A conical tube bottom plate welding robot

Abstract

A conical tube bottom plate welding robot belongs to the field of welding robots. It is composed of a carrying vehicle, a welding device and an automatic assembly device. The automatic assembly device is fixedly installed on the carrying vehicle by bolts and is located at the front end of the carrying vehicle. The welding device is fixedly installed on the carrying vehicle by screws and is located at the rear end of the automatic assembly device. The device can carry a certain amount of bottom plates to be welded to the bottom of the conical tube, and the automatic assembly device can realize the positioning of the assembly position of the conical tube and the assembly of the bottom plate of the conical tube, so as to realize the precise assembly of the bottom plate of the conical tube. During the assembly, the welding device welds the bottom plate and the conical tube, thereby improving the production efficiency.

Description

Technical Field

[0001] The invention relates to a conical tube bottom plate welding robot, in particular to a device which adopts a carrying vehicle to carry a welding device and an automatic assembly device and can assemble and weld a disc at the bottom of a conical tube, belonging to the field of welding robots. Background Art

[0002] Large conical tubes are often used in building structures such as bridges, tunnels and transmission towers to play a supporting role. When producing such large conical tubes, the factory will first process the tube body of the conical tube, and then use a crane to place the tube body of the conical tube on a welding roller frame. In order to facilitate the installation of the conical tube and improve the stability of the conical tube after installation, the workers will also weld a chassis to the bottom of the conical tube. The assembly of the chassis is difficult to complete manually, and is usually assembled by mechanical devices and then welded by workers. This assembly and welding method is cumbersome and complicated, which increases the workload of the workers. Long-term welding work will affect the health of the workers. Therefore, there is an urgent need for a device that can automatically assemble and weld the bottom plate of the conical tube. Summary of the invention

[0003] In view of the shortcomings that the above-mentioned conical tube bottom plate assembly and welding method is cumbersome and complicated, increases the workload of workers, and affects the health of workers due to long-term welding work, the present invention provides a conical tube bottom plate welding robot.

[0004] The present invention is achieved through the following technical solutions: a conical tube bottom plate welding robot, which is composed of a carrying vehicle, a welding device and an automatic assembly device, wherein the automatic assembly device is fixedly installed on the carrying vehicle by bolts and is located at the front end of the carrying vehicle, and the welding device is fixedly installed on the carrying vehicle by screws and is located at the rear end of the automatic assembly device.

[0005] The carrying vehicle is composed of a first seat bearing, a left side plate, a first wheel assembly, a first inner side plate, a second seat bearing, a first motor bracket, a first coupling, a first motor, a universal wheel, a second motor, a second motor bracket, a second coupling, a second wheel assembly, a third seat bearing, a fourth seat bearing, a second inner side plate, a right side plate, a third inner side plate, a fifth seat bearing, a third wheel assembly, a sixth seat bearing, a third motor bracket, a third coupling, a third motor, a fourth motor, a fourth motor bracket, a fourth coupling, a seventh seat bearing, a fourth wheel assembly, an eighth seat bearing, a fourth inner side plate and a main mounting plate. The left side plate is fixedly mounted on the left side of the main mounting plate by welding, and the right side plate is fixedly mounted on the main mounting plate by welding. On the right side of the mounting plate, the first inner plate is fixedly mounted on the upper left corner of the main mounting plate by welding, the second inner plate is fixedly mounted on the upper right corner of the main mounting plate by welding, the third inner plate is fixedly mounted on the lower right corner of the main mounting plate by welding, the fourth inner plate is fixedly mounted on the lower left corner of the main mounting plate by welding, the first seat bearing is fixedly mounted on the upper end of the left side plate by screws, the second seat bearing is fixedly mounted on the first inner plate by screws, the first wheel assembly is mounted between the first seat bearing and the second seat bearing, the first motor bracket is fixedly mounted on the first inner plate by screws, the first motor is fixedly mounted on the first motor bracket by screws, the first coupling is connected The motor shaft of the first motor and the first wheel assembly, the third seat bearing is fixedly installed on the upper end of the right side plate by screws, the fourth seat bearing is fixedly installed on the second inner side plate by screws, the second wheel assembly is installed between the third seat bearing and the fourth seat bearing, the second motor bracket is fixedly installed on the second inner side plate by screws, the second motor is fixedly installed on the second motor bracket by screws, the second coupling connects the motor shaft of the second motor and the second wheel assembly, the fifth seat bearing is fixedly installed on the lower end of the right side plate by screws, the sixth seat bearing is fixedly installed on the third inner side plate by screws, the third wheel assembly is installed between the fifth seat bearing and the sixth seat bearing, The third motor bracket is fixedly mounted on the third inner plate by screws, the third motor is fixedly mounted on the third motor bracket by screws, the third coupling connects the motor shaft of the third motor and the third wheel assembly, the seventh seat bearing is fixedly mounted on the lower end of the left side plate by screws, the eighth seat bearing is fixedly mounted on the fourth inner plate by screws, the fourth wheel assembly is mounted between the seventh seat bearing and the eighth seat bearing, the fourth motor bracket is fixedly mounted on the fourth inner plate by screws, the fourth motor is fixedly mounted on the fourth motor bracket by screws, the fourth coupling connects the motor shaft of the fourth motor and the fourth wheel assembly, and the universal wheel is fixedly mounted on the main mounting plate by bolts,and is located between the first wheel assembly and the second wheel assembly.

[0006] The first wheel assembly is composed of a wheel axle, a first snap ring, a wheel and a second snap ring. The wheel is installed on the wheel axle, the first snap ring is installed on the wheel axle and is located on the left side of the wheel, and the second snap ring is installed on the wheel axle and is located on the right side of the wheel.

[0007] The second wheel assembly, the third wheel assembly and the fourth wheel assembly have the same structure as the first wheel assembly.

[0008] The welding device is composed of a rear end bracket, an electric push rod, a first linear guide, a first linear bearing, a slider, a welding gun lower arm, a welding gun upper arm, a welding gun, a welding gun bracket, a first bearing, a second bearing, a welding gun rotating motor, a welding gun joint motor, a front end bracket, an electric rotating table, a second linear bearing and a second linear guide. The rear end of the first linear guide is installed on the left side of the rear end bracket, the front end of the first linear guide is installed on the left side of the front end bracket, the rear end of the second linear guide is installed on the right side of the rear end bracket, and the front end of the second linear guide is installed on the right side of the front end bracket. The electric push rod is fixed to the rear end bracket by screws, the front end of the electric push rod is connected to the slider, the first linear bearing is installed on the left side of the slider, and the first linear bearing is installed on the left side of the slider. The second linear bearing is installed on the right side of the slider, the slider is installed on the first linear guide and the second linear guide, the electric rotary table is fixedly installed on the slider by screws, the welding gun lower arm is fixedly installed on the electric rotary table by screws, the welding gun upper arm is installed on the welding gun lower arm, the welding gun joint motor is fixedly installed on the welding gun lower arm by screws, the motor shaft of the welding gun joint motor is connected to the welding gun upper arm, the first bearing is installed at the front end of the welding gun upper arm, the second bearing is installed in the middle position of the welding gun upper arm, the welding gun rotating motor is fixedly installed at the rear end of the welding upper arm by screws, the welding gun bracket is installed on the first bearing and the second bearing, and is driven by the welding gun rotating motor, and the welding gun is installed on the welding gun bracket.

[0009] The welding gun upper arm is provided with a first bearing mounting plate, a second bearing mounting plate, a rotating motor mounting plate and a driving hole. The first bearing mounting plate is located at the front end of the welding gun upper arm, the second bearing mounting plate is located in the middle position of the welding gun upper arm, the rotating motor mounting plate is located at the rear end of the welding gun upper arm, and the driving hole is located at the end of the welding upper arm.

[0010] The automatic assembly device is composed of a first guide rail seat, a third linear bearing, a third linear guide, a cylinder push rod bracket, a small cylinder push rod, a second guide rail seat, a fourth linear bearing, a fourth linear guide, a first cylinder push rod, a positioning frame, an assembly frame and a second cylinder push rod. The third linear guide is fixedly mounted on the first guide rail seat by welding, the fourth linear guide is fixedly mounted on the second guide rail seat by welding, the cylinder push rod bracket is fixedly mounted on the positioning frame by screws, the small cylinder push rod is fixedly mounted on the cylinder push rod bracket by bolts, the third linear bearing is fixedly mounted on the right side of the positioning frame by screws, the fourth linear bearing is fixedly mounted on the left side of the positioning frame by screws, the first cylinder push rod is mounted on the left side of the positioning frame, the second cylinder push rod is mounted on the right side of the positioning frame, and the assembly frame is mounted on the positioning frame and connected to the rod of the small cylinder push rod.

[0011] The positioning frame is provided with a first linear bearing mounting plate, a slide groove, a second linear bearing mounting plate, a first cylinder mounting plate and a second cylinder mounting plate.

[0012] The assembly frame is provided with a cylinder connecting hole and a ball.

[0013] The benefit of the invention is that it can carry the base plate to be welded and automatically reach the bottom end of the conical tube, automatically position, assemble and weld the base plate of the conical tube, reducing the work pressure and labor of the workers; the carrying vehicle used in the invention enables the invention to be flexibly moved in the factory, and can reach the designated work area according to the needs of on-site operations, and also realizes the automatic transportation of the base plate from the production workshop to the welding processing workshop, reducing space occupancy and improving processing and production efficiency; the welding device used in the invention can achieve reciprocating movement through an electric push rod to avoid interference during assembly, and can automatically adjust the angle of the welding gun. When welding arc welds, it can flexibly adjust the position and angle of the welding gun to achieve good welding results; the automatic assembly device used in the invention can carry the base plate to be welded, automatically find the position of the conical tube, and assemble the base plate to the bottom of the conical tube, saving manpower consumption. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] Figure 1 It is a structural schematic diagram of the present invention; Figure 2 It is a schematic diagram of the structure of the vehicle; Figure 3 It is a structural schematic diagram of a welding device; Figure 4 It is a structural schematic diagram of an automatic assembly device; Figure 5 is a schematic structural diagram of a first wheel assembly; Figure 6 It is a schematic diagram of the structure of the upper arm of the welding gun; Figure 7 is a schematic diagram of the structure of the positioning frame; Figure 8 is a schematic diagram of the structure of the assembly rack; Fig. 9 It is a schematic diagram of the present invention when used.

[0015] In the figure, 1. Carrier, 2. Welding device, 3. Automatic assembly device; 101, first bearing seat, 102, left side plate, 103, first wheel assembly, 104, first inner side plate, 105, second bearing seat, 106, first motor bracket, 107, first coupling, 108, first motor, 109, universal wheel, 110, second motor, 111, second motor bracket, 112, second coupling, 113, second wheel assembly, 114, third bearing seat, 115, fourth bearing seat, 116, second inner side plate, 117, right side plate, 118, third inner side plate, 119, fifth bearing seat, 120, third wheel assembly, 121, sixth bearing seat, 122, third motor bracket, 123, third coupling, 124, third motor, 125, fourth motor, 126, fourth motor bracket, 127, fourth coupling, 128, seventh bearing seat, 129, fourth wheel assembly, 130, eighth bearing seat, 131, fourth inner side plate, 132, main mounting plate; 201, rear end bracket, 202, electric push rod, 203, first linear guide rail, 204, first linear bearing, 205, slider, 206, welding gun lower arm, 207, welding gun upper arm, 208, welding gun, 209, welding gun bracket, 210, first bearing, 211, second bearing, 212, welding gun rotating motor, 213, welding gun joint motor, 214, front end bracket, 215, electric rotating table, 216, second linear bearing, 217, second linear guide rail; 301, first guide rail stand, 302, third linear bearing, 303, third linear guide, 304, cylinder push rod bracket, 305, small cylinder push rod, 306, second guide rail stand, 307, fourth linear bearing, 308, fourth linear guide, 309, first cylinder push rod, 310, positioning frame, 311, assembly frame, 312, second cylinder push rod; 10301, wheel axle, 10302, first snap ring, 10303, wheel, 10304, second snap ring; 20701, a first bearing mounting plate, 20702, a second bearing mounting plate, 20703, a rotating motor mounting plate, 20704, a driving hole; 31001, first linear bearing mounting plate, 31002, slideway, 31003, second linear bearing mounting plate, 31004, first cylinder mounting plate, 31005, second cylinder mounting plate; 31101, cylinder connecting hole, 31102, ball bearing. DETAILED DESCRIPTION

[0016] A conical tube bottom plate welding robot is composed of a carrying vehicle 1, a welding device 2 and an automatic assembly device 3. The automatic assembly device 3 is fixedly installed on the carrying vehicle 1 by bolts and is located at the front end of the carrying vehicle 1. The welding device 2 is fixedly installed on the carrying vehicle 1 by screws and is located at the rear end of the automatic assembly device 3.

[0017] The carrying vehicle 1 is composed of a first seat bearing 101, a left side plate 102, a first wheel assembly 103, a first inner side plate 104, a second seat bearing 105, a first motor bracket 106, a first coupling 107, a first motor 108, a universal wheel 109, a second motor 110, a second motor bracket 111, a second coupling 112, a second wheel assembly 113, a third seat bearing 114, a fourth seat bearing 115, a second inner side plate 116, a right side plate 117, a third inner side plate 118, a fifth seat bearing 119, a third wheel assembly 120, a sixth seat bearing 121, a third motor bracket 122, a third coupling 123, a third motor 124, a fourth motor 125, and a fourth motor bracket 126 , a fourth coupling 127, a seventh bearing seat 128, a fourth wheel assembly 129, an eighth bearing seat 130, a fourth inner plate 131 and a main mounting plate 132, wherein the left side plate 102 is fixedly mounted on the left side of the main mounting plate 132 by welding, the right side plate 117 is fixedly mounted on the right side of the main mounting plate 132 by welding, the first inner plate 104 is fixedly mounted on the upper left corner of the main mounting plate 132 by welding, the second inner plate 116 is fixedly mounted on the upper right corner of the main mounting plate 132 by welding, the third inner plate 118 is fixedly mounted on the lower right corner of the main mounting plate 132 by welding, and the fourth inner plate 131 is fixedly mounted on the lower left corner of the main mounting plate 132 by welding The first seat bearing 101 is fixedly mounted on the upper end of the left side plate 102 by screws, the second seat bearing 105 is fixedly mounted on the first inner side plate 104 by screws, the first wheel assembly 103 is mounted between the first seat bearing 101 and the second seat bearing 105, the first motor bracket 106 is fixedly mounted on the first inner side plate 104 by screws, the first motor 108 is fixedly mounted on the first motor bracket 106 by screws, the first coupling 107 connects the motor shaft of the first motor 108 and the first wheel assembly 103, the third seat bearing 114 is fixedly mounted on the upper end of the right side plate 117 by screws, and the fourth seat bearing 115 is fixedly mounted by screws The second wheel assembly 113 is installed on the second inner plate 116, the second wheel assembly 113 is installed between the third seat bearing 114 and the fourth seat bearing 115, the second motor bracket 111 is fixedly installed on the second inner plate 116 by screws, the second motor 110 is fixedly installed on the second motor bracket 111 by screws, the second coupling 112 connects the motor shaft of the second motor 110 and the second wheel assembly 113, the fifth seat bearing 119 is fixedly installed on the lower end of the right side plate 117 by screws, the sixth seat bearing 121 is fixedly installed on the third inner plate 118 by screws, and the third wheel assembly 120 is installed between the fifth seat bearing 119 and the sixth seat bearing 121,The third motor bracket 122 is fixedly mounted on the third inner plate 118 by screws, the third motor 124 is fixedly mounted on the third motor bracket 122 by screws, the third coupling 123 connects the motor shaft of the third motor 124 and the third wheel assembly 120, the seventh seat bearing 128 is fixedly mounted on the lower end of the left side plate 102 by screws, the eighth seat bearing 130 is fixedly mounted on the fourth inner plate 131 by screws, the fourth wheel assembly 129 is mounted between the seventh seat bearing 128 and the eighth seat bearing 130, the fourth motor bracket 126 is fixedly mounted on the fourth inner plate 131 by screws, the fourth motor 125 is fixedly mounted on the fourth motor bracket 126 by screws, the fourth coupling 127 connects the motor shaft of the fourth motor 125 and the fourth wheel assembly 129, the universal wheel 109 is fixedly mounted on the main mounting plate 132 by bolts, and is located between the first wheel assembly 103 and the second wheel assembly 113.

[0018] The first wheel assembly 103 is composed of a wheel axle 10301, a first retaining ring 10302, a wheel 10303 and a second retaining ring 10304. The wheel 10303 is installed on the wheel axle 10301, the first retaining ring 10302 is installed on the wheel axle 10301 and is located on the left side of the wheel 10303, and the second retaining ring 10304 is installed on the wheel axle 10301 and is located on the right side of the wheel 10303.

[0019] The second wheel assembly 113 , the third wheel assembly 120 and the fourth wheel assembly 129 have the same structure as the first wheel assembly 103 .

[0020] The welding device 2 is composed of a rear end bracket 201, an electric push rod 202, a first linear guide 203, a first linear bearing 204, a slider 205, a welding gun lower arm 206, a welding gun upper arm 207, a welding gun 208, a welding gun bracket 209, a first bearing 210, a second bearing 211, a welding gun rotating motor 212, a welding gun joint motor 213, a front end bracket 214, an electric rotating table 215, a second linear bearing 216 and a second linear guide 217. The rear end of the first linear guide 203 is installed on the left side of the rear end bracket 201, the front end of the first linear guide 203 is installed on the left side of the front end bracket 214, the rear end of the second linear guide 217 is installed on the right side of the rear end bracket 201, and the front end of the second linear guide 217 is installed on the right side of the front end bracket 214. The electric push rod 202 is fixed to the rear end bracket 201 by screws, the front end of the electric push rod 202 is connected to the slider 205, and the first linear bearing 204 is installed on the slider 205. On the left, the second linear bearing 216 is installed on the right side of the slider 205, the slider 205 is installed on the first linear guide 203 and the second linear guide 217, the electric rotary table 215 is fixedly installed on the slider 205 by screws, the welding gun lower arm 206 is fixedly installed on the electric rotary table 215 by screws, the welding gun upper arm 207 is installed on the welding gun lower arm 206, the welding gun joint motor 213 is fixedly installed on the welding gun lower arm 206 by screws, the motor shaft of the welding gun joint motor 213 is connected to the welding gun upper arm 207, the first bearing 210 is installed at the front end of the welding gun upper arm 207, the second bearing 211 is installed in the middle position of the welding gun upper arm 207, the welding gun rotating motor 212 is fixedly installed at the rear end of the welding upper arm 207 by screws, the welding gun bracket 209 is installed on the first bearing 210 and the second bearing 211, and is driven by the welding gun rotating motor 212, and the welding gun 208 is installed on the welding gun bracket 209.

[0021] The welding gun upper arm 207 is provided with a first bearing mounting plate 20701, a second bearing mounting plate 20702, a rotating motor mounting plate 20703 and a driving hole 20704. The first bearing mounting plate 20701 is located at the front end of the welding gun upper arm 207, the second bearing mounting plate 20702 is located in the middle position of the welding gun upper arm 207, the rotating motor mounting plate 20703 is located at the rear end of the welding gun upper arm 207, and the driving hole 20704 is located at the end of the welding upper arm 207.

[0022] The automatic assembly device 3 is composed of a first guide rail stand 301, a third linear bearing 302, a third linear guide 303, a cylinder push rod bracket 304, a small cylinder push rod 305, a second guide rail stand 306, a fourth linear bearing 307, a fourth linear guide 308, a first cylinder push rod 309, a positioning frame 310, an assembly frame 311 and a second cylinder push rod 312. The third linear guide 303 is fixedly mounted on the first guide rail stand 301 by welding, the fourth linear guide 308 is fixedly mounted on the second guide rail stand 306 by welding, and the cylinder push rod The bracket 304 is fixedly mounted on the positioning frame 310 by screws, the small cylinder push rod 305 is fixedly mounted on the cylinder push rod bracket 304 by bolts, the third linear bearing 302 is fixedly mounted on the right side of the positioning frame 310 by screws, the fourth linear bearing 307 is fixedly mounted on the left side of the positioning frame 310 by screws, the first cylinder push rod 309 is mounted on the left side of the positioning frame 310, the second cylinder push rod 312 is mounted on the right side of the positioning frame 310, and the assembly frame 311 is mounted on the positioning frame 310 and connected to the rod of the small cylinder push rod 305.

[0023] The positioning frame 310 is provided with a first linear bearing mounting plate 31001 , a slide groove 31002 , a second linear bearing mounting plate 31003 , a first cylinder mounting plate 31004 and a second cylinder mounting plate 31005 .

[0024] The assembly frame 311 is provided with a cylinder connection hole 31101 and a ball 31102 .

[0025] When the device is in use, the base plate to be welded is placed on the assembly rack 311 of the automatic assembly device 3, the carrying vehicle 1 drives to the placement area of ​​the tapered tube and aligns with the bottom position of the tapered tube, the first cylinder push rod 309 and the second cylinder push rod 312 synchronously push the positioning rack 310 and the assembly rack 311, and the positioning work is completed when the positioning rack 310 is against the lower surface of the tapered tube. After the positioning is completed, the small cylinder push rod 305 pushes the assembly rack 311 to make the base plate and the bottom of the tapered tube fit tightly; then, the electric push rod 202 of the welding device 2 is pushed forward to push the welding gun 208 to the position where the base plate and the tapered tube need to be welded, and the posture of the welding gun 208 is adjusted by the movement of the welding gun rotating motor 212, the welding gun joint motor 213 and the electric rotating table 215 to complete the welding of the lower semicircular weld of the bottom of the tapered tube. After the welding is completed, the automatic assembly device 3 is lowered, and the welding roller frame rotates to rotate the unwelded semicircular weld to the lower semicircle for welding, and then the welding work is completed.

[0026] For those skilled in the art, according to the teachings of the present invention, without departing from the principles and spirit of the present invention, changes, modifications, substitutions and variations made to the implementation methods are still within the protection scope of the present invention.

Claims

1. A conical tube bottom plate welding robot, which is composed of a carrier, a welding device and an automatic assembly device, and is characterized in that: The automatic assembly device is fixedly installed on the carrier vehicle by bolts and is located at the front end of the carrier vehicle. The welding device is fixedly installed on the carrier vehicle by screws and is located at the rear end of the automatic assembly device. The carrier vehicle is composed of a first seat bearing, a left side plate, a first wheel assembly, a first inner side plate, a second seat bearing, a first motor bracket, a first coupling, a first motor, a universal wheel, a second motor, a second motor bracket, a second coupling, a second wheel assembly, a third seat bearing, a fourth seat bearing, a second inner side plate, a right side plate, a third inner side plate, a fifth seat bearing, a third wheel assembly, a sixth seat bearing, a third motor bracket, a third coupling, a third motor, a fourth motor, a fourth motor bracket, a fourth coupling, a seventh seat bearing, and a first The four-wheel assembly, the eighth bearing with a seat, the fourth inner plate and the main mounting plate are composed of the left side plate fixedly installed on the left side of the main mounting plate by welding, the right side plate fixedly installed on the right side of the main mounting plate by welding, the first inner plate fixedly installed on the upper left corner of the main mounting plate by welding, the second inner plate fixedly installed on the upper right corner of the main mounting plate by welding, the third inner plate fixedly installed on the lower right corner of the main mounting plate by welding, the fourth inner plate fixedly installed on the lower left corner of the main mounting plate by welding, the first bearing with a seat is fixedly installed on the upper end of the left side plate by screws, the second bearing with a seat is fixedly installed on the first inner plate by screws, and the first wheel assembly is installed on the first bearing with a seat and The first motor bracket is fixedly mounted on the first inner plate by screws, the first motor is fixedly mounted on the first motor bracket by screws, the first coupling connects the motor shaft of the first motor and the first wheel assembly, the third bearing with a seat is fixedly mounted on the upper end of the right side plate by screws, the fourth bearing with a seat is fixedly mounted on the second inner plate by screws, the second wheel assembly is mounted between the third bearing with a seat and the fourth bearing with a seat, the second motor bracket is fixedly mounted on the second inner plate by screws, the second motor is fixedly mounted on the second motor bracket by screws, the second coupling connects the motor shaft of the second motor and the second wheel assembly, the fifth bearing with a seat The sixth bearing with a seat is fixedly mounted on the lower end of the right side plate by screws, the sixth bearing with a seat is fixedly mounted on the third inner side plate by screws, the third wheel assembly is mounted between the fifth bearing with a seat and the sixth bearing with a seat, the third motor bracket is fixedly mounted on the third inner side plate by screws, the third motor is fixedly mounted on the third motor bracket by screws, the third coupling connects the motor shaft of the third motor and the third wheel assembly, the seventh bearing with a seat is fixedly mounted on the lower end of the left side plate by screws, the eighth bearing with a seat is fixedly mounted on the fourth inner side plate by screws, the fourth wheel assembly is mounted between the seventh bearing with a seat and the eighth bearing with a seat, the fourth motor bracket is fixedly mounted on the fourth inner side plate by screws,The fourth motor is fixedly mounted on the fourth motor bracket by screws, the fourth coupling connects the motor shaft of the fourth motor and the fourth wheel assembly, and the universal wheel is fixedly mounted on the main mounting plate by bolts and is located between the first wheel assembly and the second wheel assembly.

2. A conical tube bottom plate welding robot as claimed in claim 1, characterized in that: The welding device is composed of a rear end bracket, an electric push rod, a first linear guide, a first linear bearing, a slider, a welding gun lower arm, a welding gun upper arm, a welding gun, a welding gun bracket, a first bearing, a second bearing, a welding gun rotating motor, a welding gun joint motor, a front end bracket, an electric rotating table, a second linear bearing and a second linear guide. The rear end of the first linear guide is installed on the left side of the rear end bracket, the front end of the first linear guide is installed on the left side of the front end bracket, the rear end of the second linear guide is installed on the right side of the rear end bracket, and the front end of the second linear guide is installed on the right side of the front end bracket. The electric push rod is fixed to the rear end bracket by screws, the front end of the electric push rod is connected to the slider, the first linear bearing is installed on the left side of the slider, and the first linear bearing is installed on the left side of the slider. The second linear bearing is installed on the right side of the slider, the slider is installed on the first linear guide and the second linear guide, the electric rotary table is fixedly installed on the slider by screws, the welding gun lower arm is fixedly installed on the electric rotary table by screws, the welding gun upper arm is installed on the welding gun lower arm, the welding gun joint motor is fixedly installed on the welding gun lower arm by screws, the motor shaft of the welding gun joint motor is connected to the welding gun upper arm, the first bearing is installed at the front end of the welding gun upper arm, the second bearing is installed in the middle position of the welding gun upper arm, the welding gun rotating motor is fixedly installed at the rear end of the welding upper arm by screws, the welding gun bracket is installed on the first bearing and the second bearing, and is driven by the welding gun rotating motor, and the welding gun is installed on the welding gun bracket.

3. A conical tube bottom plate welding robot as claimed in claim 1, characterized in that: The automatic assembly device is composed of a first guide rail seat, a third linear bearing, a third linear guide, a cylinder push rod bracket, a small cylinder push rod, a second guide rail seat, a fourth linear bearing, a fourth linear guide, a first cylinder push rod, a positioning frame, an assembly frame and a second cylinder push rod. The third linear guide is fixedly mounted on the first guide rail seat by welding, the fourth linear guide is fixedly mounted on the second guide rail seat by welding, the cylinder push rod bracket is fixedly mounted on the positioning frame by screws, the small cylinder push rod is fixedly mounted on the cylinder push rod bracket by bolts, the third linear bearing is fixedly mounted on the right side of the positioning frame by screws, the fourth linear bearing is fixedly mounted on the left side of the positioning frame by screws, the first cylinder push rod is mounted on the left side of the positioning frame, the second cylinder push rod is mounted on the right side of the positioning frame, and the assembly frame is mounted on the positioning frame and connected to the rod of the small cylinder push rod.

4. A conical tube bottom plate welding robot as claimed in claim 1, characterized in that: The first wheel assembly is composed of a wheel axle, a first snap ring, a wheel and a second snap ring. The wheel is installed on the wheel axle, the first snap ring is installed on the wheel axle and is located on the left side of the wheel, and the second snap ring is installed on the wheel axle and is located on the right side of the wheel.

5. A tapered tube bottom plate welding robot as claimed in claim 2, characterized in that: The welding gun upper arm is provided with a first bearing mounting plate, a second bearing mounting plate, a rotating motor mounting plate and a driving hole. The first bearing mounting plate is located at the front end of the welding gun upper arm, the second bearing mounting plate is located in the middle position of the welding gun upper arm, the rotating motor mounting plate is located at the rear end of the welding gun upper arm, and the driving hole is located at the end of the welding upper arm.

6. A tapered tube bottom plate welding robot as claimed in claim 3, characterized in that: The positioning frame is provided with a first linear bearing mounting plate, a slide groove, a second linear bearing mounting plate, a first cylinder mounting plate and a second cylinder mounting plate.

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