Straight seam welding apparatus with automatic welding opening position guiding

Abstract

The application relates to a straight-welding device for automatically guiding a welding 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 and right sides of the guiding mechanism, the welding mechanism is arranged above the guiding mechanism, the guiding mechanism comprises a base, supports are fixed on the front and back sides of the top of the base, a bidirectional screw rod is horizontally and rotatably arranged between the two supports, one end of the bidirectional screw rod penetrates through the corresponding support and is transmissionally connected with a first motor, a sliding seat is threadedly sleeved on each threaded section of the bidirectional screw rod, the bottom end of the sliding seat is slidingly connected with the base, the top end of the sliding seat is fixedly connected with a U-shaped seat, the U-shaped seat is arranged along the left-right direction and two vertical parts of the U-shaped seat are rotatably provided with rotating shafts, the two rotating shafts are fixedly connected with a supporting roller, one end of one rotating shaft, which is away from the other rotating shaft, is transmissionally connected with a second motor. The application can effectively guide the feeding and discharging of workpieces and automatically guide the workpieces, and can further guarantee the welding efficiency and quality.

Description

TECHNICAL FIELD

[0001] The present application belongs to the technical field of welding, and particularly relates to a straight seam welding device with automatic guiding of a welding opening position. BACKGROUND

[0002] A gas drainage pipe is a special pipe for draining gas in a coal mine, and the production process of the pipe mainly includes the steps of edge rolling, straight seam welding and girth welding. When the straight seam welding is performed, the welding opening position on the edge-rolled pipe loaded to the welding station often cannot be accurately aligned with the welding torch, and manual adjustment is required. The edge-rolled pipe body opening is manually righted so as to enter the seam welding station in a correct posture. Manual operation is easy to affect the continuity of the overall machining, and is complicated and inconvenient to operate, time-consuming and labor-consuming, and is not conducive to the overall machining efficiency, and needs to be solved. SUMMARY

[0003] In view of this, the purpose of the present application is to provide a straight seam welding device with automatic guiding of a welding opening position to solve the above problems.

[0004] In order to achieve the above object, the technical scheme adopted by the present application is: a straight seam welding device with automatic welding opening position guiding, comprising a feeding conveying mechanism, a guiding mechanism, a welding mechanism, a discharging conveying mechanism and a control center, the feeding conveying mechanism and the discharging conveying mechanism are respectively arranged on the left and right sides of the guiding mechanism, the welding mechanism is arranged above the guiding mechanism, the feeding conveying mechanism and the discharging conveying mechanism both comprise a roller conveyor, the roller conveyor conveys in the left-right direction, and the top of the front and rear frames of the frame of the roller conveyor is uniformly distributed with a plurality of first hydraulic cylinders arranged vertically in the left-right direction, the piston rods of the first hydraulic cylinders all face upward, and the piston rods of the first hydraulic cylinders on the same frame are fixedly connected with the same lifting plate, a plurality of second hydraulic cylinders are uniformly distributed and arranged horizontally on the lifting plate in the left-right direction, the piston rods of the second hydraulic cylinders all face the direction of the conveying roller of the roller conveyor, and the piston rods of the second hydraulic cylinders on the same lifting plate are fixedly connected with the same movable plate, a plurality of guide wheels are arranged on the side of the movable plate away from the lifting plate and are arranged and connected in the left-right direction and in a hinged manner; the guiding mechanism comprises a base, supports are fixedly arranged on the top of the base on the front and rear sides, a bidirectional screw rod is horizontally and rotatably arranged between the two supports, one end of the bidirectional screw rod penetrates through the corresponding support and is transmissionally connected with a first motor, a sliding seat is threadedly sleeved on the two threaded segments of the bidirectional screw rod, the bottom end of the sliding seat is slidingly connected with the base, and the top end of the sliding seat is fixedly connected with a U-shaped seat, the U-shaped seat is arranged in the left-right direction, and rotating shafts are rotatably arranged on the two vertical parts of the U-shaped seat, a supporting roller is fixedly connected between the two rotating shafts, one end of one rotating shaft away from the other rotating shaft penetrates through the vertical part of the corresponding U-shaped seat and is transmissionally connected with a second motor, the welding mechanism comprises a top seat, third hydraulic cylinders are vertically fixedly arranged on the left and right sides of the bottom of the top seat, the piston rods of the third hydraulic cylinders face downward and are fixedly connected with a lifting seat, fourth hydraulic cylinders are fixedly arranged horizontally on the lifting seat, the piston rods of the two fourth hydraulic cylinders are oppositely arranged and are fixedly connected with a magnetorheological push plate, a guide rail is fixedly arranged horizontally on the middle section of the bottom of the top seat in the left-right direction, an electric sliding block is slidingly arranged on the guide rail, a fifth hydraulic cylinder is vertically fixedly arranged on the bottom end of the electric sliding block, the piston rod of the fifth hydraulic cylinder faces downward and is fixedly connected with a supporting plate, a visual sensor and a welding gun are fixedly arranged on the bottom of the supporting plate, and the roller conveyor, the first hydraulic cylinders, the second hydraulic cylinders, the first motor, the second motor, the third hydraulic cylinders, the fourth hydraulic cylinders, the fifth hydraulic cylinders, the visual sensor and the welding gun are electrically connected with the control center.

[0005] Preferably, the bottom end of the sliding seat is fixedly provided with a sliding plate, a sliding groove is formed in the top of the corresponding base in the front-rear direction, and the sliding plate is slidingly arranged in the sliding groove.

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

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

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

[0009] The beneficial effects of the present application are: when the straight seam welding of the rolled workpiece is carried out, the workpiece can be placed on the feeding conveying mechanism first, and the workpiece is driven by the roller conveyor of the feeding conveying mechanism to advance to the right, in the process, the two groups of guide wheels on the feeding conveying mechanism press on the front and back sides of the workpiece, which can effectively guide and limit the conveying of the workpiece, thereby effectively ensuring the accurate centering and advancing conveying of the workpiece. Then, the workpiece can be accurately conveyed between the two supporting rollers, at this time, the visual sensor acts 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 upward, the control center can automatically control the operation of the second motor to drive the corresponding supporting roller to rotate, and the workpiece is rotated by the rotation of the two supporting rollers, until the weld on the workpiece is turned upward, realizing the automatic alignment of the weld of the workpiece. Next, the two third hydraulic cylinders act, the piston rods thereof are elongated, and the two magneto-rheological push plates are lowered to the left and right sides of the workpiece, then the two fourth hydraulic cylinders act, the piston rods thereof are elongated, and the two magneto-rheological push plates are relatively moved, and the workpiece is stably clamped and fixed on the middle segment of the two supporting rollers through the cooperation of the two groups of magneto-rheological push plates. After that, the fifth hydraulic cylinder acts, the piston rod thereof is elongated, and the welding gun is lowered to an appropriate height, then the electric sliding block acts to drive the welding gun to move along the weld, thereby realizing the straight seam welding of the weld. After welding, the welding gun is raised to reset, then the right magneto-rheological push plate retreats and is raised to reset, and the piston rod of the left fourth hydraulic cylinder continues to elongate, so that the welded workpiece is pushed to the roller conveyor of the discharging conveying mechanism by the left magneto-rheological push plate, and the discharged workpiece is conveyed by the discharging conveying mechanism. In this way, the accurate centering, feeding, conveying, discharging and welding of the workpiece can be realized, the continuity of the overall processing is stronger, the operation is more simple and convenient, time and labor are saved, and the overall processing efficiency is improved;

[0010] 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 against the front and rear sides of the workpiece after the size changes. The distance between the two supporting rollers can also be flexibly adjusted by driving the rotation of the bidirectional screw rod by the first motor, and driving the two sliding seats to approach or move away from each other, so that the two supporting rollers can accurately support the workpiece after the size changes, so that the entire device can meet the welding processing of workpieces after rolling of various different sizes, and has wide application range and is more flexible and convenient to use. BRIEF DESCRIPTION OF DRAWINGS

[0011] Fig. 1 is the front view structural schematic diagram of the present application;

[0012] Fig. 2 is the left view structural schematic diagram of the present application;

[0013] Fig. 3 is the left view structural schematic diagram of the present application;

[0014] Fig. 4 is the front view structural schematic diagram of the present application;

[0015] Fig. 5 is the front view structural schematic diagram of the present application;

[0016] In the figure, 1 is the feeding and conveying mechanism, 2 is the guiding mechanism, 3 is the welding mechanism, 4 is the discharging and conveying mechanism, 5 is the roller conveyor, 6 is the first hydraulic cylinder, 7 is the lifting plate, 8 is the second hydraulic cylinder, 9 is the movable plate, 10 is the guide wheel, 11 is the base, 12 is the support, 13 is the bidirectional screw rod, 14 is the first motor, 15 is the sliding seat, 16 is the U-shaped seat, 17 is the rotating shaft, 18 is the supporting roller, 19 is the second motor, 20 is the top seat, 21 is the third hydraulic cylinder, 22 is the lifting seat, 23 is the fourth hydraulic cylinder, 24 is the magnetorheological push plate, 25 is the guide rail, 26 is the electric sliding block, 27 is the fifth hydraulic cylinder, 28 is the supporting plate, 29 is the visual sensor, 30 is the welding gun, 31 is the sliding plate, 32 is the sliding groove, 33 is the base plate, 34 is the electromagnetic coil, 35 is the pressure sensor, and 36 is the magnetorheological elastomer. DETAILED DESCRIPTION

[0017] The present application will be further described in detail below in combination with the drawings and specific embodiments:

[0018] As Figs. 1 to 5The device for automatic guiding of straight seam welding position includes feeding conveying mechanism 1, guiding mechanism 2, welding mechanism 3, discharging conveying mechanism 4 and control center (not shown in the figure), feeding conveying mechanism 1 and discharging conveying mechanism 4 are respectively arranged on the left and right sides of guiding mechanism 2, and welding mechanism 3 is arranged above guiding mechanism 2. Feeding conveying mechanism 1 and discharging conveying mechanism 4 both include roller conveyor 5, roller conveyor 5 conveys in the left-right direction, and the top of the front and rear frames of the frame of roller conveyor 5 is uniformly distributed with a plurality of first hydraulic cylinders 6 arranged vertically in the left-right direction, the piston rods of first hydraulic cylinders 6 all face upwards, and the piston rods of first hydraulic cylinders on the same frame are fixedly connected with the same lifting plate 7, lifting plate 7 is uniformly distributed with a plurality of second hydraulic cylinders 8 arranged horizontally in the left-right direction, the piston rods of second hydraulic cylinders 8 all face the direction of the conveying rollers of roller conveyor 6, and the piston rods of second hydraulic cylinders 8 on the same lifting plate 7 are fixedly connected with the same movable plate 9, movable plate 9 is hinged with a plurality of guide wheels 10 on the side away from lifting plate 7 in the left-right direction. Guiding mechanism 2 includes base 11, support 12 is fixedly arranged on the top of the front and rear sides of base 11, bidirectional screw rod 13 is horizontally and rotatably arranged between the two supports 12, one end of bidirectional screw rod 13 penetrates through corresponding support 12 and is drivingly connected with first motor 14, sliding seat 15 is threadedly sleeved on the two threaded segments of bidirectional screw rod 13, the bottom end of sliding seat 15 is slidingly connected with base 11, and the top end is fixedly connected with U-shaped seat 16, U-shaped seat 16 is arranged in the left-right direction, two vertical parts of U-shaped seat 16 are rotatably provided with rotating shafts 17, and the two rotating shafts 17 are fixedly connected with carrier roller 18, one end of one rotating shaft 17 penetrates through the vertical part of corresponding U-shaped seat 16 and is drivingly connected with second motor 19. Welding mechanism 3 includes top seat 20, third hydraulic cylinder 21 is vertically fixedly arranged on the left and right sides of the bottom of top seat 20, the piston rod of third hydraulic cylinder 21 faces downwards and is fixedly connected with lifting seat 22, fourth hydraulic cylinder 23 is fixedly arranged on lifting seat 22, the piston rods of the two fourth hydraulic cylinders 23 are oppositely arranged and are both fixedly connected with magnetorheological push plate 24. Guide rail 25 is horizontally fixedly arranged on the middle segment of the bottom of top seat 20 in the left-right direction, electric sliding block 26 is slidingly arranged on guide rail 25, fifth hydraulic cylinder 27 is vertically fixedly arranged on the bottom end of electric sliding block 26, the piston rod of fifth hydraulic cylinder 27 faces downwards and is fixedly connected with supporting plate 28, and visual sensor 29 and welding gun 30 are fixedly arranged on the bottom of supporting plate 28. 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, fifth hydraulic cylinder 27, visual sensor 29 and welding gun 30 are electrically connected with the control center.

[0019] When the workpiece is straight seam welded after the roll forming, the workpiece can be placed on the feeding conveying mechanism 1 first, and the workpiece is conveyed forward by the roller conveyor 5 of the feeding conveying mechanism 1. In the process, the two sets of guide wheels 10 on the feeding conveying mechanism 1 are pressed on 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 supporting rollers 18. At this time, the visual sensor 29 operates to detect the weld of the corresponding workpiece and transmits the detection information to the control center. When the weld of the workpiece is not upward, the control center can automatically control the operation of the second motor 19 to drive the corresponding supporting roller 18 to rotate. The workpiece is rotated by the rotation of the two supporting rollers 18 until the weld on the workpiece is turned upward, realizing the automatic alignment of the weld of the workpiece. Next, the two third hydraulic cylinders 21 operate, and the piston rods thereof are elongated to drive the two magneto-rheological push plates 24 to move downward to the left and right sides of the workpiece. Then, the two fourth hydraulic cylinders 23 operate, and the piston rods thereof are elongated to drive the two magneto-rheological push plates 24 to move relatively. Through the cooperation of the two sets of magneto-rheological push plates 24, the workpiece can be stably clamped and fixed on the middle section of the two supporting rollers 18. After that, the fifth hydraulic cylinder 27 operates, and the piston rod thereof is elongated to drive the welding gun 30 to move downward to the appropriate height. Then, the electric sliding block 26 operates to drive the welding gun 30 to move along the weld, thereby realizing the straight seam welding of the weld. After welding, the welding gun 30 moves upward to reset, and then the right magneto-rheological push plate 24 retreats and moves upward to reset. The piston rod of the left fourth hydraulic cylinder 23 continues to elongate, so that the welded workpiece is pushed to the roller conveyor 5 of the discharging conveying mechanism 4 by the left magneto-rheological push plate 24. The workpiece is conveyed and discharged by the discharging conveying mechanism 4. In this way, the accurate centering, feeding, automatic alignment, automatic clamping and fixing, automatic straight seam welding and accurate centering and discharging of the workpiece can be realized, the continuity of the overall processing is stronger, the operation is more simple and convenient, time and labor are saved, and the overall processing efficiency is improved;

[0020] 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 on the front and rear sides of the workpiece after the size changes. The distance between the two supporting rollers 18 can be flexibly adjusted by driving the two-way screw 13 to rotate through the first motor 14, so that the two supporting rollers 18 can accurately support the workpiece after the size changes. Therefore, the entire device can satisfy the welding processing of workpieces after the roll forming with different sizes, has a wide range of applications, and is more flexible and convenient to use. The control center, 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 electric sliding block 26, the fifth hydraulic cylinder 27, the visual sensor 29 and the welding gun 30 all adopt the existing technology.

[0021] In the embodiment, the bottom end of the sliding base 15 is fixedly provided with a sliding plate 31, and a sliding groove 32 is formed on the top of the corresponding base 11 in the front-rear direction, and the sliding plate 31 is slidingly arranged on the sliding groove 32, so as to effectively guide and limit the movement of the sliding base, and flexibly adjust the distance between the two supporting rollers.

[0022] In the embodiment, the sliding plate 31 is matched with the corresponding sliding groove 32, so as to ensure the smooth sliding of the sliding plate 31.

[0023] In the embodiment, the magneto-rheological push plate 24 comprises a base plate 33 fixedly connected with the piston rod of the corresponding fourth hydraulic cylinder 23, an electromagnetic coil 34 is embedded on the circumferential side of the base plate 33, a pressure sensor 35 is embedded on the end of the base plate 33 away from the corresponding fourth hydraulic cylinder 23, the circumferential side of the base plate 33 and the side thereof away from the corresponding fourth hydraulic cylinder 23 are wrapped with a magneto-rheological elastomer 36, the tail end of the pressure sensor 35 extends into the corresponding magneto-rheological elastomer 36, and the electromagnetic coil 34 and the pressure sensor 35 are electrically connected with the control center, so that in the initial state during the fixing of the workpiece, the electromagnetic coil 34 is not electrified, the magneto-rheological elastomer 36 is in the pre-yield state and has a small shear yield stress and is easy to deform. When the two magneto-rheological push plates 24 approach each other and contact the workpiece, the impact generated by the contact can be reduced to ensure stability. Then, under the condition that the two magneto-rheological push plates 24 continue to approach each other, the magneto-rheological elastomer 36 of the corresponding magneto-rheological push plate 24 can continue to press against the workpiece, at which time the magneto-rheological elastomer 36 is deformed under pressure, so as to be perfectly nested and wrapped on the side of the corresponding workpiece. At the same time, the pressure sensor 35 is pressed and gives an electrical signal to the control center, so that the control center can determine through the pressure sensor 35 that the magneto-rheological elastomer 36 has been deformed under pressure and then automatically control the circuit of the electromagnetic coil 34 to be turned on, the electromagnetic coil 34 is electrified to generate a magnetic field, and the magneto-rheological elastomer 36 can generate a large shear yield stress in the magnetic field environment, so as to solidify its shape and no longer change, and then perfectly adapt to the side of the workpiece to clamp and fix the workpiece, which is more stable and reliable and does not affect the subsequent welding operation. When the magneto-rheological push plate 24 moves away from 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 circuit of the electromagnetic coil 34 to be turned off, and then the magneto-rheological elastomer 36 returns to the original state after losing the magnetic field effect, so as to not affect its subsequent clamping use, so that it can flexibly adapt to the clamping and limiting requirements of workpieces of different specifications, has a wide application range, and is more flexible and convenient to use. The electromagnetic coil 34 and the pressure sensor 35 can both use the existing technology. The magneto-rheological elastomer 36 is the existing technology, which is to mix micron-sized ferromagnetic particles into a high polymer, which can deform and recover in a normal environment and can be solidified in a magnetic field environment, so that the particles in the matrix have a chain or columnar structure. The elastic modulus of such material can change with the strength of the applied magnetic field, so it is expected to be widely used in variable stiffness devices and other aspects. Compared with ordinary magneto-rheological fluid, the magneto-rheological elastomer 36 not only has controllability, reversibility, rapid response and other high-tech features, but also has good stability and other unique advantages.

[0024] In the embodiment, the frame, the base 11 and the top base 20 of the roller conveyor 5 are all made of foamed aluminum material. The foamed aluminum is a material in the prior art, and has the characteristics of metal and bubbles. The foamed aluminum has the characteristics of small density, high impact absorption capacity, high temperature resistance, strong fireproof performance, corrosion resistance, sound insulation and noise reduction, low thermal conductivity, high electromagnetic shielding property, strong weather resistance, filtering capacity, easy processing, easy installation, high forming precision, surface coating, etc. In actual use, the foamed aluminum can play a good shock absorption and protection, and is more conducive to the stable operation of the whole welding operation.

[0025] The above description is only the preferred embodiment of the present application, and is not intended to limit the present application. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application shall be included in the protection scope of the present application.

Claims

1. A straight seam welding device with automatic weld joint position guidance, characterized in that, The system includes a feeding conveyor, a guiding mechanism, a welding mechanism, an unloading conveyor, and a control center. The feeding and unloading conveyors are located on the left and right sides of the guiding mechanism, respectively, and the welding mechanism is located above the guiding mechanism. Both the feeding and unloading conveyors include roller conveyors. The roller conveyors transport materials in a left-right direction, and several vertically arranged first hydraulic cylinders are evenly distributed at intervals along the left-right direction on the top of the front and rear side frames of the machine frame. The piston rods of the first hydraulic cylinders all face upwards, and the piston rods of the first hydraulic cylinders on the same side frame are fixedly connected to the same lifting plate. The lifting plate is evenly spaced along the left-right direction with several horizontally arranged second hydraulic cylinders. The piston rods of the second hydraulic cylinders all face the direction of the conveyor 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. Several guide wheels are spaced along the left-right direction and hinged to the side of the movable plate away from the lifting plate. The guiding mechanism includes a base, with supports fixed on both the front and rear sides of the top of the base. A bidirectional lead screw is horizontally and rotatably installed between the two supports. One end of the bidirectional lead screw passes through the corresponding support and is connected to a first motor. Both threaded sections of the rod are threaded with sliding blocks. The bottom end of the sliding block is slidably connected to the base, and the top end is fixedly connected to a U-shaped seat. The U-shaped seat is arranged in the left-right direction, and each of its two vertical parts is rotatably equipped with a rotating shaft. A roller is fixedly connected between the two rotating shafts. The end of one rotating shaft away from the other rotating shaft passes through the vertical part of the corresponding U-shaped seat and is driven by a second motor. The welding mechanism includes a top seat. A third hydraulic cylinder is vertically fixed on both the left and right sides of the bottom of the top seat. The piston rod of the third hydraulic cylinder faces downward and is fixedly connected to a lifting seat. A fourth hydraulic cylinder is horizontally fixed on the lifting seat. The piston rods of the fourth hydraulic cylinder are arranged opposite each other and are fixedly connected to magnetorheological push plates. The middle section of the bottom of the top seat is horizontally fixed with a guide rail in the left-right direction. An electric slider is slidably mounted on the guide rail. The bottom end of the electric slider is vertically fixed with a fifth hydraulic cylinder. The piston rod of the fifth hydraulic cylinder faces downward and is fixedly connected to a support plate. A vision sensor and a welding torch 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 vision sensor, and the welding torch are all electrically connected to the control center.

2. The straight seam welding equipment with automatic weld joint position guidance according to claim 1, characterized in that, The bottom end of the slide is fixed with a slide plate, and the top of the base corresponding to the slide plate is provided with a slide groove along the front-back direction. The slide plate slides on the slide groove.

3. The straight seam welding equipment with automatic weld joint position guidance according to claim 2, characterized in that, The slide plate is adapted to the corresponding slide groove.

4. The straight seam welding equipment with automatic weld joint position guidance according to claim 1, 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 periphery of the base plate. A pressure sensor is embedded on the end of the base plate away from the corresponding fourth hydraulic cylinder. The periphery 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. Both the electromagnetic coil and the pressure sensor are electrically connected to the control center.

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

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