direction being hinged on the lifting support, the welding platform being driven by a platform driving motor to rotate around the hinge axis, a top beam positioning structure being arranged on the welding platform, a longitudinal guide rail being arranged on the upper side of the welding platform for guiding movement in the front-back direction, a welding gun seat being installed for guiding movement on the longitudinal guide rail, a welding gun and a positioning roller for contacting and rolling with the upper end surface of the top plate of the top beam being arranged on the welding gun seat, the positioning roller being located at the front side of the welding gun.

[0007] Furthermore, the welding gun seat includes an upper welding gun seat that cooperates with the longitudinal guide rail for guiding and moving in the front-to-back direction, and the upper welding gun seat is driven by the upper welding gun seat mechanism. The welding gun seat also includes a lower welding gun seat that cooperates with the upper welding gun seat for guiding and moving in the left-right direction, and the lower welding gun seat is driven by the lower welding gun seat mechanism. The positioning roller and the welding gun are arranged on the lower welding gun seat.

[0008] Furthermore, an upper walking wheel that is in contact and rolling cooperation with the longitudinal guide rail is provided on the upper welding gun seat, and the upper welding gun seat mechanism includes an upper walking wheel motor that is transmission-connected to the upper walking wheel; a lower walking wheel that is in contact and rolling cooperation with the upper welding gun seat is provided on the lower welding gun seat, and the lower welding gun seat mechanism includes a lower walking wheel motor that is transmission-connected to the lower walking wheel.

[0009] Furthermore, a base rail is provided on the platform base, and the guiding direction extends along the front-to-back direction. The movable seat anti-rotation guide is assembled on the base rail. The movable seat driving mechanism includes a movable seat driving motor. A driving screw with an axis extending along the front-to-back direction is provided on the motor shaft of the movable seat driving motor. The driving screw is threadedly connected to the bottom of the movable seat.

[0010] Furthermore, the mine hydraulic support automated welding platform also includes a controller that is controlled and connected to the moving seat drive motor, the platform drive motor and the oil outlet switch valve.

[0011] The technical solution of the welding method in the present invention is: The method comprises the following steps: first, fixing the top beam to the upper side of the welding platform through the top beam positioning structure, the top beam top plate is located on the upper side of the top beam bottom plate, rotating the welding platform, adjusting the level of the straight plate section of the top beam, and the acute angle between the straight plate section and the oblique straight plate section of the top beam is B; second, closing the oil outlet switch valve, pumping oil to the oil inlet of the vertical groove, the height of the welding platform is increased, the positioning roller on the welding gun seat is in contact and rolling cooperation with the upper end surface of the top beam, and the welding gun corresponds to the height of the rear end of the first weld; third, the welding gun seat The welding gun moves from back to front, and the welding gun completes the welding of the first weld until it moves to the connection position of the first weld and the second weld, and the welding gun stops working; the fourth step, the platform driving motor swings the rear end of the welding platform downward, opens the oil outlet switch valve, and adjusts the level of the inclined straight plate section of the top beam. During this process, the rotation angle of the welding platform is B. Under the top pressure of the positioning roller, the hydraulic oil on the lower side of the lifting support flows to the buffer oil tank through the oil outlet. The lifting support drops to a height of h, and the moving seat moves forward by L. in Where M represents the distance between the connection position of the first weld and the second weld and the rotation axis of the welding platform; In the fifth step, the welding gun holder moves from back to front with the welding gun, and the welding gun completes the welding of the second weld.

[0012] The beneficial effects of the present invention are as follows: in the present invention, firstly, the level of the first weld is adjusted by rotating the welding platform, and the welding of the first weld can be easily completed by moving the welding gun from back to front. When the welding gun moves to the connection position of the first weld and the first weld, the welding gun stops working. At this time, the welding platform is rotated to adjust the level of the second weld, and the welding of the second weld can be completed by horizontally moving the welding gun from back to front. However, when the welding platform is rotated backward, the connection position of the first weld and the second weld will change, and this connection position will move beyond the rear upper side compared to the original position. In the present invention, by opening the oil outlet switch valve, the overall height of the welding platform can be lowered by pressing the positioning roller, so that the connection position height of the first weld and the second weld is consistent with the height before the welding platform is swung, and by moving the moving seat forward, the connection position of the first weld and the second weld is consistent with the position before the welding platform is swung, so that when the welding gun works again, it can be connected to the front end of the first weld and complete the welding of the second weld by translating from back to front. BRIEF DESCRIPTION OF THE DRAWINGS

[0013] By reading the following detailed description with reference to the accompanying drawings, the above and other objects, features and advantages of the exemplary embodiments of the present disclosure will become readily understood. In the accompanying drawings, several embodiments of the present disclosure are shown in an exemplary and non-limiting manner, and the same or corresponding reference numerals represent the same or corresponding parts, wherein: Figure 1It is a structural schematic diagram of a top beam in the prior art; Figure 2 This is a usage state diagram of an embodiment of a mine hydraulic support automated welding platform of the present invention; Figure 3 yes Figure 2 Schematic diagram of the state after the middle welding platform is rotated and the inclined straight plate section of the top beam is adjusted to be horizontal; Figure 4 yes Figure 2 Schematic diagram of the coordination between the welding platform and the lifting support; Figure 5 It is a principle diagram of the position change of the connection positions of the first weld and the second weld after the rotating platform is rotated and adjusted in the present invention; 1. Front side plate of top beam; 2. Oblique straight plate section; 3. Top plate of top beam; 4. Second weld; 5. Straight plate section; 6. First weld; 7. Left side plate of top beam; 8. Rear side plate of top beam; 9. Bottom plate of top beam; 10. Top beam; 11. Longitudinal guide rail; 12. Upper side running wheel; 13. Upper side welding gun seat; 14. Lower side running wheel; 15. Lower side welding gun seat; 16. Positioning roller; 17. Welding gun; 18. Top beam positioning structure; 19. Positioning clamp; 20. Welding platform; 2 1. Lifting support; 22. Oil storage tank; 23. Oil pump; 24. Hydraulic oil; 25. Buffer tank; 26. Oil inlet; 27. Oil outlet; 28. Moving seat; 29. ​​Driving screw; 30. Moving seat driving motor; 31. Platform base; 32. Platform driving motor; 33. Rotation axis of welding platform; 34. Connection position of the first weld and the second weld before the welding platform rotates; 35. Connection position of the first weld and the second weld after the welding platform rotates. DETAILED DESCRIPTION

[0014] In order to facilitate the understanding of the present invention, the present invention is described in more detail below in conjunction with the accompanying drawings and specific embodiments. Preferred embodiments of the present invention are provided in the accompanying drawings. However, the present invention can be implemented in many different forms and is not limited to the embodiments described in this specification. On the contrary, the purpose of providing these embodiments is to make the understanding of the disclosure of the present invention more thorough and comprehensive.

[0015] It should be noted that, unless otherwise defined, all technical and scientific terms used in this specification have the same meaning as those commonly understood by those skilled in the art of the present invention. The terms used in the specification of the present invention are only for the purpose of describing specific embodiments and are not intended to limit the present invention.

[0016] The embodiment of the automatic welding platform of a mine hydraulic support in the present invention is as follows: Figures 2~5As shown: it includes a platform base 31, on which a base guide rail is provided with a guiding direction extending in the front-to-back direction, a moving seat 28 is assembled on the base guide rail for preventing rotation and guiding movement, and the moving seat 28 is driven by a moving seat driving mechanism. Specifically, the moving seat driving mechanism includes a moving seat driving motor 30, on the motor shaft of the moving seat driving motor 30, a driving screw 29 with an axis extending in the front-to-back direction is provided, the driving screw 29 is threadedly connected to the bottom of the moving seat, the driving screw and the moving seat constitute a screw nut mechanism, when the driving screw rotates forward, the moving seat can move forward along the base guide rail, and when the driving screw rotates reversely, the moving seat can move backward along the base guide rail.

[0017] A vertical groove is provided on the moving seat, and a lifting support 21 is installed in the guide seal movement in the vertical groove. The lifting support is similar to a piston. Hydraulic oil 24 is filled between the lifting support and the bottom of the vertical groove. An oil inlet 26 and an oil outlet 27 are provided at the bottom of the groove wall of the vertical groove. The oil inlet is connected to an oil pump 23 and an oil storage tank 22, and the oil outlet is connected to an oil outlet switch valve and a buffer oil tank 25. The buffer oil tank is connected to the oil pump through an oil circuit, and a corresponding valve is provided on the oil circuit. The oil pump 23 can pump the oil in the buffer oil tank 25 into the oil storage tank 22, and the oil pump can also pump the oil in the oil storage tank into the vertical groove on the lower side of the moving seat. When the oil outlet switch valve is closed, the hydraulic oil in the oil storage tank is pumped into the vertical groove on the lower side of the moving seat by the oil pump, and the lifting support can move upward. A displacement sensor for detecting the up and down displacement of the lifting support is provided on the moving seat.

[0018] A welding platform 20 with a rotation axis extending in the left-right direction is hinged on the lifting support through a hinge shaft. The welding platform 20 is driven by a platform driving motor 32 to rotate around the hinge axis of the hinge shaft. A top beam positioning structure 18 is provided on the welding platform. The top beam positioning structure is distributed on the front and rear sides of the top beam. The top beam positioning structure includes a positioning clamping plate 19 connected with a clamping spring. When the top beam is placed between the positioning clamping plates on both sides, the clamping plate spring forces the positioning clamping plates on the front and rear sides to move relative to each other, clamping and fixing the top beam, thereby realizing the positioning of the top beam on the welding platform.

[0019] A longitudinal guide rail 11 is provided on the upper side of the welding platform, and the guiding direction extends along the front-to-back direction. A welding gun seat is installed on the longitudinal guide rail for guiding movement. The welding gun seat is provided with a welding gun 17 and a positioning roller 16 for rolling contact with the upper end surface of the top beam and top plate. The positioning roller is located at the front side of the welding gun.

[0020] In this embodiment, the welding gun seat includes an upper welding gun seat 13 that is guided and moved in cooperation with the longitudinal guide rail in the front-to-back direction, the upper welding gun seat is driven by the upper welding gun seat mechanism, the welding gun seat also includes a lower welding gun seat 15 that is guided and moved in cooperation with the upper welding gun seat in the left-right direction, the lower welding gun seat is driven by the lower welding gun seat mechanism, and the positioning roller and the welding gun are arranged on the lower welding gun seat. The upper welding gun seat is provided with an upper walking wheel 12 that is contacted and rolled with the longitudinal guide rail, and the upper welding gun seat mechanism includes an upper walking wheel motor that is connected to the upper walking wheel by transmission; the lower welding gun seat is provided with a lower walking wheel 14 that is contacted and rolled with the upper welding gun seat, and the lower welding gun seat mechanism includes a lower walking wheel motor that is connected to the lower walking wheel by transmission. In other words, the left-right movement of the welding gun can be realized by the left-right movement of the lower welding gun seat, and the front-to-back movement of the welding gun can be realized by the front-to-back movement of the upper welding gun seat.

[0021] The mine hydraulic support automated welding platform also includes a controller connected to the mobile seat drive motor 30, the platform drive motor 32, the oil outlet switch valve, the upper side walking wheel motor, the lower side walking wheel motor and the welding gun 17, and the controller is connected to the displacement sensor for sampling.

[0022] When in use, first complete the welding of the first weld 6 between the straight plate section and the top beam side plate, specifically position the top beam on the welding platform, the distance M between the connection position of the first weld 6 and the second weld 4 and the rotation axis of the welding platform is known and can be measured. Rotate the welding platform, adjust the level of the first weld, pump oil to the lower side of the lifting support, and raise the height of the lifting support until the positioning roller contacts and cooperates with the upper side of the top beam top plate. At this time, the height position of the welding gun corresponds to the height position of the first weld, and the welding gun moves from back to front to complete the welding of the first weld. During this process, the oil outlet switch valve is closed, and the height of the lifting support no longer changes. When the welding gun reaches the front end of the first weld, the welding gun stops working, the controller opens the oil outlet switch valve, and the controller controls the welding platform to rotate. When the rear end of the welding platform swings downward at an angle of B, the oblique straight plate section of the top beam top plate is horizontal, that is, the second weld is horizontal, and B is the acute angle between the straight plate section of the top beam and the oblique straight plate section. During the rotation of the welding platform, the connection position of the first weld and the second weld will change. Specifically, compared with before the rotation, it moves to the upper right side, and the positioning roller can locate the height of the oblique straight plate section. Under the top pressure of the positioning roller, the hydraulic oil on the lower side of the lifting support is squeezed into the buffer oil tank, and the height of the lifting support is reduced. At the same time, according to the formula The backward moving distance L1 of the first weld and the second weld during the swinging process can be calculated, L1=L, the controller controls the moving seat to move forward a distance L, and the welding gun can just correspond to the rear end of the second weld. Then the welding gun moves from back to front to complete the welding of the second weld.

[0023] Where h represents the downward displacement of the lifting support during the swinging process measured by the displacement sensor.

[0024] A welding method using the above-mentioned mine hydraulic support automated welding platform is characterized in that: the method comprises the following steps: the first step is to fix the top beam to the upper side of the welding platform through the top beam positioning structure of the mine hydraulic support automated welding platform, the top beam top plate is located on the upper side of the top beam bottom plate, the welding platform is rotated, and the straight plate section of the top beam is adjusted to be horizontal, and the acute angle between the straight plate section of the top beam and the oblique straight plate section is B; the second step is to close the oil outlet switch valve, and by pumping oil to the oil inlet of the vertical groove, the height of the welding platform is increased, and the positioning roller on the welding gun seat is in contact and rolling cooperation with the upper end surface of the top beam. , the welding gun corresponds to the height of the rear end of the first weld; the third step, the welding gun seat moves with the welding gun from back to front, and the welding gun completes the welding of the first weld until the welding gun moves to the connection position of the first weld and the second weld, and the welding gun stops working; the fourth step, the platform drive motor swings the rear end of the welding platform downward, opens the oil outlet switch valve, and adjusts the level of the inclined straight plate section of the top beam. During this process, the rotation angle of the welding platform is B. Under the top pressure of the positioning roller, the hydraulic oil on the lower side of the lifting support flows to the buffer oil tank through the oil outlet. The lifting support drops to a height of h, and the moving seat moves forward by L. in Where M represents the distance between the connection position of the first weld and the second weld and the rotation axis of the welding platform; In the fifth step, the welding gun holder moves from back to front with the welding gun, and the welding gun completes the welding of the second weld.

[0025] The specific structure of the automatic welding platform for mining hydraulic supports is the same as that of the automatic welding platform for mining hydraulic supports in the above-mentioned embodiments, and will not be described in detail here.

[0026] like Figure 5 As shown, Figure 5 In the figure, the dotted line indicates the posture of the top beam and top plate before the welding platform rotates. Figure 5 Item 34 indicates the connection position of the first weld and the second weld before the welding platform is rotated; Item 35 indicates the connection position of the first weld and the second weld after the welding platform is rotated; Item 33 indicates the rotation axis of the welding platform.

[0027] In the above description of this specification, unless otherwise clearly specified and limited, the terms "fixed", "installed", "connected" or "connected" should be understood in a broad sense. For example, with regard to the term "connection", it can be a fixed connection, a detachable connection, or an integral one; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, or it can be the internal connection of two elements or the interaction relationship between two elements. Therefore, unless otherwise clearly defined in this specification, those skilled in the art can understand the specific meanings of the above terms in the present invention according to the specific circumstances.

[0028] According to the above description of this specification, those skilled in the art may also understand that the terms used below, such as "up", "down", "front", "back", "left", "right", "length", "width", "thickness", "vertical", "horizontal", "top", "bottom", "inside", "outside", "axial", "radial", "circumferential", "center", "longitudinal", "lateral", "clockwise" or "counterclockwise", etc., which indicate the orientation or position relationship, are based on the orientation or position relationship shown in the drawings of this specification, and are only for the purpose of facilitating the explanation of the scheme of the present invention and simplifying the description, rather than explicitly or implicitly indicating that the device or element involved must have the specific orientation, be constructed and operate in a specific orientation. Therefore, the above-mentioned orientation or position relationship terms cannot be understood or interpreted as limitations on the scheme of the present invention.

[0029] In addition, the terms "first" or "second" used in this specification to refer to numbers or ordinals are only used for descriptive purposes and cannot be understood as explicitly or implicitly indicating relative importance or implicitly indicating the number of technical features indicated. Therefore, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In the description of this specification, the meaning of "plurality" is at least two, such as two, three or more, etc., unless otherwise clearly and specifically defined.

[0030] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A mining hydraulic support automated welding platform, characterized by: The movable seat is driven by a movable seat driving mechanism, and a vertical groove is arranged on the movable seat. A lifting support is arranged on the guiding and moving support in the vertical groove. Hydraulic oil is filled between the lifting support and the bottom of the vertical groove. An oil inlet and an oil outlet are arranged on the groove wall of the vertical groove. The oil inlet is connected to an oil pump, and the oil outlet is connected to an oil outlet switch valve and a buffer oil tank. A welding platform with a rotating axis extending in the left and right directions is hinged on the lifting support. The welding platform is driven by a platform driving motor to rotate around the hinge axis. A top beam positioning structure is arranged on the welding platform. A longitudinal guide rail with a guiding direction extending in the front and back directions is arranged on the upper side of the welding platform. A welding gun seat is arranged on the guiding and moving support on the longitudinal guide rail. A welding gun and a positioning roller for contacting and rolling with the upper end surface of the top beam plate are arranged on the welding gun seat. The positioning roller is located at the front side of the welding gun.

2. The mine hydraulic support automated welding platform according to claim 1 is characterized by: The welding gun seat includes an upper welding gun seat that cooperates with the longitudinal guide rail for guiding and moving in the front-to-back direction, and the upper welding gun seat is driven by the upper welding gun seat mechanism. The welding gun seat also includes a lower welding gun seat that cooperates with the upper welding gun seat for guiding and moving in the left-right direction, and the lower welding gun seat is driven by the lower welding gun seat mechanism. The positioning roller and the welding gun are arranged on the lower welding gun seat.

3. The mine hydraulic support automated welding platform according to claim 2 is characterized by: The upper welding gun seat is provided with an upper walking wheel which is in contact and rolling cooperation with the longitudinal guide rail, and the upper welding gun seat mechanism includes an upper walking wheel motor which is transmission connected to the upper walking wheel; the lower welding gun seat is provided with a lower walking wheel which is in contact and rolling cooperation with the upper welding gun seat, and the lower welding gun seat mechanism includes a lower walking wheel motor which is transmission connected to the lower walking wheel.

4. The mine hydraulic support automated welding platform according to claim 1 is characterized by: The platform base is provided with a base rail whose guiding direction extends in the front-to-back direction; the movable seat anti-rotation guide is assembled on the base rail; the movable seat driving mechanism includes a movable seat driving motor; a driving screw whose axis extends in the front-to-back direction is provided on the motor shaft of the movable seat driving motor; the driving screw is threadedly connected to the bottom of the movable seat.

5. The mine hydraulic support automated welding platform according to claim 4 is characterized by: The mine hydraulic support automatic welding platform also includes a controller which is connected to the moving seat driving motor, the platform driving motor and the oil outlet switch valve.

6. A welding method using the mine hydraulic support automated welding platform according to any one of claims 1 to 5, characterized in that: The method comprises the following steps: first, fixing the top beam to the upper side of the welding platform through the top beam positioning structure, the top beam top plate is located on the upper side of the top beam bottom plate, rotating the welding platform, adjusting the level of the straight plate section of the top beam, and the acute angle between the straight plate section and the oblique straight plate section of the top beam is B; second, closing the oil outlet switch valve, pumping oil to the oil inlet of the vertical groove, the height of the welding platform is increased, the positioning roller on the welding gun seat is in contact and rolling cooperation with the upper end surface of the top beam, and the welding gun corresponds to the height of the rear end of the first weld; third, the welding gun seat The welding gun moves from back to front, and the welding gun completes the welding of the first weld until it moves to the connection position of the first weld and the second weld, and the welding gun stops working; the fourth step, the platform driving motor swings the rear end of the welding platform downward, opens the oil outlet switch valve, and adjusts the level of the inclined straight plate section of the top beam. During this process, the rotation angle of the welding platform is B. Under the top pressure of the positioning roller, the hydraulic oil on the lower side of the lifting support flows to the buffer oil tank through the oil outlet. The lifting support drops to a height of h, and the moving seat moves forward by L. in Where M represents the distance between the connection position of the first weld and the second weld and the rotation axis of the welding platform; In the fifth step, the welding gun holder moves from back to front with the welding gun, and the welding gun completes the welding of the second weld.

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