Straight seam welding equipment capable of automatically guiding welded junction position

Abstract

The invention relates to straight seam welding equipment capable of automatically guiding a welded junction position, which comprises a feeding conveying mechanism, a guiding mechanism, a welding mechanism and a discharging conveying mechanism, the feeding conveying mechanism and the discharging conveying mechanism are respectively arranged on the left side and the right side of the guiding mechanism, the welding mechanism is arranged above the guiding mechanism, and the guiding mechanism comprises a base. Supports are fixedly arranged on the front side and the rear side of the top of the base, a bidirectional lead screw is horizontally and rotationally arranged between the two supports, one end of the bidirectional lead screw penetrates through the corresponding support and is in transmission connection with a first motor, sliding seats are in threaded sleeve connection with two threaded sections of the bidirectional lead screw, the bottom ends of the sliding seats are in sliding connection with the base, and U-shaped seats are fixedly connected to the top ends of the sliding seats; the U-shaped base is arranged in the left-right direction, rotating shafts are rotationally arranged on the two vertical parts of the U-shaped base, a carrier roller is fixedly connected between the two rotating shafts, and the end, away from the other rotating shaft, of one rotating shaft is in transmission connection with a second motor. Effective guiding, conveying, feeding and automatic guiding of workpieces can be achieved, and the welding efficiency and quality can be better guaranteed.

Description

Technical Field

[0001] The invention belongs to the technical field of welding, and in particular relates to straight seam welding equipment with automatic welding position correction. Background Art

[0002] Gas extraction pipe is a special pipe used to extract gas in coal mines. The production process of the pipe mainly includes rolling, straight seam welding and girth welding. When performing straight seam welding, the weld position on the round pipe fed to the welding station is often unable to accurately align with the welding gun, and manual adjustment is required to manually straighten the opening of the rolled pipe body so that it can enter the seam welding station in the correct posture. Manual operation can easily affect the continuity of the overall processing, and the operation is cumbersome, time-consuming and labor-intensive, which is not conducive to the overall processing efficiency and needs to be solved. Summary of the invention

[0003] In view of this, the object of the present invention is to provide a straight seam welding device with automatic weld position correction to solve the above problems.

[0004] To achieve the above-mentioned purpose, the technical solution adopted by the present invention is: a straight seam welding device with automatic correction of the weld position, comprising a feeding conveying mechanism, a correction mechanism, a welding mechanism, a feeding conveying mechanism and a control center, wherein the feeding conveying mechanism and the feeding conveying mechanism are respectively arranged on the left and right sides of the correction mechanism, and the welding mechanism is arranged above the correction mechanism. The feeding conveying mechanism and the feeding conveying mechanism both include roller conveyors, which convey in the left and right directions and have a plurality of first hydraulic cylinders arranged vertically evenly spaced in the left and right directions on the tops of the front and rear frames of the frame, and the piston rods of the first hydraulic cylinders are all directed toward The piston rod of the first hydraulic cylinder on the same frame is fixedly connected to the same lifting plate, and a plurality of horizontally arranged second hydraulic cylinders are evenly spaced in the left and right directions on the lifting plate, and the piston rods of the second hydraulic cylinders are all facing the direction of the conveying rollers of the roller conveyor and the piston rod of the second hydraulic cylinder on the same lifting plate is fixedly connected to the same movable plate, and a plurality of guide wheels are hingedly provided on the left and right directions on the side of the movable plate away from the lifting plate; the guiding mechanism includes a base, and supports are fixedly provided on the front and rear sides of the top of the base, and a bidirectional screw rod is horizontally and rotatably provided between the two supports, and one end of the bidirectional screw rod penetrates The first motor is connected to the corresponding support through transmission, and the two threaded sections of the bidirectional screw are both threadedly sleeved with a sliding seat, the bottom end of the sliding seat is slidably connected to the base, and the top end is fixedly connected to a U-shaped seat, the U-shaped seat is arranged along the left and right directions, and a rotating shaft is rotatably provided on the two vertical parts thereof, a roller is fixedly connected between the two rotating shafts, and one end of a rotating shaft away from the other rotating shaft passes through the vertical part of the corresponding U-shaped seat and is connected to the second motor through transmission, the welding mechanism includes a top seat, and a third hydraulic cylinder is vertically fixedly provided on the left and right sides of the bottom of the top seat, the piston rod of the third hydraulic cylinder is downward and fixedly connected to a lifting seat, and the lifting seat is horizontal A fourth hydraulic cylinder is fixedly provided, and the piston rods of the two fourth hydraulic cylinders are arranged opposite to each other and are fixedly connected with a magnetorheological push plate. A guide rail is fixedly provided horizontally in the left and right directions on the middle section of the bottom of the top seat, and an electric slider is slidably provided on the guide rail. A fifth hydraulic cylinder is vertically fixedly provided on the bottom end of the electric slider, and the piston rod of the fifth hydraulic cylinder is downward and fixedly connected with a support plate, and a visual sensor and a welding gun are fixedly mounted on the bottom of the support plate, and the roller conveyor, the first hydraulic cylinder, the second hydraulic cylinder, the first motor, the second motor, the third hydraulic cylinder, the fourth hydraulic cylinder, the fifth hydraulic cylinder, the visual sensor and the welding gun are all electrically connected to the control center.

[0005] Preferably, a slide plate is fixedly provided at the bottom end of the slide seat, a slide groove is provided on the top of the base corresponding to the slide plate along the front-to-back direction, and the slide plate is slidably arranged on the slide groove.

[0006] Preferably, the slide plate is matched with the corresponding slide groove.

[0007] Preferably, the magnetorheological push plate includes a base plate fixedly connected to the piston rod of the corresponding fourth hydraulic cylinder, an electromagnetic coil is embedded on the peripheral side of the base plate, a pressure sensor is embedded on the end of the base plate away from the corresponding fourth hydraulic cylinder, the peripheral side of the base plate and the side away from the corresponding fourth hydraulic cylinder are wrapped with a magnetorheological elastomer, the tail end of the pressure sensor extends into the corresponding magnetorheological elastomer, and the electromagnetic coil and the pressure sensor are both electrically connected to the control center.

[0008] Preferably, the frame, base and top seat of the roller conveyor are all made of foam aluminum.

[0009] The beneficial effect of the present invention is that when straight seam welding is performed on the rolled workpiece, the workpiece can be placed on the feeding and conveying mechanism first, and the roller conveyor of the feeding and conveying mechanism drives the workpiece to be conveyed to the right. During the process, the two sets of guide wheels on the feeding and conveying mechanism are pressed against the front and rear sides of the workpiece, which can effectively guide and limit the conveying of the workpiece, thereby effectively ensuring the accurate centering and forward conveying of the workpiece. Then, the workpiece can be accurately conveyed between the two rollers. At this time, the visual sensor is activated to detect the weld of the corresponding workpiece and transmit the detection information to the control center. When the weld of the workpiece is not facing upward, the control center can automatically control the operation of the second motor to drive the corresponding roller to rotate, and the workpiece is driven to rotate by the rotation of the two rollers until the weld on the workpiece is turned to face upward, thereby realizing automatic correction of the weld of the workpiece. Next, the two third hydraulic cylinders are actuated, and their piston rods are extended, driving the two magnetorheological push plates to move down to the left and right sides of the workpiece. Then, the two fourth hydraulic cylinders are actuated, and their piston rods are extended, driving the two magnetorheological push plates to move relative to each other. Through the cooperation of the two sets of magnetorheological push plates, the workpiece can be firmly clamped and fixed on the middle section of the two rollers. After that, the fifth hydraulic cylinder is actuated, and its piston rod is extended, driving the welding gun to move down to a suitable height. Then, the electric slider is actuated, driving the welding gun to move along the weld, and the straight seam welding of the weld can be achieved. After welding, the welding gun is moved up and reset, and then the magnetorheological push plate on the right is withdrawn and moved up and reset. The piston rod of the fourth hydraulic cylinder on the left continues to extend, and the magnetorheological push plate on the left can be used to push the welded workpiece to the roller conveyor of the unloading conveying mechanism, and the unloading conveying mechanism is used to transport the welded workpiece. In this way, accurate centering feeding and conveying of workpieces, automatic welding seam correction, automatic clamping and fixing, automatic straight seam welding and accurate centering feeding and unloading can be realized. The overall processing continuity is stronger, the operation is simpler, time-saving and labor-saving, and it is more conducive to the overall processing efficiency. When the size of the workpiece changes, the height and horizontal position of the corresponding guide wheel can be flexibly adjusted through the cooperation of the first hydraulic cylinder and the second hydraulic cylinder, so that the guide wheel can accurately abut the front and rear sides of the workpiece after the size change. The first motor can also drive the rotation of the bidirectional screw rod to drive the two slides to move closer or farther away from each other, so as to flexibly adjust the distance between the two rollers so that the two rollers can accurately support the workpiece after the size change. This allows the entire equipment to meet the welding processing of rolled workpieces of various sizes, with a wide range of applications and more flexible and convenient use. BRIEF DESCRIPTION OF THE DRAWINGS

[0010] Figure 1 It is a schematic diagram of the main structure of the present invention; Figure 2 It is a left-side structural schematic diagram of the feeding and conveying mechanism of the present invention; Figure 3 It is a left-side structural schematic diagram of the guiding mechanism of the present invention; Figure 4 It is a schematic diagram of the main structure of the welding mechanism of the present invention; Figure 5 It is a schematic diagram of the main structure of the magnetorheological push plate of the present invention.

[0011] The numbers in the figure are: 1 is a feeding and conveying mechanism, 2 is a guiding mechanism, 3 is a welding mechanism, 4 is a feeding and conveying mechanism, 5 is a roller conveyor, 6 is a first hydraulic cylinder, 7 is a lifting plate, 8 is a second hydraulic cylinder, 9 is a movable plate, 10 is a guide wheel, 11 is a base, 12 is a support, 13 is a bidirectional screw rod, 14 is a first motor, 15 is a slide seat, 16 is a U-shaped seat, 17 is a rotating shaft, 18 is a roller, 19 is a second motor, 20 is a top seat, 21 is a third hydraulic cylinder, 22 is a lifting seat, 23 is a fourth hydraulic cylinder, 24 is a magnetorheological push plate, 25 is a guide rail, 26 is an electric slider, 27 is a fifth hydraulic cylinder, 28 is a support plate, 29 is a visual sensor, 30 is a welding gun, 31 is a slide plate, 32 is a slide trough, 33 is a base plate, 34 is an electromagnetic coil, 35 is a pressure sensor, and 36 is a magnetorheological elastomer. DETAILED DESCRIPTION

[0012] The present invention is further described in detail below in conjunction with the accompanying drawings and specific embodiments: like Figures 1 to 5As shown, a straight seam welding device with automatic weld position correction includes a feeding conveying mechanism 1, a correction mechanism 2, a welding mechanism 3, a unloading conveying mechanism 4 and a control center (not shown in the figure), the feeding conveying mechanism 1 and the unloading conveying mechanism 4 are respectively arranged on the left and right sides of the correction mechanism 2, and the welding mechanism 3 is arranged above the correction mechanism 2. The loading conveying mechanism 1 and the unloading conveying mechanism 4 both include a roller conveyor 5, which conveys in the left-right direction and has a plurality of vertically arranged first hydraulic cylinders 6 evenly spaced apart in the left-right direction on the top of the front and rear frames of its frame, the piston rods of the first hydraulic cylinders 6 all face upward and the piston rods of the first hydraulic cylinders on the same frame are fixedly connected to the same lifting plate 7, a plurality of horizontally arranged second hydraulic cylinders 8 are evenly spaced apart in the left-right direction on the lifting plate 7, the piston rods of the second hydraulic cylinders 8 all face the direction of the conveying rollers of the roller conveyor 6 and the piston rods of the second hydraulic cylinders 8 on the same lifting plate 7 are fixedly connected to the same movable plate 9, and a plurality of guide wheels 10 are spaced apart and hingedly provided on the side of the movable plate 9 away from the lifting plate 7 in the left-right direction. The guiding mechanism 2 includes a base 11, and supports 12 are fixed on the front and rear sides of the top of the base 11. A bidirectional screw rod 13 is horizontally and rotatably arranged between the two supports 12. One end of the bidirectional screw rod 13 penetrates the corresponding support 12 and is transmission-connected to a first motor 14. A slide 15 is threadedly sleeved on the two threaded sections of the bidirectional screw rod 13. The bottom end of the slide 15 is slidably connected to the base 11, and a U-shaped seat 16 is fixedly connected to the top. The U-shaped seat 16 is arranged in the left and right directions and a rotating shaft 17 is rotatably arranged on its two vertical parts. A roller 18 is fixedly connected between the two rotating shafts 17. One end of one rotating shaft 17 away from the other rotating shaft 17 penetrates the vertical part of the corresponding U-shaped seat 16 and is transmission-connected to a second motor 19. The welding mechanism 3 includes a top seat 20, and a third hydraulic cylinder 21 is vertically fixed on both left and right sides of the bottom of the top seat 20. The piston rod of the third hydraulic cylinder 21 faces downward and is fixedly connected to a lifting seat 22. A fourth hydraulic cylinder 23 is horizontally fixed on the lifting seat 22. The piston rods of the two fourth hydraulic cylinders 23 are arranged opposite to each other and are fixedly connected to a magnetorheological push plate 24. A guide rail 25 is horizontally fixed in the middle section of the bottom of the top seat 20 along the left and right directions. An electric slider 26 is slidably provided on the guide rail 25. A fifth hydraulic cylinder 27 is vertically fixed at the bottom end of the electric slider 26. The piston rod of the fifth hydraulic cylinder 27 faces downward and is fixedly connected to a support plate 28. A visual sensor 29 and a welding gun 30 are fixedly mounted on the bottom of the support plate 28. The roller conveyor 5, the first hydraulic cylinder 6, the second hydraulic cylinder 8, the first motor 14, the second motor 19, the third hydraulic cylinder 21, the fourth hydraulic cylinder 23, the fifth hydraulic cylinder 27, the visual sensor 29 and the welding gun 30 are all electrically connected to the control center; When straight seam welding is performed on the rolled workpiece, the workpiece can be placed on the feeding conveying mechanism 1 first, and the roller conveyor 5 of the feeding conveying mechanism 1 drives the workpiece to be conveyed to the right. During the process, the two sets of guide wheels 10 on the feeding conveying mechanism 1 are pressed against the front and rear sides of the workpiece, which can effectively guide and limit the conveying of the workpiece, thereby effectively ensuring the accurate centering and forward conveying of the workpiece. Then, the workpiece can be accurately conveyed between the two rollers 18. At this time, the visual sensor 29 is activated to detect the weld of the corresponding workpiece and transmit the detection information to the control center. When the weld of the workpiece is not facing upward, the control center can automatically control the operation of the second motor 19 to drive the corresponding roller 18 to rotate, and the workpiece is driven to rotate by the rotation of the two rollers 18 until the weld on the workpiece is turned to face upward, thereby realizing automatic correction of the weld of the workpiece. Next, the two third hydraulic cylinders 21 are actuated, and their piston rods are extended, driving the two magnetorheological push plates 24 to move down to the left and right sides of the workpiece, and then the two fourth hydraulic cylinders 23 are actuated, and their piston rods are extended, driving the two magnetorheological push plates 24 to move relative to each other. Through the mutual cooperation of the two groups of magnetorheological push plates 24, the workpiece can be firmly clamped and fixed on the middle section of the two rollers 18. After that, the fifth hydraulic cylinder 27 is actuated, and its piston rod is extended, driving the welding gun 30 to move down to a suitable height, and then the electric slider 26 is actuated, driving the welding gun 30 to move along the weld, and the straight seam welding of the weld can be realized in cooperation. After welding, the welding gun 30 is moved up and reset, and then the magnetorheological push plate 24 on the right is withdrawn and moved up and reset, and the piston rod of the fourth hydraulic cylinder 23 on the left continues to extend, and the magnetorheological push plate 24 on the left can push the welded workpiece to the roller conveyor 5 of the unloading conveying mechanism 4, and the unloading conveying mechanism 4 is used to transport the welded workpiece. In this way, accurate centering feeding and conveying of workpieces, automatic welding seam correction, automatic clamping and fixing, automatic straight seam welding and accurate centering feeding and unloading can be realized. The overall processing continuity is stronger, the operation is simpler, time-saving and labor-saving, and it is more conducive to the overall processing efficiency. When the size of the workpiece changes, the height and horizontal position of the corresponding guide wheel 10 can be flexibly adjusted through the cooperation of the first hydraulic cylinder 6 and the second hydraulic cylinder 8, so that the guide wheel 10 can accurately abut the front and rear sides of the workpiece after the size change. The first motor 14 can also drive the rotation of the bidirectional screw rod 13 to drive the two slides 15 to move closer or farther from each other, so as to flexibly adjust the distance between the two rollers 18 so that the two rollers 18 can accurately support the workpiece after the size change, so that the entire equipment can meet the welding processing of various rolled workpieces of different sizes, with a wide range of applications and more flexible and convenient use. The control center, roller conveyor 5, first hydraulic cylinder 6, second hydraulic cylinder 8, first motor 14, second motor 19, third hydraulic cylinder 21, fourth hydraulic cylinder 23, electric slider 26, fifth hydraulic cylinder 27, visual sensor 29 and welding gun 30 can all adopt existing technologies.

[0013] In this embodiment, a slide plate 31 is fixedly provided at the bottom end of the slide seat 15, and a slide groove 32 is provided on the top of the base 11 corresponding to the slide plate 31 along the front-to-back direction. The slide plate 31 is slidably arranged on the slide groove 32 to effectively guide and limit the movement of the slide seat, thereby realizing flexible adjustment of the distance between the two rollers.

[0014] In this embodiment, the slide plate 31 is matched with the corresponding slide groove 32 to ensure that the slide plate 31 slides smoothly.

[0015] In this embodiment, the magnetorheological push plate 24 includes a base plate 33 fixedly connected to the piston rod of the corresponding fourth hydraulic cylinder 23, an electromagnetic coil 34 is embedded on the peripheral side of the base plate 33, a pressure sensor 35 is embedded on the end of the base plate 34 away from the corresponding fourth hydraulic cylinder 23, and a magnetorheological elastomer 36 is wrapped around the peripheral side of the base plate 33 and the side away from the corresponding fourth hydraulic cylinder 23. The tail end of the pressure sensor 35 extends into the corresponding magnetorheological elastomer 36. The electromagnetic coil 34 and the pressure sensor 35 are both electrically connected to the control center, so that when the workpiece is fixed, in the initial state, the electromagnetic coil 34 is not energized, the magnetorheological elastomer 36 is in a pre-yield state, the shear yield stress is small, and deformation is easy to occur. When the two magnetorheological push plates 24 approach each other and contact the workpiece, the impact caused by the contact can be reduced to ensure stability. Then, when the two magnetorheological push plates 24 continue to approach each other, the magnetorheological elastomer 36 of the corresponding magnetorheological push plate 24 can continue to press against the workpiece. At this time, the magnetorheological elastomer 36 is compressed and deformed, so that it can be perfectly nested and wrapped on the side of the corresponding workpiece. At the same time, the pressure sensor 35 is compressed and gives an electrical signal to the control center, so that the control center can judge through the pressure sensor 35 that the magnetorheological elastomer 36 has been pressed against the workpiece and deformed, thereby automatically controlling the circuit of the electromagnetic coil 34 to be connected. The electromagnetic coil 34 is energized to generate a magnetic field. The magnetorheological elastomer 36 can generate a large shear yield stress in the magnetic field environment, so that its own shape is solidified and no longer changes, and then it can perfectly adapt to the side of the workpiece, clamp the workpiece, and fix it more stably and reliably without affecting the subsequent welding operation. When the magnetorheological push plate 24 leaves the workpiece, the pressure sensor 35 loses pressure and gives an electrical signal to the control center again, so that the control center can automatically control the disconnection of the circuit of the electromagnetic coil 34, and then the magnetorheological elastomer 36 returns to its original state after losing the magnetic field, so as not to affect its subsequent clamping use, so that it can flexibly adapt to the clamping and limiting requirements of workpieces of different specifications, with a wide range of applications and more flexible and convenient use. The electromagnetic coil 34 and the pressure sensor 35 can all use existing technologies. The magnetorheological elastomer 36 is an existing technology, which is to add micron-scale ferromagnetic particles into a polymer, which can be deformed and restored under normal conditions, and can be solidified under a magnetic field environment, so that the particles in the matrix have a chain or columnar structure. The elastic modulus of this material can change with the strength of the external magnetic field, so it is expected to be widely used in variable stiffness devices and the like. Compared with ordinary magnetorheological fluids, the magnetorheological elastomer 36 not only has high-tech features such as controllability, reversibility, and rapid response, but also has unique advantages such as good stability.

[0016] In this embodiment, the frame, base 11 and top seat 20 of the roller conveyor 5 are all made of foam aluminum. Foam aluminum is an existing material and has the characteristics of metal and bubbles. It has low density, high impact absorption ability, high temperature resistance, strong fire resistance, corrosion resistance, sound insulation and noise reduction, low thermal conductivity, high electromagnetic shielding, strong weather resistance, filtering ability, easy processing, easy installation, high forming accuracy, surface coating, etc. It can play a good shock absorption and protection role in actual use, and is more conducive to the smooth progress of the entire welding operation.

[0017] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. A straight seam welding device with automatic weld position correction, characterized in that: It includes a loading and conveying mechanism, a guiding mechanism, a welding mechanism, a unloading and conveying mechanism and a control center. The loading and conveying mechanism and the unloading and conveying mechanism are respectively arranged on the left and right sides of the guiding mechanism, and the welding mechanism is arranged above the guiding mechanism. The loading and conveying mechanism and the unloading and conveying mechanism both include roller conveyors. The roller conveyors convey in the left and right directions, and the tops of the front and rear frames of the frame are evenly spaced along the left and right directions with a plurality of vertically arranged first hydraulic cylinders. The piston rods of the first hydraulic cylinders are all upwards, and the piston rods of the first hydraulic cylinders on the same frame are fixedly connected to the same lifting plate. The lifting plate is evenly spaced on the left and right sides of the upper surface of the lifting plate, and a plurality of horizontally arranged second hydraulic cylinders are evenly spaced, and the piston rods of the second hydraulic cylinders are all facing the direction of the conveying rollers of the roller conveyor, and the piston rods of the second hydraulic cylinders on the same lifting plate are fixedly connected to the same movable plate, and a plurality of guide wheels are hingedly provided on the left and right sides of the movable plate away from the lifting plate; the guiding mechanism includes a base, and supports are fixedly provided on the front and rear sides of the top of the base, and a bidirectional screw rod is horizontally and rotatably provided between the two supports, one end of the bidirectional screw rod passes through the corresponding support and is transmission-connected to the first motor, and the bidirectional screw rod The two threaded sections of the rod are both threadedly sleeved with a sliding seat, the bottom end of the sliding seat is slidably connected to the base, and the top end is fixedly connected to a U-shaped seat, the U-shaped seat is arranged along the left and right directions, and a rotating shaft is rotatably provided on the two vertical parts thereof, a roller is fixedly connected between the two rotating shafts, and one end of a rotating shaft away from the other rotating shaft passes through the vertical part corresponding to the U-shaped seat and is transmission-connected to the second motor, the welding mechanism includes a top seat, and a third hydraulic cylinder is vertically fixedly provided on the left and right sides of the bottom of the top seat, the piston rod of the third hydraulic cylinder is downwardly fixedly connected to a lifting seat, a fourth hydraulic cylinder is horizontally fixedly provided on the lifting seat, and the two The piston rods of the fourth hydraulic cylinder are relatively arranged and fixedly connected with a magnetorheological push plate. The middle section of the bottom of the top seat is horizontally fixed with a guide rail along the left and right directions. An electric slider is slidably provided on the guide rail. A fifth hydraulic cylinder is vertically fixedly provided at the bottom end of the electric slider. The piston rod of the fifth hydraulic cylinder faces downward and is fixedly connected with a support plate. A visual sensor and a welding gun are fixedly mounted on the bottom of the support plate. The roller conveyor, the first hydraulic cylinder, the second hydraulic cylinder, the first motor, the second motor, the third hydraulic cylinder, the fourth hydraulic cylinder, the fifth hydraulic cylinder, the visual sensor and the welding gun are all electrically connected to the control center.

2. The straight seam welding equipment with automatic weld position correction according to claim 1 is characterized in that: A sliding plate is fixedly arranged at the bottom end of the sliding seat, a sliding groove is arranged on the top of the base corresponding to the sliding plate along the front-back direction, and the sliding plate is slidably arranged on the sliding groove.

3. The straight seam welding equipment with automatic weld position correction according to claim 2 is characterized in that: The slide plate is matched with the corresponding slide groove.

4. The straight seam welding equipment with automatic weld position correction according to claim 1 is characterized in that: The magnetorheological push plate includes a base plate fixedly connected to the piston rod of the corresponding fourth hydraulic cylinder, an electromagnetic coil is embedded on the peripheral side of the base plate, a pressure sensor is embedded on the end of the base plate away from the corresponding fourth hydraulic cylinder, the peripheral side of the base plate and the side away from the corresponding fourth hydraulic cylinder are wrapped with a magnetorheological elastomer, the tail end of the pressure sensor extends into the corresponding magnetorheological elastomer, and the electromagnetic coil and the pressure sensor are both electrically connected to the control center.

5. The straight seam welding equipment with automatic weld position correction according to claim 1 is characterized in that: The frame, base and top seat of the roller conveyor are all made of foam aluminum.

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