Automatic tracking welding equipment and welding method

Abstract

Automatic tracking welding equipment is used for welding a side plate of a smoke exhaust ventilator and comprises a welding platform, a first positioning table and a second positioning table are arranged on the welding platform, pressing mechanisms are arranged above the first positioning table and the second positioning table respectively, a guide rail is fixedly arranged at the front end of a welding frame, a welding mechanism is movably assembled on the guide rail, and the welding mechanism is arranged on the welding frame. The welding mechanism comprises a movable lifting mechanism and a tracking mechanism, and a transfer clamping mechanism, a turnover mechanism and a controller are further fixedly arranged on the welding platform. Through the driving mechanism and the compacting mechanism, splicing of the outer side plate and the connecting plate on the first positioning table and splicing of the connecting plate and the inner side plate on the second positioning table are achieved correspondingly, traditional manual side plate splicing and manual welding are replaced in the process, and the welding seam track can be automatically recognized through the tracking mechanism; the position and the angle of the laser welding gun can be adjusted in real time according to the track of the welding seam, the production efficiency of the side plate is improved, and the welding strength of the side plate is guaranteed.

Description

Technical Field

[0001] The present invention relates to the field of laser welding equipment, and in particular to an automatic tracking welding equipment and a welding method. Background Art

[0002] Welding equipment mainly includes arc welders, laser welders, ultrasonic welders, pulse arc welders, etc. The selection of different welding equipment often depends on factors such as specific welding tasks, material types, welding positions, and budgets. At present, the traditional method of welding the side panels of range hoods mostly uses arc welders. However, due to the thickness of the side panels of range hoods, arc welding can easily damage the side panels during the welding process, and the welding efficiency is low.

[0003] The side panels of the range hood are components installed on both sides of the range hood, mainly for aesthetic and protective purposes. They can effectively prevent the spread of grease, smoke and water vapor generated during cooking to other areas of the kitchen, and also play a certain protective role for the mechanical components inside the range hood. In addition, the design of the side panels usually also takes into account the principles of aerodynamics, which helps to optimize the airflow guide and improve the smoke exhaust efficiency. Secondly, the side panels of the range hood are generally made of easy-to-clean materials, such as stainless steel or coated metal, so that users can easily wipe and maintain them. The existing side panels are generally single-layer structures, and the side panels are formed by traditional stamping methods. This type of side panel is prone to wear and corrosion during daily use and cleaning, which reduces the service life of the side panels. The present invention develops a double-layer side panel, which includes an outer panel, an inner panel and a connecting panel. For aesthetics, the outer panel and the inner panel are designed to be arc-shaped, but the arc-shaped structure is easily wrinkled by stamping, so the side panels are often combined by splicing single panels and then welded together. Traditional welding requires manual splicing and then manual welding. This not only has low splicing and welding efficiency, but also instability in manual welding, resulting in inconsistent welding effects at welding locations, which seriously affects the quality of the side panels. Summary of the invention

[0004] The purpose of the present invention is to replace the problem of low production efficiency of side panels caused by manual splicing and welding of traditional side panels.

[0005] In order to achieve the above object, the present invention adopts the following technical solutions:

[0006] An automatic tracking welding device is used for welding the side panel of a range hood, wherein the side panel of the range hood is composed of an outer panel, an inner panel and a connecting panel, the automatic tracking welding device comprises a welding platform, a first positioning platform and a second positioning platform are respectively arranged on the welding platform, straight notches are respectively arranged on both sides of the first positioning platform and the second positioning platform, two fixed blocks are respectively fixedly arranged on both sides of the first positioning platform and the second positioning platform, a guide column is slidably mounted between the positioning blocks on each side, a limiting column is fixedly connected to one side of the guide column, a driving mechanism is respectively arranged under the first positioning platform and the second positioning platform, an output end of each driving mechanism is movably connected to a swing arm, a first movable groove and a second movable groove are further arranged on the swing arm, the second movable groove is movably mounted on the limiting column, and a first movable groove is respectively arranged above the first positioning platform and the second positioning platform. A clamping mechanism is arranged, and the bottom of each clamping mechanism is fixedly connected to the guide column. A welding frame is also set up on the welding platform, and a guide rail is fixedly arranged at the front end of the welding frame. The welding mechanism is movably mounted on the guide rail, and the welding mechanism includes a mobile lifting mechanism and a tracking mechanism, and the tracking mechanism is located below the mobile lifting mechanism; a transfer clamping mechanism, a flipping mechanism and a controller are also fixedly arranged on the welding platform, and the flipping mechanism and the controller are located between the first positioning platform and the second positioning platform, and the transfer clamping mechanism is located between the first positioning platform and the connecting plate conveyor line, and the connecting plate conveyor line is fixedly arranged on the welding platform and is located below the front end of the transfer clamping mechanism, and the controller is respectively connected with the driving mechanism, the clamping mechanism, the mobile lifting mechanism, the tracking mechanism, the transfer clamping mechanism and the flipping mechanism signals.

[0007] Preferably, a group of positioning blocks and a group of extrusion cylinders are arranged on the first positioning platform and the second positioning platform, and limit plates are arranged in mirror image on the first positioning platform and the second positioning platform, one end of the limit plate is an arc structure, and a push plate is also fixedly arranged at the telescopic end of each extrusion cylinder, and an anti-deformation top plate is also arranged on the first positioning platform, and the anti-deformation top plate is located at the rear end of the limit plate.

[0008] Preferably, two driving mechanisms are provided, and each driving mechanism comprises a support plate, a connecting column, a driving motor, a main gear, a sub-gear, a rotating shaft, a fixed plate, a rotating arm and a sliding block. The support frame is fixed on the welding platform, and connecting columns are respectively fixed on both sides of the support plate. The connecting columns are movably connected to the bottom of the swing arm, and the driving motor is fixedly arranged in the middle of the support plate. The output end of the driving motor is equipped with a main gear. A fixing plate is arranged on the inner side of each straight slot, and a rotating shaft is arranged between the fixing plates. The two output ends of the rotating shaft are fixedly equipped with rotating arms, and a sub-gear is also fixedly arranged in the middle of the rotating shaft. The main gear and the sub-gear are connected by a chain. The rotating arm is located on the outer side of the fixed plate, and the other end of the rotating arm is movably equipped with a sliding block, and the sliding block is movably equipped with the first movable groove.

[0009] Preferably, the clamping mechanism includes a top plate, an oblique support arm, an oblique slide groove, a movable rod, a pressure plate, a movable groove, a limiting channel, a sliding block and a pressing cylinder, the oblique support arms are fixed on both sides of the bottom of the top plate, the bottom of the oblique support arm is fixedly connected to the guide column, the inner side of the oblique support arm is provided with an oblique slide groove, the pressure plate is located below the top plate, movable rods are provided on both sides of the pressure plate, and the outer side of one end of the movable rod extends into the oblique slide groove, the inner side of the other end of the movable rod is movably connected to the pressure plate, a movable groove is provided in the middle of the upper part of the pressure plate, and limiting channels are also provided on both sides of the inner side of the movable groove, the sliding block is located in the movable groove, and both sides of the sliding block extend into the limiting channels, the upper part of the sliding block is connected to the telescopic end of the pressing cylinder, and the pressing cylinder is fixedly provided on the top plate.

[0010] Preferably, the mobile lifting mechanism includes a self-propelled device, a mobile cylinder, a guide rod, a laser welder, a baffle and a first lifting electric cylinder. The self-propelled device is mounted on a guide rail. The mobile cylinder and two guide rods are fixedly arranged at the front end of the self-propelled device, wherein the front ends of the two guide rods are connected by a baffle. The laser welder is movably mounted on the two guide rods, and the top of the laser welder is also fixedly connected to the telescopic end of the mobile cylinder. The top of the laser welder is also fixedly arranged with a first lifting electric cylinder, and the telescopic end of the first lifting electric cylinder passes through the laser welder and is connected to the tracking mechanism.

[0011] Preferably, the tracking mechanism includes a mounting seat, a limit pin, a fan-shaped movable plate, an arc-shaped limit groove, an adjusting motor, an adjusting gear, an articulated rod, a connecting ear plate, a traction rod, a laser welding gun and a tracking probe, the mounting seat is fixedly connected to the telescopic end of the first lifting electric cylinder, the limit pin is fixedly installed on the mounting seat, one end of the limit pin extends into the arc-shaped limit groove, an arc-shaped limit groove is provided on the side of the fan-shaped movable plate close to the mounting seat, and the bottom edge of the fan-shaped movable plate is a toothed structure, the adjusting motor is fixedly installed on one side of the mounting seat, and the output end of the adjusting motor passes through the mounting seat, and the protruding part is equipped with an adjusting gear, the adjusting gear is meshed with the bottom edge of the fan-shaped movable plate, an articulated rod is also fixedly arranged on the mounting seat, and the articulated rod is located below the adjusting gear, the laser welding gun is movably connected to the articulated rod through the connecting ear plate, a traction rod is also fixed on the fan-shaped movable plate, and the traction rod is also connected to the top of the laser welding gun, a tracking probe is also movably arranged on the inner side of the laser welding gun, and the laser welding gun is connected to a laser welding machine.

[0012] Preferably, the transfer and clamping mechanism includes an electric turntable, a connecting seat, a horizontal plate, a pushing cylinder, a movable seat, a second lifting electric cylinder, a vertical guide rod, a clamping seat, a finger clamp and a laser probe. The connecting seat is fixedly installed on the electric turntable, and the movable seat is slidably mounted on the connecting seat. Two vertical guide rods are fixed on both sides of the front end of the movable seat, and the clamping seat is movably mounted on the two vertical guide rods. Two finger clamps are fixedly installed on the bottom of the clamping seat, and a laser probe is also fixedly arranged at the front end of the clamping seat. A second lifting electric cylinder is fixedly arranged on the top of the movable seat, and the telescopic end of the second lifting electric cylinder is fixedly connected to the top of the clamping seat. The horizontal plate is also fixed on the connecting seat, and the pushing cylinder is also fixed on the horizontal plate, and the telescopic end of the pushing cylinder is fixedly connected to the rear end of the movable seat.

[0013] Preferably, the flipping mechanism includes a flipping electric cylinder, a moving column, a support seat, a toothed plate, a rotating gear, a flipping shaft, a flipping frame, a rotating plate, a telescopic arm, a telescopic electric cylinder, a flipping plate, an ear plate, a push-pull electric cylinder, a pneumatic adsorber and an adsorption nozzle. The flipping electric cylinder is fixed on the welding platform, and a support seat is provided at the rear end of the flipping electric cylinder. A toothed plate is movably provided on the top of the support seat. The bottom of the toothed plate is fixedly connected to the moving column. The other end of the moving column is fixedly connected to the telescopic end of the flipping electric cylinder. A flipping frame is provided at the rear end of the support seat. A flip shaft is equipped, and a rotating gear is fixed at one end of the flip shaft close to the tooth plate, and the rotating gear is meshed with the tooth plate. A rotating plate is fixed on the flip shaft, and telescopic arms are movably equipped on both sides of the rotating plate. The ends of the two telescopic arms are fixedly connected to the two sides of the flip plate, and the two telescopic arms are fixedly connected through ear plates, and the ear plates are fixedly connected to the telescopic ends of the push-pull electric cylinders, and the push-pull electric cylinders are fixed on the rotating plate, a pneumatic absorber is fixed on the upper part of the flip plate, and a plurality of suction nozzles are equipped on the lower part of the flip plate, and the pneumatic absorber is respectively connected to each suction nozzle.

[0014] Preferably, an alarm is also provided on the upper part of the controller, and an adjustment seat is also provided on the bottom of the welding platform, and the number of the adjustment seats is not less than six.

[0015] Preferably, the present invention also provides a welding method of an automatic tracking welding device, comprising the following steps:

[0016] S1: Welding preparation, first the controller controls the driving mechanism under the first positioning table to work, under the action of the driving mechanism, the compacting mechanism moves backward as a whole, and during the movement of the compacting mechanism, the pressing plate also starts to move upward under the action of the controller, so that the first positioning table is opened to facilitate the placement of the outer plate;

[0017] S2: Transfer and compaction. The controller controls the external mechanical arm to transfer the outer plate to the first positioning platform. At this time, the outer plate opening faces downward, and the outer inner wall of the outer plate contacts the anti-deformation top plate. Then the controller controls the transfer clamping mechanism to transfer the connecting plate on the connecting plate conveyor line to between the limit plate and the anti-deformation top plate. Then the controller controls the extrusion cylinder to work and push the outer plate until the welding end of the outer plate is in tight contact with the connecting plate. Then the controller controls the driving mechanism to work in reverse, the compaction mechanism moves forward as a whole, and the pressing plate gradually moves downward for compaction to prevent dislocation during the welding process.

[0018] S3: One-time welding, after compaction is completed, the controller controls the mobile lifting mechanism to move to the specified position, and then the tracking mechanism automatically identifies the welding seam, that is, the contact gap between the outer plate and the upper part of the connecting plate. The tracking probe identifies the welding gap position and distance, and then transmits it to the controller. The controller controls the movement and angle adjustment of the laser welding gun at any time, and automatically tracks the welding;

[0019] S4: flipping. When the gap welding between the outer plate and the connecting plate is completed, the controller first controls the pressing plate to return to the initial position, and then controls the flipping mechanism to transfer the welded outer plate to the second positioning table. During the flipping process, the welding part between the outer plate and the connecting plate is located at the bottom, which is convenient for welding the contact gap between the inner plate and the connecting plate.

[0020] S5: Secondary welding. Secondary welding is mainly performed on the gap between the inner plate and the connecting plate. After the welded outer plate is transferred to the second positioning table, the controller controls the external robotic arm to transfer the inner plate to the outer plate, and then presses the inner plate onto the outer plate. The mobile lifting mechanism is then controlled to move to the specified position. Under the tracking action of the tracking probe, the gap between the connecting plate and the inner plate is automatically welded, so that both contact gaps are welded.

[0021] The beneficial effects of the present invention are:

[0022] The present invention realizes the splicing of the outer plate and the connecting plate on the first positioning platform and the splicing of the connecting plate and the inner plate on the second positioning platform respectively by controlling the driving mechanism and the compacting mechanism, so that the side plate splicing group is formed into a whole, and then laser tracking welding is performed. In this process, the gap between the outer plate and the connecting plate is first tracked and welded by the controller, and then the outer plate is flipped by the flipping mechanism, and the tracking welding of the gap between the inner plate and the connecting plate is achieved on the second positioning platform. This process replaces the traditional manual splicing of side plates and manual welding, and the welding seam trajectory can be automatically identified by the tracking mechanism. During the mobile welding process, the position and angle of the laser welding gun can be adjusted in real time according to the welding seam trajectory. This process not only improves the production efficiency of the side plates, but also ensures the welding strength of the welding seams and the welding quality of the side plates. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] Figure 1 It is a three-dimensional structural schematic diagram of an automatic tracking welding device;

[0024] Figure 2 is a schematic diagram of the structure of the side panel of the range hood;

[0025] Figure 3 It is a top view of the structure of an automatic tracking welding device;

[0026] Figure 4 It is a front view structural diagram of an automatic tracking welding device;

[0027] Figure 5 It is a side view structural diagram of an automatic tracking welding device;

[0028] Figure 6 Another side view of the structure of an automatic tracking welding device;

[0029] Figure 7 The figure is a structural diagram of the mobile lifting mechanism;

[0030] Figure 8 for Figure 5 The enlarged structure diagram of the middle A part;

[0031] Fig. 9 for Figure 6 The enlarged structural diagram of the middle B part;

[0032] Fig.10 It is the structural diagram of the clamping mechanism;

[0033] Fig.11 It is a structural diagram of the transfer clamping mechanism;

[0034] Fig.12 is the structural diagram of the flipping mechanism;

[0035] In the figure: outer plate a, inner plate b, connecting plate c, welding platform 1, first positioning platform 2, second positioning platform 3, straight notch 4, fixing block 5, guide column 6, limit column 7, driving mechanism 8, swing arm 9, first movable groove 10, second movable groove 11, clamping mechanism 12, welding frame 13, guide rail 14, welding mechanism 15, mobile lifting mechanism 150, tracking mechanism 151, transfer clamping mechanism 16, flipping mechanism 17, controller 18, connecting plate conveyor line 19, positioning block 20, extrusion cylinder 21, limit plate 22, push plate 23, anti-deformation top plate 24, limit plate 25, alarm 26, adjustment seat 27, support plate 80, connecting column 81, drive motor 82, main gear 83, sub gear 84, rotating shaft 85, fixed plate 86, rotating arm 87, slider 88, top plate 120, oblique support arm 121, oblique slide 122, movable rod 123, pressing plate 124, moving groove 125, limit channel 126, sliding block 127, pressing cylinder 128, self-propelled device 1500, moving cylinder 1 501, guide rod 1502, laser welder 1503, baffle 1504, first lifting cylinder 1505, mounting seat 1510, limit pin 1511, fan-shaped moving plate 1512, arc-shaped limit groove 1513, adjustment motor 1514, adjustment gear 1515, hinge rod 1516, connecting ear plate 1517, traction rod 1518, laser welding gun 1519, tracking probe 15190, electric turntable 160, connecting seat 161, horizontal plate 162, push cylinder 163, moving seat 164, the second lifting electric cylinder 165, the vertical guide rod 166, the clamping seat 167, the finger clamp 168, the laser probe 169, the flipping electric cylinder 1700, the moving column 1701, the supporting seat 1702, the gear plate 1703, the rotating gear 1704, the flipping axis 1705, the flipping frame 1706, the rotating plate 1707, the telescopic arm 1708, the telescopic electric cylinder 1709, the flipping plate 1710, the ear plate 1711, the push-pull electric cylinder 1712, the pneumatic absorber 1713 and the absorption nozzle 1714. DETAILED DESCRIPTION

[0036] In order to make the purpose, technical solution and advantages of the present invention more clearly understood, the present invention is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not intended to limit the present invention.

[0037] In the description of the present invention, it should be understood that the terms "length", "width", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside" and "outside" etc., indicating directions or positional relationships, are based on the directions or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific direction, be constructed and operated in a specific direction, and therefore cannot be understood as a limitation on the present invention. In the description of the present invention, "multiple" means two or more, unless otherwise clearly and specifically defined.

[0038] Embodiment 1:

[0039] See also Figure 1-Figure 6 , an automatic tracking welding device, used for welding the side panel of a range hood, wherein the side panel of the range hood is composed of an outer plate a, an inner plate b and a connecting plate c, the automatic tracking welding device comprises a welding platform 1, on which a first positioning platform 2 and a second positioning platform 3 are respectively arranged, the welding of the outer plate a and the connecting plate c is completed on the first positioning platform 2, and the welding of the inner plate b and the connecting plate c is completed on the second positioning platform 3, straight notches 4 are respectively provided on both sides of the first positioning platform 2 and the second positioning platform 3, two fixed blocks 5 are respectively fixedly provided on both sides of the first positioning platform 2 and the second positioning platform 3, a guide column 6 is slidably mounted between the positioning blocks 5 on each side, and a limiting column 7 is fixedly connected to one side of the guide column 6, a driving mechanism 8 is respectively arranged under the first positioning platform 2 and the second positioning platform 3, the output end of each driving mechanism 8 is movably connected to a swing arm 9, a first movable groove 10 and a second movable groove 11 are also provided on the swing arm 9, the second movable groove 11 is movably mounted with the limiting column 7, the first positioning platform 2 and the second positioning platform 3 are respectively provided with a driving mechanism 8, and the output end of each driving mechanism 8 is movably connected to a swing arm 9, A clamping mechanism 12 is respectively arranged above the platform 3, and the bottom of each clamping mechanism 12 is fixedly connected to the guide column 6. A welding frame 13 is also set on the welding platform 1, and a guide rail 14 is fixedly arranged at the front end of the welding frame 13. A welding mechanism 15 is movably mounted on the guide rail 14, and the welding mechanism 15 includes a mobile lifting mechanism 150 and a tracking mechanism 151, and the tracking mechanism 151 is located below the mobile lifting mechanism 150; a transfer clamping mechanism 16, a flipping mechanism 17 and a controller 18 are also fixedly arranged on the welding platform 1, and the flipping mechanism 17 and the controller 18 are located between the first positioning platform 2 and the second positioning platform 3, and the transfer clamping mechanism 16 is located between the first positioning platform 2 and the connecting plate conveyor line 19, and the connecting plate conveyor line 19 is fixedly arranged on the welding platform 1 and located at the front end of the transfer clamping mechanism 16, and the controller 18 is respectively connected with the driving mechanism 8, the clamping mechanism 12, the mobile lifting mechanism 150, the tracking mechanism 151, the transfer clamping mechanism 16 and the flipping mechanism 17 by signal.

[0040] A group of positioning blocks 20 and a group of extrusion cylinders 21 are arranged on the first positioning platform 2 and the second positioning platform 3, and a limiting plate 22 is arranged on the first positioning platform 2 and the second positioning platform 3 in a mirror image. One end of the limiting plate 22 is an arc structure. A push plate 23 is also fixedly arranged at the telescopic end of each extrusion cylinder 21. An anti-deformation top plate 24 is also arranged on the first positioning platform 2, and the anti-deformation top plate 24 is located at the rear end of the limiting plate 22. The positioning block 20 mainly plays a limiting role. During the operation, the transfer clamping mechanism 16 clamps and transfers the connecting plate c between the limiting plate 22 and the anti-deformation top plate 24, and then the extrusion cylinder 21 will push the outer plate a close to the connecting plate c. When the first positioning platform 2 is welded, the outer plate a is open downward. At this time, the inner wall of the outer plate a contacts the top of the anti-deformation top plate 24. With the movement of the push plate 23, the welding edge of the outer plate a contacts the upper part of the connecting plate c. The anti-deformation top plate 24 supports the outer plate a, ensuring that the outer plate a will not deform during the compaction process.

[0041] See also Figure 4-Figure 6 , the driving mechanism 8 is provided with two, and each driving mechanism 8 comprises a supporting plate 80, a connecting column 81, a driving motor 82, a main gear 83, a sub-gear 84, a rotating shaft 85, a fixing plate 86, a rotating arm 87 and a sliding block 88, the supporting frame 80 is fixed on the welding platform 1, connecting columns 81 are fixed on both sides of the supporting plate 80, and the connecting column 81 is movably connected to the bottom of the swing arm 9, a driving motor 82 is fixedly arranged in the middle of the supporting plate 80, and the output end of the driving motor 82 is equipped with a main gear 83, a fixing plate 86 is arranged on the inner side of each straight slot 4, and a rotating shaft 85 is arranged between the two fixing plates 86, and the two output ends of the rotating shaft 85 are fixedly equipped with a rotating arm 87, and a sub-gear 84 is also fixedly arranged in the middle of the rotating shaft 85, the main gear 83 and the sub-gear 84 are connected by a chain, the rotating arm 87 is located on the outer side of the fixing plate 86, and the other end of the rotating arm 87 is movably equipped with a sliding block 88, and the sliding block 88 is movably equipped with the first movable groove 10. When the driving motor 82 rotates, the rotating arms 87 at both ends of the rotating shaft 85 will rotate. When the rotating arms 87 are horizontal, the upper part of the swing arm 9 reaches the maximum angle. At this time, the clamping mechanism 12 reaches the rear end, even if the first positioning platform 2 or the second positioning platform 3 is exposed to the outside, so that it is convenient to place the outer plate a or the inner plate b in the corresponding position. The driving mechanism 8 is mainly used to drive the compacting mechanism 12 to move left and right.

[0042] See also Fig.10The clamping mechanism 12 includes a top plate 120, an oblique support arm 121, an oblique slide 122, a movable rod 123, a pressing plate 124, a movable groove 125, a limiting channel 126, a sliding block 127 and a clamping cylinder 128. The oblique support arms 121 are fixed on both sides of the bottom of the top plate 120. The bottom of the oblique support arm 121 is fixedly connected to the guide column 6. The inner side of the oblique support arm 121 is provided with an oblique slide 122. The pressing plate 124 is located below the top plate 120. The movable rods 123 are arranged on both sides of the pressing plate 124. One end of the movable rod 123 extends into the inclined slide groove 122, and the other end of the movable rod 123 is movably connected to the pressing plate 124. A moving groove 125 is provided in the middle of the upper part of the pressing plate 124, and limiting channels 126 are also provided on both sides of the inner part of the moving groove 125. The sliding block 127 is located in the moving groove 125, and both sides of the sliding block 127 extend into the limiting channels 126. The upper part of the sliding block 127 is connected to the telescopic end of the clamping cylinder 128, and the clamping cylinder 128 is fixedly arranged on the top plate 120. The compacting mechanism 12 can also move up and down under the action of the controller 18 during the movement process. During the downward movement process, the clamping cylinder 128 pushes the pressing plate 124 to move downward, and the sliding block 127 moves in the moving groove 125, but does not disengage. The pressing plate 124 moves along the direction of the oblique support arm 121, and the downward movement process and the compaction process are performed. The purpose of compaction is to prevent the welding seam from being dislocated or becoming larger or smaller during the welding process.

[0043] See also Figure 7-Figure 9 The mobile lifting mechanism 150 includes a self-propelled device 1500, a mobile cylinder 1501, a guide rod 1502, a laser welder 1503, a baffle 1504 and a first lifting electric cylinder 1505. The self-propelled device 1500 is mounted on the guide rail 14. The front end of the self-propelled device 1500 is fixedly provided with a mobile cylinder 1501 and two guide rods 1502, wherein the front ends of the two guide rods 1502 are connected by a baffle 1504. The laser welder 1503 is movably mounted on the two guide rods 1502, and the top of the laser welder 1503 is also fixedly connected to the telescopic end of the mobile cylinder 1501. The top of the laser welder 1503 is also fixedly provided with a first lifting electric cylinder 1505, and the telescopic end of the first lifting electric cylinder 1505 passes through the laser welder 1503 and is connected to the tracking mechanism 151. The movable lifting mechanism 150 can move back and forth along the guide rail 14 under the control of the controller 18, and can also control the tracking mechanism 151 to move up or down.

[0044] The tracking mechanism 151 includes a mounting seat 1510, a limit pin 1511, a fan-shaped movable plate 1512, an arc-shaped limit groove 1513, an adjusting motor 1514, an adjusting gear 1515, a hinged rod 1516, a connecting ear plate 1517, a traction rod 1518, a laser welding gun 1519 and a tracking probe 15190. The mounting seat 1510 is fixedly connected to the telescopic end of the first lifting cylinder 1505. The limit pin 1511 is fixedly installed on the mounting seat 1510, and one end of the limit pin 1511 extends into the arc-shaped limit groove 1513. The fan-shaped movable plate 1512 is provided with an arc-shaped limit groove 1513 on one side close to the mounting seat 1510, and the bottom edge of the fan-shaped movable plate 1512 is a toothed structure. The adjusting motor 1514 is fixedly installed On one side of the mounting seat 1510, the output end of the adjusting motor 1514 passes through the mounting seat 1510, and the protruding part is equipped with an adjusting gear 1515, and the adjusting gear 1515 is engaged with the bottom edge of the fan-shaped movable plate 1512. A hinge rod 1516 is also fixedly arranged on the mounting seat 1510, and the hinge rod 1516 is located below the adjusting gear 1515. The laser welding gun 1519 is movably connected to the hinge rod 1516 through a connecting ear plate 1517. A traction rod 1518 is also fixed on the fan-shaped movable plate 1512, and the traction rod 1518 is also connected to the top of the laser welding gun 1519. A tracking probe 15190 is also movably arranged on the inner side of the laser welding gun 1519, and the laser welding gun 1519 is connected to the laser welder 1503.

[0045] Tracking principle:

[0046] In the process of identifying the welding seam, the controller 18 first controls the adjustment motor 1514 to work, and the adjustment motor 1514 will drive the fan-shaped moving plate 1512 to rotate. During the rotation, the traction rod 1518 will drive the laser welding gun 1519 to rotate around the hinge rod 1516. In this way, when the tracking probe 15190 detects the welding seam, it will transmit the horizontal and vertical distance information to the controller 18. The controller 18 will control the self-propelled vehicle 1500 and the first lifting electric cylinder 1505 to work respectively. This process detects the trajectory changes in real time, thereby tracking the welding seam and performing welding under the action of the laser welding gun 1519.

[0047] See also Fig.11The transfer clamping mechanism 16 includes an electric turntable 160, a connecting seat 161, a horizontal plate 162, a pushing cylinder 163, a moving seat 164, a second lifting cylinder 165, a vertical guide rod 166, a clamping seat 167, a finger clamp 168 and a laser probe 169. The connecting seat 161 is fixedly installed on the electric turntable 160, and the moving seat 164 is slidably mounted on the connecting seat 161. Two vertical guide rods 166 are fixed on both sides of the front end of the moving seat 164, and the clamping seats are movably mounted on the two vertical guide rods 166. 167, two finger clamps 168 are fixedly installed on the bottom of the clamping seat 167, a laser probe 169 is also fixedly set on the front end of the clamping seat 167, a second lifting electric cylinder 165 is fixedly set on the top of the moving seat 164, the telescopic end of the second lifting electric cylinder 165 is fixedly connected to the top of the clamping seat 167, a horizontal plate 162 is also fixed on the connecting seat 161, a pushing cylinder 163 is also fixed on the horizontal plate 162, and the telescopic end of the pushing cylinder 163 is fixedly connected to the rear end of the moving seat 161. First, the laser probe 169 detects the connecting plate c, and then the controller 18 controls the second lifting cylinder 165 to move downward. After moving to the specified position, the finger clamp 168 clamps the connecting plate c, and then lifts it away from the connecting plate conveyor line 19. Then the electric turntable 160 rotates 180 degrees to place the connecting plate c between the limit plate 22 and the anti-deformation top plate 24, and the push cylinder 163 adjusts the position of the moving seat 164, and the moving seat 164 slides on the connecting seat 161.

[0048] See also Fig.12, the flip mechanism 17 includes a flip cylinder 1700, a moving column 1701, a support seat 1702, a tooth plate 1703, a rotating gear 1704, a flip shaft 1705, a flip frame 1706, a rotating plate 1707, a telescopic arm 1708, a telescopic cylinder 1709, a flip plate 1710, an ear plate 1711, a push-pull cylinder 1712, a pneumatic adsorber 1713 and an adsorption nozzle 1714, the flip cylinder 1700 is fixed on the welding platform 1, and a support seat 1702 is arranged at the rear end of the flip cylinder 1700, a tooth plate 1703 is movably arranged on the top of the support seat 1702, the bottom of the tooth plate 1703 is fixedly connected to the moving column 1701, the other end of the moving column 1701 is fixedly connected to the telescopic end of the flip cylinder 1700, a flip frame 1706 is arranged at the rear end of the support seat 1702, and the flip frame 1 A flip shaft 1705 is movably mounted on 706, and a rotating gear 1704 is fixed at one end of the flip shaft 1705 close to the tooth plate 1703, and the rotating gear 1704 is meshed with the tooth plate 1703. A rotating plate 1707 is fixed on the flip shaft 1705, and telescopic arms 1708 are movably mounted on both sides of the rotating plate 1707. The ends of the two telescopic arms 1708 are fixedly connected to both sides of the flip plate 1710, and the two telescopic arms 1708 are fixedly connected via an ear plate 1711, and the ear plate 1711 is fixedly connected to the telescopic end of a push-pull electric cylinder 1712, and the push-pull electric cylinder 1712 is fixed on the rotating plate 1707. A pneumatic absorber 17133 is fixed on the upper part of the flip plate 1710, and a plurality of suction nozzles 1714 are mounted on the lower part of the flip plate 1710, and the pneumatic absorber 1713 is respectively connected to each suction nozzle 1714.

[0049] Flipping process:

[0050] First, after the welding of the outer plate a and the connecting plate c is completed, the flipping electric cylinder 1700 works. At this time, the tooth plate 1703 is at the rightmost end of the support seat 1702. The controller 18 controls the telescopic electric cylinder 1709 to push the pneumatic absorber 1713 to the top of the first positioning platform 2. At this time, the pneumatic absorber 1713 works, so that the suction nozzle 1714 sucks up the welded outer plate a, and then the flipping electric cylinder 1700 contracts, so that the tooth plate 1703 slides to the left. During the sliding process, the rotating plate 1707 will rotate, which will flip the welded outer plate a over. When approaching the second positioning platform 3, the pneumatic absorber 1713 stops working, so that the outer plate a tilts and slides toward the second positioning platform 3. This process realizes the flipping of the outer plate a, so that the welding seam between the outer plate a and the connecting plate c is located at the bottom, which is convenient for welding the gap between the inner plate b and the connecting plate c.

[0051] An alarm 26 is also provided on the top of the controller 18 , and an adjustment seat 27 is also provided on the bottom of the welding platform 1 , and the number of the adjustment seats 27 is not less than six.

[0052] The present invention also provides a welding method of an automatic tracking welding device, comprising the following steps:

[0053] S1: Welding preparation, first the controller 18 controls the driving mechanism 8 under the first positioning platform 2 to work, under the action of the driving mechanism 8, the compacting mechanism 12 moves backward as a whole, and during the movement of the compacting mechanism 12, the pressing plate 124 also starts to move upward under the action of the controller 18, so that the upper part of the first positioning platform 2 is open, which is convenient for placing the outer plate a by the robot arm;

[0054] S2: Transfer and compaction. The controller 18 controls the external mechanical arm to transfer the outer plate a to the first positioning platform 2. At this time, the outer plate a opens downward, and the outer inner wall of the outer plate a contacts the anti-deformation top plate 24. Then the controller 18 controls the transfer clamping mechanism 16 to clamp and transfer the connecting plate c on the connecting plate conveyor line 19 to between the limit plate 22 and the anti-deformation top plate 24. Then the controller 18 controls the extrusion cylinder 21 to work and push the outer plate a until the welding end of the outer plate a is in tight contact with the connecting plate c. Then the controller 18 controls the driving mechanism 8 to work in reverse, so that the compaction mechanism 12 moves forward as a whole, and the pressing plate 124 gradually moves downward and compacts, ensuring that the outer plate a and the connecting plate c to be welded are aligned and close together to prevent misalignment during the welding process.

[0055] S3: One-time welding, after compaction is completed, the controller 18 controls the mobile lifting mechanism 150 to move to the specified position, and then the tracking mechanism 151 automatically identifies the welding seam, that is, the contact gap between the outer plate a and the upper part of the connecting plate c, and the tracking probe 15190 identifies the welding gap position and distance, and then transmits it to the controller 18. The controller 18 controls the movement and angle adjustment of the laser welding gun 1519 at any time, so as to automatically track the welding;

[0056] S4: flipping. After the gap welding of the outer plate a and the connecting plate c is completed, the controller 18 first controls the pressing plate 124 to return to the initial position, and then controls the flipping mechanism 17 to transfer the welded outer plate a to the second positioning table 3. During the flipping process, the welding part of the outer plate a and the connecting plate c is located at the bottom, which is convenient for welding the contact gap between the inner plate b and the connecting plate c.

[0057] S5: Secondary welding. Secondary welding is mainly performed on the gap between the inner plate b and the connecting plate c. After the welded outer plate a is transferred to the second positioning table 3, the controller 18 controls the external robotic arm to transfer the inner plate b onto the outer plate a, and then presses the inner plate b onto the outer plate a. Then, the mobile lifting mechanism 150 is controlled to move to the specified position. Under the tracking action of the tracking probe 15190, the gap between the connecting plate c and the inner plate b is automatically welded, so that the upper and lower contact gaps of the connecting plate c can be welded.

[0058] The above are only preferred embodiments of the present invention and are not intended to limit the present invention in other forms. Any technician familiar with the profession may use the technical contents disclosed above to change or modify them into equivalent embodiments with equivalent changes and apply them to other fields. However, any simple modification, equivalent change and modification made to the above embodiments based on the technical essence of the present invention without departing from the technical solution of the present invention still falls within the protection scope of the technical solution of the present invention.

Claims

1. An automatic tracking welding device for welding the side panels of a range hood, wherein the side panels of the range hood are composed of an outer panel a, an inner panel b and a connecting panel c, characterized in that: The automatic tracking welding equipment comprises a welding platform (1), on which a first positioning platform (2) and a second positioning platform (3) are respectively arranged, and straight slots (4) are respectively provided on both sides of the first positioning platform (2) and the second positioning platform (3), and two fixed blocks (5) are respectively fixedly arranged on both sides of the first positioning platform (2) and the second positioning platform (3), and a guide column (6) is slidably mounted between the positioning blocks (5) on each side, and one side of the guide column (6) is fixedly connected to a limit column (7), and the first positioning platform (2) A driving mechanism (8) is respectively arranged below the first positioning platform (2) and the second positioning platform (3), the output end of each driving mechanism (8) is movably connected to the swing arm (9), the swing arm (9) is also provided with a first movable groove (10) and a second movable groove (11), the second movable groove (11) is movably assembled with the limit column (7), a clamping mechanism (12) is respectively arranged above the first positioning platform (2) and the second positioning platform (3), the bottom of each clamping mechanism (12) is fixedly connected to the guide column (6), and a welding A welding frame (13) is provided with a guide rail (14) fixedly disposed at the front end of the welding frame (13), a welding mechanism (15) is movably mounted on the guide rail (14), the welding mechanism (15) comprises a movable lifting mechanism (150) and a tracking mechanism (151), the tracking mechanism (151) being located below the movable lifting mechanism (150); a transfer clamping mechanism (16), a flipping mechanism (17) and a controller (18) are also fixedly disposed on the welding platform (1), the flipping mechanism (17) and the controller (18) The transfer clamping mechanism (16) is located between the first positioning platform (2) and the second positioning platform (3); the transfer clamping mechanism (16) is located between the first positioning platform (2) and the connecting plate conveying line (19); the connecting plate conveying line (19) is fixedly arranged on the welding platform (1) and is located at the front end of the transfer clamping mechanism (16); and the controller (18) is respectively connected to the drive mechanism (8), the clamping mechanism (12), the mobile lifting mechanism (150), the tracking mechanism (151), the transfer clamping mechanism (16) and the flipping mechanism (17) by signals.

2. The automatic tracking welding equipment according to claim 1, characterized in that: A group of positioning blocks (20) and a group of extrusion cylinders (21) are arranged on both the first positioning platform (2) and the second positioning platform (3), and a limit plate (22) is arranged on the first positioning platform (2) and the second positioning platform (3) in a mirror-like manner, one end of the limit plate (22) is an arc-shaped structure, and a push plate (23) is also fixedly arranged at the telescopic end of each extrusion cylinder (21), and an anti-deformation top plate (24) is also arranged on the first positioning platform (2), and the anti-deformation top plate (24) is located at the rear end of the limit plate (22).

3. The automatic tracking welding equipment according to claim 1, characterized in that: Two driving mechanisms (8) are provided, and each driving mechanism (8) comprises a support plate (80), a connecting column (81), a driving motor (82), a main gear (83), a secondary gear (84), a rotating shaft (85), a fixing plate (86), a rotating arm (87) and a sliding block (88); the support frame (80) is fixed on the welding platform (1); connecting columns (81) are respectively fixed on both sides of the support plate (80); the connecting columns (81) are movably connected to the bottom of the swing arm (9); a driving motor (82) is fixedly provided in the middle of the support plate (80); the driving motor (82) 2) is equipped with a main gear (83), a fixed plate (86) is arranged on the inner side of each straight slot (4), and a rotating shaft (85) is arranged between the two fixed plates (86), the two output ends of the rotating shaft (85) are fixedly equipped with rotating arms (87), and a sub-gear (84) is also fixedly arranged in the middle of the rotating shaft (85), the main gear (83) and the sub-gear (84) are connected by a chain, the rotating arm (87) is located on the outer side of the fixed plate (86), and the other end of the rotating arm (87) is movably equipped with a sliding block (88), and the sliding block (88) is movably equipped with the first movable groove (10).

4. The automatic tracking welding equipment according to claim 1, characterized in that: The clamping mechanism (12) comprises a top plate (120), an inclined support arm (121), an inclined slide groove (122), a movable rod (123), a pressure plate (124), a movable groove (125), a limiting channel (126), a sliding block (127) and a clamping cylinder (128). The inclined support arms (121) are fixed on both sides of the bottom of the top plate (120). The bottom of the inclined support arm (121) is fixedly connected to the guide column (6). The inner side of the inclined support arm (121) is provided with an inclined slide groove (122). The pressure plate (124) is located below the top plate (120). The movable rods (123) are provided on both sides of the pressure plate (124). 3), and the outer side of one end of the movable rod (123) extends into the inclined sliding groove (122), and the inner side of the other end of the movable rod (123) is movably connected to the pressure plate (124), and a movable groove (125) is provided in the middle of the upper part of the pressure plate (124), and limiting channels (126) are also provided on both sides of the inner part of the movable groove (125), and the sliding block (127) is located in the movable groove (125), and both sides of the sliding block (127) extend into the limiting channels (126), and the upper part of the sliding block (127) is connected to the telescopic end of the clamping cylinder (128), and the clamping cylinder (128) is fixedly arranged on the top plate (120).

5. The automatic tracking welding equipment according to claim 1, characterized in that: The mobile lifting mechanism (150) comprises a self-propelled vehicle (1500), a mobile cylinder (1501), a guide rod (1502), a laser welder (1503), a baffle (1504) and a first lifting electric cylinder (1505). The self-propelled vehicle (1500) is mounted on a guide rail (14). The front end of the self-propelled vehicle (1500) is fixedly provided with a mobile cylinder (1501) and two guide rods (1502). The ends are connected through a baffle (1504), the laser welder (1503) is movably mounted on the two guide rods (1502), and the top of the laser welder (1503) is also fixedly connected to the telescopic end of the movable cylinder (1501), and the top of the laser welder (1503) is also fixedly provided with a first lifting electric cylinder (1505), the telescopic end of the first lifting electric cylinder (1505) passes through the laser welder (1503) and is connected to the tracking mechanism (151).

6. The automatic tracking welding equipment according to claim 5, characterized in that: The tracking mechanism (151) comprises a mounting seat (1510), a limiting pin (1511), a fan-shaped movable plate (1512), an arc-shaped limiting groove (1513), an adjusting motor (1514), an adjusting gear (1515), a hinged rod (1516), a connecting ear plate (1517), a traction rod (1518), a laser welding gun (1519) and a tracking probe (15190). The mounting seat (1510) is connected to the first lifting device. The telescopic end of the electric cylinder (1505) is fixedly connected, a limit pin (1511) is fixedly installed on the mounting seat (1510), one end of the limit pin (1511) extends into the arc-shaped limit groove (1513), the fan-shaped movable plate (1512) is provided with an arc-shaped limit groove (1513) on one side close to the mounting seat (1510), and the bottom edge of the fan-shaped movable plate (1512) is a toothed structure, and the regulating motor (1514) is fixed The mounting base (1510) is mounted on one side of the mounting base (1510), and the output end of the regulating motor (1514) passes through the mounting base (1510), and the protruding portion is equipped with an regulating gear (1515), and the regulating gear (1515) is meshed with the bottom edge of the fan-shaped moving plate (1512). The mounting base (1510) is also fixed with a hinge rod (1516), and the hinge rod (1516) is located below the regulating gear (1515). The laser welding gun (1519) is movably connected to the hinge rod (1516) via a connecting ear plate (1517); a traction rod (1518) is also fixed on the fan-shaped movable plate (1512); the traction rod (1518) is also connected to the top of the laser welding gun (1519); a tracking probe (15190) is also movably arranged on the inner side of the laser welding gun (1519); and the laser welding gun (1519) is connected to a laser welder (1503).

7. The automatic tracking welding equipment according to claim 1, characterized in that: The transfer clamping mechanism (16) comprises an electric turntable (160), a connecting seat (161), a horizontal plate (162), a pushing cylinder (163), a movable seat (164), a second lifting cylinder (165), a vertical guide rod (166), a clamping seat (167), a finger clamp (168) and a laser probe (169). The connecting seat (161) is fixedly mounted on the electric turntable (160), and the movable seat (164) is slidably mounted on the connecting seat (161). Two vertical guide rods (166) are fixed on both sides of the front end of the movable seat (164), and the two vertical guide rods (166) are movably mounted with clamps. A holding seat (167), two finger clamps (168) are fixedly installed at the bottom of the clamping seat (167), a laser probe (169) is also fixedly arranged at the front end of the clamping seat (167), a second lifting electric cylinder (165) is fixedly arranged at the top of the moving seat (164), the telescopic end of the second lifting electric cylinder (165) is fixedly connected to the top of the clamping seat (167), a cross plate (162) is also fixed on the connecting seat (161), a pushing cylinder (163) is also fixed on the cross plate (162), and the telescopic end of the pushing cylinder (163) is fixedly connected to the rear end of the moving seat (161).

8. The automatic tracking welding equipment according to claim 1, characterized in that: The flipping mechanism (17) comprises a flipping electric cylinder (1700), a moving column (1701), a support seat (1702), a tooth plate (1703), a rotating gear (1704), a flipping shaft (1705), a flipping frame (1706), a rotating plate (1707), a telescopic arm (1708), a telescopic electric cylinder (1709), a flipping plate (1710), an ear plate (1711), a push-pull electric cylinder (1712), a pneumatic absorber (1713) and an absorption nozzle (1714), wherein the The flip electric cylinder (1700) is fixed on the welding platform (1), and a support seat (1702) is arranged at the rear end of the flip electric cylinder (1700), a tooth plate (1703) is movably arranged on the top of the support seat (1702), the bottom of the tooth plate (1703) is fixedly connected to the moving column (1701), the other end of the moving column (1701) is fixedly connected to the telescopic end of the flip electric cylinder (1700), a flip frame (1706) is arranged at the rear end of the support seat (1702), and the flip A flip shaft (1705) is movably mounted on the frame (1706); a rotating gear (1704) is fixed to one end of the flip shaft (1705) close to the tooth plate (1703); the rotating gear (1704) is meshed with the tooth plate (1703); a rotating plate (1707) is fixed on the flip shaft (1705); telescopic arms (1708) are movably mounted on both sides of the rotating plate (1707); the ends of the two telescopic arms (1708) are fixedly connected to both sides of the flip plate (1710); The two telescopic arms (1708) are fixedly connected via an ear plate (1711), the ear plate (1711) is fixedly connected to the telescopic end of the push-pull electric cylinder (1712), the push-pull electric cylinder (1712) is fixed on the rotating plate (1707), a pneumatic absorber (17133) is fixed on the upper part of the flip plate (1710), a plurality of absorption nozzles (1714) are provided on the lower part of the flip plate (1710), and the pneumatic absorber (1713) is respectively connected to each absorption nozzle (1714).

9. The automatic tracking welding equipment according to claim 1, characterized in that: An alarm (26) is also arranged on the upper part of the controller (18), and an adjustment seat (27) is also arranged on the bottom of the welding platform (1), and the number of the adjustment seats (27) is not less than six.

10. A welding method of an automatic tracking welding device, characterized in that: According to an automatic tracking welding device according to any one of claims 1 to 9, the method comprises the following steps: S1: Welding preparation, first the controller (18) controls the driving mechanism (8) below the first positioning platform (2) to work, under the action of the driving mechanism (8), the compacting mechanism (12) moves backward as a whole, and during the movement of the compacting mechanism (12), the pressing plate (124) also starts to move upward under the action of the controller (18), so that the first positioning platform (2) is opened to facilitate the placement of the outer plate a; S2: Transfer and compaction. The controller (18) controls the external mechanical arm to transfer the outer plate a to the first positioning platform (2). At this time, the outer plate a is opened downward, and the outer inner wall of the outer plate a is in contact with the anti-deformation top plate (24). Then the controller (18) controls the transfer clamping mechanism (16) to clamp and transfer the connecting plate c on the connecting plate conveyor line (19) to between the limit plate (22) and the anti-deformation top plate (24). Then the controller (18) controls the extrusion cylinder (21) to work and push the outer plate a until the welding end of the outer plate a is in tight contact with the connecting plate c. Then the controller (18) controls the driving mechanism (8) to work in reverse, so that the compaction mechanism (12) moves forward as a whole, and the pressing plate (124) gradually moves downward to compact, so as to prevent dislocation during the welding process. S3: One-time welding, after compaction is completed, the controller (18) controls the mobile lifting mechanism (150) to move to the specified position, and then the tracking mechanism (151) automatically identifies the welding seam, that is, the contact gap between the outer plate a and the upper part of the connecting plate c, and the tracking probe (15190) identifies the welding seam position and distance, and then transmits it to the controller (18). The controller (18) controls the movement and angle adjustment of the laser welding gun (1519) at any time, thereby automatically tracking welding; S4: flipping. When the gap welding between the outer plate a and the connecting plate c is completed, the controller (18) first controls the pressing plate (124) to return to the initial position, and then controls the flipping mechanism (17) to transfer the welded outer plate a to the second positioning table (3). During the flipping process, the welding part between the outer plate a and the connecting plate c is located at the bottom, so that it is convenient to weld the contact gap between the inner plate b and the connecting plate c. S5: Secondary welding. Secondary welding is mainly performed on the gap between the inner plate b and the connecting plate c. After the welded outer plate a is transferred to the second positioning table (3), the controller (18) controls the external robot arm to transfer the inner plate b onto the outer plate a, and then presses the inner plate b onto the outer plate a. Then, the mobile lifting mechanism (150) is controlled to move to the specified position. Under the tracking action of the tracking probe (15190), the gap between the connecting plate c and the inner plate b is automatically welded, so that the upper and lower contact gaps of the connecting plate c can be welded.

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