Multi-axis linkage welding machining device

Abstract

The invention relates to the technical field of welding machining, and discloses a multi-axis linkage welding machining device which comprises a plate rolling module, a plate feeding module, a plate discharging module, a welding module and a welding module, and the plate rolling module comprises a plate rolling machine and is used for rolling a plate; the moving module comprises a first pushing mechanism and a rotating mechanism, aligning mechanisms are arranged at the two ends of the rotating mechanism, and the rotating mechanism drives the plate to rotate and enables the two ends of the plate to correspond to the aligning mechanisms in position; and the welding module comprises a welding machine. The control system is arranged, the displacement condition of the first electric sliding table and the rotation condition of the supporting base are combined, so that the position information of a plate gap is obtained, spot welding and full welding can be conducted on a plate through the welding gun according to the position information, and manual operation is not needed; the first electric sliding rail is arranged to automatically complete unloading operation of curled plates, and gaps of the plates are aligned by the clamping blocks through the arranged aligning mechanism.

Description

Technical Field

[0001] The invention belongs to the technical field of welding processing, and in particular relates to a multi-axis linkage welding processing device. Background Art

[0002] In the process of tank body coil welding, the steel plate needs to be coiled into a cylindrical part first and then welded. The current processing method is to use some simple coiling models and manually operate the coiling, which has high labor intensity, low work efficiency, poor coiling quality, and many unsafe factors; especially when the steel plate is thick, manual operation is very difficult and cannot meet the production needs at all.

[0003] A Chinese patent with authorization announcement number CN204108551U discloses a tank body rolling welding device, which includes a rolling frame, a welding assembly arranged above the rolling frame, and a rolling assembly arranged below the rolling frame; the rolling assembly includes: an upper roller; a middle roller, the middle roller is located directly below the upper roller, and both ends of the middle roller are supported and fixed on the rolling frame by a middle hydraulic rod, and the middle roller is driven to rise and fall by the middle hydraulic rod; a lower front roller, the lower front roller is arranged at the front side of the middle roller, and both ends of the lower front roller are also provided with a front hydraulic rod for driving the lower front roller to close or separate from the upper roller; a lower rear roller, the lower rear roller is arranged at the rear side of the middle roller, both ends of the lower rear roller are hinged to the rolling frame through a rear hinged rod, and both ends of the lower rear roller are also provided with a rear hydraulic rod for driving the lower rear roller to close or separate from the upper roller; the welding assembly is used to weld the front and rear ends of the rolled steel plate to close into a steel ring.

[0004] However, this technical solution still has at least the following defects: the positioning of the weld in this solution is not accurate enough, and manual welding operation is still required during welding. For large tanks, the operation is time-consuming and labor-intensive. At the same time, when the device is welding, the tank is still on the plate rolling machine, so that the plate rolling machine can no longer continue to roll the plate during welding. In view of this, the present invention is proposed. Summary of the invention

[0005] In order to solve the above technical problems, the present invention provides a multi-axis linkage welding processing device, which obtains the position information of the gap in the plate by setting a control system and combining the displacement of the first electric slide and the rotation of the support seat. The position information enables the welding gun to spot weld and full weld the plate without manual operation. The first electric slide is set to automatically complete the unloading operation of the curled plate, and the alignment mechanism is set to align the gap of the plate with the clamp, so that the welding effect of the weld is better, the operation process can reduce manual intervention and save manpower.

[0006] The technical solution adopted by the present invention to solve its technical problem is:

[0007] A multi-axis linkage welding processing device, comprising:

[0008] A plate rolling module, the plate rolling module comprising a plate rolling machine, the plate rolling module is used to roll the plate;

[0009] A moving module, the moving module comprising a first pushing mechanism and a rotating mechanism, the first pushing mechanism pushes the plate processed by the plate rolling module to the rotating mechanism, and alignment mechanisms are arranged at both ends of the rotating mechanism, the rotating mechanism drives the plate to rotate and makes the two ends of the plate correspond to the position of the alignment mechanism;

[0010] The welding module includes a welding machine, which performs a spot welding operation when the alignment mechanism aligns the plate, and performs a full welding operation when the alignment mechanism completes the alignment.

[0011] As a preferred embodiment of the present invention, the moving module also includes a second pushing mechanism, the second pushing mechanism includes a second electric rail and a second electric slide, the alignment mechanism is fixedly installed at the bottom of the second electric slide, the second pushing mechanism drives the alignment mechanism to move through the second electric slide, the second pushing mechanism is provided with an elastic displacement mechanism, the elastic displacement mechanism includes a slide rod, a movable block is movably sleeved on the slide rod, and a baffle is fixedly installed on one side of the movable block, the second electric rail is fixedly installed at the bottom of the movable block, a spring is movably sleeved on the slide rod, and fixed base frames are fixedly installed at both ends of the slide rod.

[0012] As a preferred embodiment of the present invention, the alignment mechanism includes a clamping rod rotatably connected to the second electric slide, a clamping block is fixedly installed on one end of the clamping rod, a pull rod is fixedly installed on the other end of the clamping rod, a connecting frame is fixedly installed on one end of the second electric slide, and an elastic rope is fixedly installed between the connecting frame and the pull rod;

[0013] A toggle mechanism is provided on one side of the alignment mechanism, and the toggle mechanism includes a support block, which is fixedly mounted on the bottom of the movable block located at the end of the second electric rail, a fixed rod is fixedly mounted on one side of the support block, and a guide plate is fixedly mounted on one side of the fixed rod, and the guide plate is adapted to the clamping rod.

[0014] As a preferred embodiment of the present invention, the rotating mechanism includes a base, a support seat is rotatably mounted on the base, the support seat is driven to rotate by a servo motor, a limit rod is rotatably mounted on the support seat, and an oil cylinder is installed between the limit rod and the support seat.

[0015] As a preferred embodiment of the present invention, the welding module also includes a lifting mechanism, which includes a base, a positioning rod is fixedly installed on the base, a mounting plate is movably sleeved on the positioning rod, a roller is rotatably installed on the bottom of the mounting plate, a cam is rotatably installed on the top of the base, the cam is adapted to the roller, the welding machine is fixedly installed on the top of the mounting plate, a main robotic arm is rotatably installed on the welding machine, a secondary robotic arm is rotatably installed at one end of the main robotic arm, and a welding gun is rotatably installed on the secondary robotic arm.

[0016] As a preferred embodiment of the present invention, a connecting mechanism is arranged between the lifting mechanism and the elastic displacement mechanism, the connecting mechanism includes a connecting plate, both ends of the connecting plate are fixedly connected to the movable block, a push rod is fixedly installed at one end of the connecting plate, a slider is fixedly installed at one end of the push rod, a slide rail is slidably installed on the top of the slider, both ends of the slide rail are fixedly connected to a fixed base frame, a limit plate is fixedly installed on the bottom of the slider, a rocker rod is installed at one end of the cam, a connecting piece is fixedly installed at one end of the rocker rod, a stop rod is fixedly installed on the connecting piece, and the stop rod is adapted to the limit plate.

[0017] As a preferred embodiment of the present invention, the plate rolling module further comprises a position sensor, and the position sensor is fixedly mounted on both sides of the plate rolling machine, and the plate rolling machine is equipped with a working roller;

[0018] The first pushing mechanism includes a first electric track and a first electric slide. A lever is fixedly installed at the bottom of the first electric slide. The first electric slide corresponds to the position of the baffle.

[0019] A multi-axis linkage welding processing device, further comprising a processor, wherein the processor is provided with a control system for controlling a welding machine to weld a plate, wherein the control system comprises a collection unit, a moving unit and a welding unit;

[0020] The moving unit controls the moving module to move so as to drive the plate to move;

[0021] The acquisition unit is used to obtain the gap position information of the plate, where the gap represents the interval formed at both ends of the plate after curling;

[0022] The welding unit is used to control the welding module to weld the plate.

[0023] The mobile unit includes a position control strategy, which includes obtaining the working state of the plate rolling machine, generating a removal instruction when the plate rolling machine completes the plate rolling work, executing a position control program based on the removal instruction, and generating a welding instruction after executing the position control program. The position control strategy also includes setting a specified point, which represents the point at which the center of the plate is aligned with the rotation center of the rotating mechanism when the plate moves to the top of the rotating mechanism;

[0024] The position control program indicates that the first electric slide moves to a designated position and resets after moving to the designated position, and after the first electric slide is reset, the rotating mechanism is driven to rotate ninety degrees.

[0025] The acquisition unit includes a gap positioning strategy, the gap positioning strategy includes obtaining the length of the plate, the gap positioning strategy also includes configuring an initial state and a final state for the position sensor, the initial state represents a state when the position sensor does not detect the plate, and the final state represents a state when the sensor detects the plate, the gap positioning strategy also includes generating a turn command when the position sensor is converted from the final state to the initial state, and controlling the plate rolling machine to work in reverse based on the turn command, the gap positioning strategy also includes obtaining the interval time between the two turn commands generated first, and the turn command generated by the plate rolling machine when the plate rolling is completed, and controlling the plate rolling machine to continue working based on the turn command, and the working time is equal to half of the interval time;

[0026] The acquisition unit also includes a path planning strategy, which includes obtaining the position corresponding to the center axis of the working roller of the plate rolling machine, and establishing a plane rectangular coordinate system based on the center position of the center axis. The path planning strategy also includes obtaining the initial coordinates of the two endpoints of the center axis based on the plane rectangular coordinate system, and obtaining the displacement distance of the first electric slide and the rotation angle of the rotating mechanism, and obtaining the corresponding final coordinates based on the two initial coordinates, and generating a straight line equation based on the two final coordinates.

[0027] The welding unit includes a path execution strategy, wherein the path execution strategy includes obtaining a straight line equation generated by a path planning strategy, and controlling the main robot arm and the auxiliary robot arm to move based on the straight line equation so that the moving path of the welding gun coincides with the straight line corresponding to the straight line equation;

[0028] The welding unit further includes a gap alignment strategy, wherein the gap alignment strategy includes executing an alignment program when a welding instruction is obtained, and generating a start instruction after the alignment program is executed, wherein the alignment program indicates that the second electric slide moves, and the oil cylinder works after the movement is completed;

[0029] The gap alignment strategy also includes obtaining the position of the gap through a visual sensor, and causing the welding machine to adjust the position of the welding gun based on the position of the gap;

[0030] The welding unit further includes a spot welding execution strategy, the spot welding execution strategy includes setting symmetrically distributed welding points for the moving path of the welding gun, the positions of the welding points are located between the alignment mechanisms on both sides, the spot welding execution strategy also includes controlling the welding gun to spot weld the welding points when a start instruction is obtained, and generating a full welding instruction when the spot welding is finished;

[0031] The welding unit also includes a full welding execution strategy, which includes controlling the second electric slide to move and reset when a full welding instruction is obtained, and controlling the welding gun to fully weld the gap along a moving path after the second electric slide is reset.

[0032] Compared with the prior art, the present invention has the following beneficial effects:

[0033] In the present invention, a control system is set up, and the displacement of the first electric slide and the rotation of the support seat are combined to obtain the position information of the gap of the plate. The welding gun can perform spot welding and full welding on the plate through the position information without manual operation.

[0034] The present invention automatically completes the unloading operation of the curled plate by setting a first electric slide rail, and aligns the gap of the plate with the clamping block through the arranged alignment mechanism, so that the welding effect of the weld is better, the operation process can reduce manual intervention, and save manpower. BRIEF DESCRIPTION OF THE DRAWINGS

[0035] Figure 1 This is a schematic diagram of the overall structure of a multi-axis linkage welding processing device of the present invention;

[0036] Figure 2 It is a structural schematic diagram of a rotating mechanism in a multi-axis linkage welding processing device of the present invention;

[0037] Figure 3 It is a structural schematic diagram of the second electric slide rail of the present invention;

[0038] Figure 4 It is a structural schematic diagram of the second electric slide and the second electric slide rail in a separated state according to the present invention;

[0039] Figure 5 It is a structural schematic diagram of the second electric slide of the present invention;

[0040] Figure 6 This is a schematic diagram of the structure of the baffle of the present invention;

[0041] Figure 7 This is a schematic diagram of the structure of the connecting plate of the present invention;

[0042] Figure 8 It is a structural schematic diagram of the welding machine of the present invention;

[0043] Fig. 9 It is a schematic diagram of the structure of the connecting piece of the present invention.

[0044] Reference numerals:

[0045] 100, first electric track; 101, first electric slide; 102, lever; 103, plate rolling machine; 104, working roller; 105, position sensor;

[0046] 200, fixed base frame; 201, slide bar; 202, spring; 203, movable block; 204, second electric track; 205, support block; 206, fixed rod; 207, guide plate; 208, second electric slide; 209, clamping rod; 210, clamping block; 211, pull rod; 212, connecting frame; 213, elastic rope; 214, baffle;

[0047] 300, base; 301, support seat; 302, limit rod; 303, oil cylinder;

[0048] 400, connecting plate; 401, slide rail; 402, push rod; 403, slider; 404, limit plate;

[0049] 500, base; 501, positioning rod; 502, mounting plate; 503, welding machine; 504, main robotic arm; 505, auxiliary robotic arm; 506, welding gun; 507, roller; 508, cam; 509, rocker; 510, connecting piece; 511, stop rod. DETAILED DESCRIPTION

[0050] In order to make the purpose, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. The following embodiments are used to illustrate the present invention.

[0051] Embodiment 1:

[0052] like Figures 1 to 9 As shown, a multi-axis linkage welding processing device includes:

[0053] A plate rolling module, the plate rolling module includes a plate rolling machine 103, and the plate rolling module is used to roll the plate;

[0054] The moving module includes a first pushing mechanism and a rotating mechanism. The first pushing mechanism pushes the plate processed by the plate rolling module to the rotating mechanism. Alignment mechanisms are provided at both ends of the rotating mechanism. The rotating mechanism drives the plate to rotate and makes the two ends of the plate correspond to the position of the alignment mechanism.

[0055] The welding module includes a welding machine 503, which performs a spot welding operation when the alignment mechanism aligns the plates, and performs a full welding operation when the alignment mechanism completes the alignment.

[0056] like Figure 2-Figure 5 As shown, in a specific embodiment, the mobile module further includes a second pushing mechanism, the second pushing mechanism includes a second electric track 204 and a second electric slide 208, the alignment mechanism is fixedly mounted at the bottom of the second electric slide 208, the second pushing mechanism drives the alignment mechanism to move through the second electric slide 208, and the second pushing mechanism is provided with an elastic displacement mechanism, the elastic displacement mechanism includes a slide bar 201, a movable block 203 is movably sleeved on the slide bar 201, and a baffle 214 is fixedly mounted on one side of the movable block 203, the second electric track 204 is fixedly mounted at the bottom of the movable block 203, a spring 202 is movably sleeved on the slide bar 201, and fixed base frames 200 are fixedly mounted at both ends of the slide bar 201. In this setting, the elastic force of the spring 202 acts on the second pushing mechanism to reset it.

[0057] like Figure 2-Figure 5 As shown, further, the alignment mechanism includes a clamping rod 209 rotatably connected to the second electric slide 208, a clamping block 210 is fixedly installed at one end of the clamping rod 209, a pull rod 211 is fixedly installed at the other end of the clamping rod 209, a connecting frame 212 is fixedly installed at one end of the second electric slide 208, an elastic rope 213 is fixedly installed between the connecting frame 212 and the pull rod 211, and the elastic rope 213 is used to drive the clamping block 210 to reset;

[0058] A toggle mechanism is provided on one side of the alignment mechanism, and the toggle mechanism includes a support block 205, the support block 205 is fixedly mounted on the bottom of the movable block 203 located at the end of the second electric track 204, a fixed rod 206 is fixedly mounted on one side of the support block 205, a guide plate 207 is fixedly mounted on one side of the fixed rod 206, and the guide plate 207 is adapted to the clamping rod 209. In this configuration, the first electric slide 101 moves and drives the toggle rod 102 to move, and the toggle rod 102 drives the plate to move during the movement. At this time, the plate forms an approximately cylindrical shape under the action of the plate rolling machine 103, and the toggle rod 102 pushes the plate to move onto the support seat 301;

[0059] When the lever 102 is moved, the second electric slide 208 drives the clamping rod 209 and the clamping block 210 to move. The clamping rod 209 abuts against the guide plate 207 during the movement, and drives the clamping block 210 to clamp the gap of the plate under the action of the guide plate 207.

[0060] like Figure 1-Figure 2As shown, further, the rotating mechanism includes a base 300, a support base 301 is rotatably mounted on the base 300, the support base 301 is driven to rotate by a servo motor, a limit rod 302 is rotatably mounted on the support base 301, and an oil cylinder 303 is installed between the limit rod 302 and the support base 301. In this configuration, when the two limit rods 302 in relative positions are in a vertical state, the distance between the two is adapted to the diameter of the cylinder formed by the plate.

[0061] Embodiment 2:

[0062] like Figure 6 , Figure 8 As shown, in a specific embodiment, the welding module further includes a lifting mechanism, which includes a base 500, a positioning rod 501 is fixedly mounted on the base 500, a mounting plate 502 is movably sleeved on the positioning rod 501, a roller 507 is rotatably mounted on the bottom of the mounting plate 502, a cam 508 is rotatably mounted on the top of the base 500, and the cam 508 is adapted to the roller 507, a welding machine 503 is fixedly mounted on the top of the mounting plate 502, a main mechanical arm 504 is rotatably mounted on the welding machine 503, a secondary mechanical arm 505 is rotatably mounted on one end of the main mechanical arm 504, a welding gun 506 is rotatably mounted on the secondary mechanical arm 505, and a visual sensor is mounted on the welding gun 506. In this setting, the roller 507 is moved up and down by contacting the roller 507 at different positions of the cam 508, thereby realizing the adjustment of the upper and lower positions of the welding machine 503.

[0063] like Figure 8 , Fig. 9 As shown, further, a connecting mechanism is provided between the lifting mechanism and the elastic displacement mechanism, and the connecting mechanism includes a connecting plate 400, both ends of the connecting plate 400 are fixedly connected to the movable block 203, a push rod 402 is fixedly installed at one end of the connecting plate 400, a slider 403 is fixedly installed at one end of the push rod 402, a slide rail 401 is slidably installed on the top of the slider 403, both ends of the slide rail 401 are fixedly connected to the fixed base 200, a limit plate 404 is fixedly installed on the bottom of the slider 403, a rocker rod 509 is installed at one end of the cam 508, a connecting piece 510 is fixedly installed at one end of the rocker rod 509, a blocking rod 511 is fixedly installed on the connecting piece 510, and the blocking rod 511 is adapted to the limit plate 404. In this configuration, the second moving mechanism drives the connecting plate 400 to move, the connecting plate 400 drives the slider 403 to move through the push rod 402, the slider 403 drives the blocking rod 511 to move through the limit plate 404, and then drives the cam 508 to rotate through the rocker rod 509.

[0064] like Figure 1 As shown, further, the plate rolling module further includes a position sensor 105, and the position sensor 105 is fixedly installed on both sides of the plate rolling machine 103, and the plate rolling machine 103 is installed with a working roller 104;

[0065] The first pushing mechanism includes a first electric track 100 and a first electric slide 101. A lever 102 is fixedly installed at the bottom of the first electric slide 101. The first electric slide 101 corresponds to the position of the baffle 214. In this configuration, during the operation of the plate rolling machine 103, the working roller 104 always keeps a uniform rotation speed.

[0066] Embodiment 3:

[0067] A multi-axis linkage welding processing device also includes a processor, on which is configured a control system for controlling a welding machine 503 to weld a plate, the control system including a collection unit, a moving unit and a welding unit;

[0068] The moving unit controls the moving module to move so as to drive the plate to move;

[0069] The acquisition unit is used to obtain the gap position information of the plate, and the gap represents the interval formed at both ends of the plate after curling;

[0070] The welding unit is used to control the welding module to weld the plates.

[0071] The mobile unit includes a position control strategy, which includes obtaining the working state of the plate rolling machine 103, generating a removal instruction when the plate rolling machine 103 completes the plate rolling work, executing a position control program based on the removal instruction, and generating a welding instruction after executing the position control program. The position control strategy also includes setting a designated point, which represents the point at which the center of the plate is aligned with the rotation center of the rotating mechanism when the plate moves to the top of the rotating mechanism;

[0072] The position control program indicates that the first electric slide 101 moves to a designated position and resets after moving to the designated position. After the first electric slide 101 resets, it drives the rotating mechanism to rotate ninety degrees.

[0073] The acquisition unit includes a gap positioning strategy, the gap positioning strategy includes obtaining the length of the plate, the gap positioning strategy also includes configuring an initial state and a final state for the position sensor 105, the initial state represents the state when the position sensor 105 does not detect the plate, and the final state represents the state when the position sensor 105 detects the plate, the gap positioning strategy also includes generating a turn command when the position sensor 105 is converted from a final state to an initial state, and controlling the plate rolling machine 103 to work in reverse based on the turn command, the gap positioning strategy also includes obtaining the interval time between the two turn commands generated first, and the turn command generated by the plate rolling machine 103 when the plate rolling is completed, and controlling the plate rolling machine 103 to continue working based on the turn command, and the working time is equal to half of the interval time, and the plate rolling machine 103 is controlled to drive the working roller 104 to work for half of the interval time, so that when the plate rolling machine 103 stops again, the center of the circumference of the plate is located below the working roller 104, and at this time, the two ends of the plate are located above the working roller 104 after curling;

[0074] The acquisition unit also includes a path planning strategy, which includes obtaining the position corresponding to the central axis of the working roller 104 of the plate rolling machine 103, and establishing a plane rectangular coordinate system based on the center position of the central axis. The path planning strategy also includes obtaining the initial coordinates of the two end points of the central axis based on the plane rectangular coordinate system, and obtaining the displacement distance of the first electric slide 101 and the rotation angle of the rotating mechanism, and obtaining the corresponding final coordinates based on the two initial coordinates, and generating a straight line equation based on the two final coordinates.

[0075] The plane rectangular coordinate system takes the center point of the central axis as the origin, and the direction of the center position of the rotating mechanism as the x direction.

[0076] The welding unit includes a path execution strategy, which includes obtaining a straight line equation generated by a path planning strategy, and based on the straight line equation, the welding machine 503 controls the main robot arm 504 and the auxiliary robot arm 505 to move so that the moving path of the welding gun 506 coincides with the straight line corresponding to the straight line equation;

[0077] The welding unit also includes a gap alignment strategy, which includes executing an alignment program when a welding instruction is obtained, and generating a start instruction after the alignment program is executed, the alignment program represents the movement of the second electric slide 208, and makes the cylinder 303 work after the movement is completed;

[0078] The gap alignment strategy also includes obtaining the position of the gap through a visual sensor, and causing the welding machine 503 to adjust the position of the welding gun 506 based on the position of the gap;

[0079] The welding unit further includes a spot welding execution strategy, which includes setting symmetrically distributed welding points for the moving path of the welding gun 506, and the positions of the welding points are located between the alignment mechanisms on both sides. The spot welding execution strategy also includes controlling the welding gun 506 to spot weld the welding points when a start instruction is obtained, and generating a full welding instruction when the spot welding is finished;

[0080] The welding unit also includes a full welding execution strategy, which includes controlling the second electric slide 208 to move and reset when a full welding instruction is obtained, and controlling the welding gun 506 to fully weld the gap along the moving path after the second electric slide 208 is reset.

[0081] The implementation principle of a multi-axis linkage welding processing device of this embodiment is as follows: when working, the plate is rolled by the plate rolling machine 103. When the plate rolling machine 103 completes the rolling work, the first electric slide 101 moves and drives the lever 102 to move. The lever 102 drives the plate to move during the movement. At this time, the plate is formed into a cylindrical shape under the action of the plate rolling machine 103, and the lever 102 pushes the plate to move onto the support seat 301;

[0082] When the lever 102 is moved, the second electric slide 208 drives the clamping rod 209 and the clamping block 210 to move. The clamping rod 209 abuts against the guide plate 207 during the movement, and drives the clamping block 210 to clamp the gap of the plate under the action of the guide plate 207. At this time, the oil cylinder 303 works and drives the limit rod 302 to rotate and clamp the plate, so that the gap of the plate is merged.

[0083] After the plates are merged, the welding machine 503 drives the welding gun 506 to move through the main robot arm 504 and the auxiliary robot arm 505, and controls the moving path of the welding gun 506 by detecting the gap, so that the welding gun 506 performs spot welding on the plates. After spot welding, the gap of the plates remains connected. At this time, the second electric slide 208 is reset to separate the clamping block 210 from the plates, so that the welding gun 506 can perform full welding on the plates.

[0084] When the first electric slide 101 moves, it resists the baffle plate 214 and drives the second moving mechanism to move through the baffle plate 214, thereby preventing the second moving mechanism from hindering the movement of the first electric slide 101. At the same time, the second moving mechanism drives the connecting plate 400 to move, and the connecting plate 400 drives the slider 403 to move through the push rod 402. The slider 403 drives the baffle rod 511 to move through the limit plate 404, and then drives the cam 508 to rotate through the rocker rod 509. The rotation of the cam 508 makes the mounting plate 502 drop, and then the welding machine 503 drops as a whole, preventing the second moving mechanism from colliding with the welding machine 503 while being pushed by the first electric slide 101.

[0085] It should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention rather than to limit it. Although the present invention has been described in detail with reference to the preferred embodiments, those skilled in the art should understand that the technical solutions of the present invention may be modified or replaced by equivalents without departing from the spirit and scope of the technical solutions of the present invention, which should all be included in the scope of the claims of the present invention.

Claims

1. A multi-axis linkage welding processing device, characterized in that: include, A plate rolling module, the plate rolling module comprising a plate rolling machine (103), the plate rolling module being used to roll the plate; A moving module, the moving module comprising a first pushing mechanism and a rotating mechanism, the first pushing mechanism pushes the plate processed by the plate rolling module to the rotating mechanism, and alignment mechanisms are arranged at both ends of the rotating mechanism, the rotating mechanism drives the plate to rotate and makes the two ends of the plate correspond to the position of the alignment mechanism; A welding module, the welding module comprising a welding machine (503), the welding machine (503) performing a spot welding operation when an alignment mechanism aligns the plate, and performing a full welding operation when the alignment mechanism completes the alignment.

2. A multi-axis linkage welding processing device according to claim 1, characterized in that: The mobile module also includes a second pushing mechanism, which includes a second electric track (204) and a second electric slide (208). The alignment mechanism is fixedly installed at the bottom of the second electric slide (208). The second pushing mechanism drives the alignment mechanism to move through the second electric slide (208). The second pushing mechanism is provided with an elastic displacement mechanism, which includes a slide bar (201). A movable block (203) is movably sleeved on the slide bar (201), and a baffle (214) is fixedly installed on one side of the movable block (203). The second electric track (204) is fixedly installed at the bottom of the movable block (203). A spring (202) is movably sleeved on the slide bar (201), and fixed base frames (200) are fixedly installed at both ends of the slide bar (201).

3. A multi-axis linkage welding processing device according to claim 2, characterized in that: The alignment mechanism comprises a clamping rod (209) rotatably connected to the second electric slide (208), a clamping block (210) is fixedly installed on one end of the clamping rod (209), a pull rod (211) is fixedly installed on the other end of the clamping rod (209), a connecting frame (212) is fixedly installed on one end of the second electric slide (208), and an elastic rope (213) is fixedly installed between the connecting frame (212) and the pull rod (211); A toggle mechanism is provided on one side of the alignment mechanism, the toggle mechanism comprising a support block (205), the support block (205) being fixedly mounted on the bottom of a movable block (203) located at the end of the second electric track (204), a fixed rod (206) being fixedly mounted on one side of the support block (205), a guide plate (207) being fixedly mounted on one side of the fixed rod (206), and the guide plate (207) being adapted to the clamping rod (209); The rotating mechanism comprises a base (300), a support base (301) is rotatably mounted on the base (300), the support base (301) is driven to rotate by a servo motor, a limit rod (302) is rotatably mounted on the support base (301), and an oil cylinder (303) is installed between the limit rod (302) and the support base (301).

4. The multi-axis linkage welding processing device according to claim 3, characterized in that: The welding module also includes a lifting mechanism, which includes a base (500), a positioning rod (501) is fixedly installed on the base (500), a mounting plate (502) is movably sleeved on the positioning rod (501), a roller (507) is rotatably installed on the bottom of the mounting plate (502), a cam (508) is rotatably installed on the top of the base (500), and the cam (508) is adapted to the roller (507), the welding machine (503) is fixedly installed on the top of the mounting plate (502), a main mechanical arm (504) is rotatably installed on the welding machine (503), a secondary mechanical arm (505) is rotatably installed on one end of the main mechanical arm (504), a welding gun (506) is rotatably installed on the secondary mechanical arm (505), and a visual sensor is installed on the welding gun (506).

5. The multi-axis linkage welding processing device according to claim 4, characterized in that: A connecting mechanism is provided between the lifting mechanism and the elastic displacement mechanism, the connecting mechanism comprising a connecting plate (400), two ends of the connecting plate (400) are fixedly connected to the movable block (203), one end of the connecting plate (400) is fixedly mounted with a push rod (402), one end of the push rod (402) is fixedly mounted with a slider (403), the top of the slider (403) is slidably mounted with a slide rail (401), the two ends of the slide rail (401) are fixedly connected to the fixed base frame (200), the bottom of the slider (403) is fixedly mounted with a limit plate (404), one end of the cam (508) is mounted with a rocker (509), one end of the rocker (509) is fixedly mounted with a connecting piece (510), a stop rod (511) is fixedly mounted on the connecting piece (510), and the stop rod (511) is adapted to the limit plate (404).

6. The multi-axis linkage welding processing device according to claim 5, characterized in that: The plate rolling module further comprises a position sensor (105), wherein the position sensor (105) is fixedly mounted on both sides of the plate rolling machine (103), and a working roller (104) is mounted on the plate rolling machine (103); The first pushing mechanism comprises a first electric track (100) and a first electric slide (101); a lever (102) is fixedly mounted on the bottom of the first electric slide (101); and the first electric slide (101) corresponds to the position of the baffle (214).

7. The multi-axis linkage welding processing device according to claim 6, characterized in that: It also includes a processor, on which is configured a control system for controlling a welding machine (503) to weld a plate, the control system including a collection unit, a moving unit and a welding unit; The moving unit controls the moving module to move so as to drive the plate to move; The acquisition unit is used to obtain the gap position information of the plate, where the gap represents the interval formed at both ends of the plate after curling; The welding unit is used to control the welding module to weld the plate.

8. The multi-axis linkage welding processing device according to claim 7, characterized in that: The mobile unit includes a position control strategy, the position control strategy includes obtaining the working state of the plate rolling machine (103), generating a removal instruction when the plate rolling machine (103) completes the plate rolling work, executing a position control program based on the removal instruction, and generating a welding instruction after executing the position control program, the position control strategy also includes setting a specified point position, the specified point position represents the point position at which the center of the plate is aligned with the rotation center of the rotating mechanism when the plate moves to the top of the rotating mechanism; The position control program indicates that the first electric slide (101) moves to a specified point and resets after moving to the specified point, and after the first electric slide (101) is reset, the rotating mechanism is driven to rotate ninety degrees.

9. The multi-axis linkage welding processing device according to claim 8, characterized in that: The acquisition unit includes a gap positioning strategy, the gap positioning strategy includes obtaining the length of the plate, the gap positioning strategy also includes configuring an initial state and a final state for the position sensor (105), the initial state represents a state when the position sensor (105) does not detect the plate, and the final state represents a state when the position sensor (105) detects the plate, the gap positioning strategy also includes generating a turn command when the position sensor (105) converts the final state to the initial state, and controlling the plate rolling machine (103) to work in reverse based on the turn command, the gap positioning strategy also includes obtaining the interval time between the two turn commands generated first, and the turn command generated by the plate rolling machine (103) when the plate rolling is completed, and controlling the plate rolling machine (103) to continue working based on the turn command, and the working time is equal to half of the interval time; The acquisition unit also includes a path planning strategy, which includes obtaining the position corresponding to the central axis of the working roller (104) of the plate rolling machine (103), and establishing a plane rectangular coordinate system based on the center position of the central axis. The path planning strategy also includes obtaining the initial coordinates of the two end points of the central axis based on the plane rectangular coordinate system, and obtaining the displacement distance of the first electric slide (101) and the rotation angle of the rotating mechanism, and obtaining the corresponding final coordinates based on the two initial coordinates, and generating a straight line equation based on the two final coordinates.

10. The multi-axis linkage welding processing device according to claim 9, characterized in that: The welding unit includes a path execution strategy, wherein the path execution strategy includes obtaining a straight line equation generated by a path planning strategy, and based on the straight line equation, the welding machine (503) controls the movement of a main robot arm (504) and a secondary robot arm (505) so that a moving path of a welding gun (506) coincides with a straight line corresponding to the straight line equation; The welding unit also includes a gap alignment strategy, which includes executing an alignment program when a welding instruction is obtained, and generating a start instruction after the alignment program is executed, wherein the alignment program indicates that the second electric slide (208) moves, and the oil cylinder (303) works after the movement is completed; The gap alignment strategy also includes obtaining the position of the gap through a visual sensor, and causing the welding machine (503) to adjust the position of the welding gun (506) based on the position of the gap; The welding unit further comprises a spot welding execution strategy, the spot welding execution strategy comprising setting symmetrically distributed welding points for the moving path of the welding gun (506), the positions of the welding points being located between the alignment mechanisms on both sides, the spot welding execution strategy further comprising controlling the welding gun (506) to spot weld the welding points when a start instruction is obtained, and generating a full welding instruction when the spot welding is finished; The welding unit also includes a full welding execution strategy, which includes controlling the second electric slide (208) to move and reset when a full welding instruction is obtained, and controlling the welding gun (506) to fully weld the gap along the moving path after the second electric slide (208) is reset.

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