Surrounding welding device and method for fixed teaching table and chair

Abstract

The invention relates to a surrounding welding device and method for fixed teaching desks and chairs, and belongs to the technical field of welding equipment. According to the surrounding welding device and method for the fixed teaching table and chair, a mechanical arm is included, the output end of the mechanical arm is fixedly connected with a welding gun, and the bottom of the mechanical arm is fixedly connected with a guiding mechanism; the guiding mechanism comprises an electric clamp, the bottom of the electric clamp is fixedly connected with a surrounding guiding assembly, and the bottom of the surrounding guiding assembly is fixedly connected with an electric cylinder fixedly connected with the mechanical arm. The design of the detachable second arc frame and the arc rack is adopted, a user only needs to take down the second arc frame to place a fixed welded object in the surrounding welding device, then the user only needs to reset, welding surrounding operation can be conducted by 360 degrees without dead corners in the follow-up surrounding welding process, and the welding efficiency is greatly improved. The problem that an existing surrounding welding device cannot meet the multi-circle continuous welding requirement easily is solved.

Description

Technical Field

[0001] The invention relates to the technical field of welding equipment, and in particular to a surrounding welding device and method for fixed teaching tables and chairs. Background Art

[0002] Fixed teaching desks and chairs used in large classrooms generally have a service life of more than 15 years. Since the replacement project is large, they will be damaged to varying degrees every three years on average from the time they leave the factory. In order to extend the service life of the product and facilitate maintenance for workers, the market mainly uses small-angle fixed welding methods or overall replacement methods, which increases economic and labor costs.

[0003] At present, a Chinese patent discloses a surrounding welding device and a welding system (the authorization announcement number is CN111843317B). The surrounding welding device provided in this application includes a position adjustment mechanism, a first drive assembly and a welding mechanism; the position adjustment mechanism includes a surrounding assembly, which surrounds the circumference of the object to be welded; the welding mechanism is installed on the surrounding assembly, and the surrounding assembly is used to support the welding mechanism so that the welding part of the welding mechanism is opposite to the gap at the joint between the column (the object to be welded), thereby realizing welding at this location. Generally speaking, the gap is about 3mm; and a guide structure is formed between the surrounding assembly and the welding mechanism, and the guide structure limits the movement path of the welding mechanism (i.e., around the circumference of the object to be welded); the first drive assembly is used to provide a driving force to enable the welding mechanism to move around the circumference of the object to be welded, thereby performing circumferential welding on the object to be welded.

[0004] Since the above-mentioned device uses a large arc surround to build the surround welding track of the welding machine, this can ensure that the object to be welded can normally enter the inner side of the surround welding track. However, when the object to be welded requires multiple turns of continuous welding operations, the surround welding device can only be reset and re-welded when it moves to the notch, which makes it difficult to ensure the uniformity and consistency of welding, affecting the quality of the finished welded product. Summary of the invention

[0005] Based on this, it is necessary to provide a surrounding welding device and method for fixed teaching tables and chairs to address the problem that the existing surrounding welding devices are difficult to meet the needs of multiple continuous welding.

[0006] A surrounding welding device for fixed teaching tables and chairs comprises a mechanical arm, the output end of the mechanical arm is fixedly connected to a welding gun, and the bottom of the mechanical arm is fixedly connected to a guide mechanism; the guide mechanism comprises an electric clamp, the bottom of the electric clamp is fixedly connected to a surrounding guide assembly, and the bottom of the surrounding guide assembly is fixedly connected to an electric cylinder fixedly connected to the mechanical arm.

[0007] Furthermore, the surrounding guide assembly includes a first arc frame and a second arc frame, the second arc frame is clamped in the notch of the first arc frame, the first arc frame and the second arc frame together form a circular frame, the vertical inner walls of the first arc frame and the second arc frame close to the axis of the first arc frame are fixedly connected with arc racks, the interior of the first arc frame is slidably connected with an arc guide bar fixedly connected to the electric cylinder, the bottom of the arc guide bar is fixedly connected to a second servo motor, and the end of the output shaft of the second servo motor is fixedly connected to a spur gear meshing with the arc rack.

[0008] Furthermore, the electric clamp includes a U-shaped frame fixedly connected to the top of the first arc frame, the U-shaped frame is rotatably connected to a transmission shaft inside, two active bevel gears are fixedly connected to the surface of the transmission shaft, the opposite ends of the two active bevel gears are meshed with driven bevel gears, one end of the driven bevel gear is fixedly connected to a gear shaft rotatably connected to the U-shaped frame, the surface of the gear shaft is meshed with a spur rack slidably connected to the U-shaped frame, and the opposite ends of the two spur racks are fixedly connected to clamps.

[0009] Furthermore, the horizontal cross-section of the clamping plate is V-shaped, and the clamping plates on both sides are staggered up and down.

[0010] Furthermore, a first servo motor is fixedly connected to one end of the U-shaped frame, and an end of an output shaft of the first servo motor is fixedly connected to a transmission shaft.

[0011] Furthermore, both ends of the first arc frame are provided with a clamping groove, and a clamping block fixedly connected to the second arc frame is clamped inside the clamping groove.

[0012] Furthermore, two first universal wheels are fixedly connected to the bottom of the circular arc guide strip, and the two first universal wheels are symmetrically distributed on both sides of the axis of the circular arc guide strip.

[0013] Furthermore, the end of the electric cylinder output shaft is fixedly connected to an electric slide rail, and the top of the moving part of the electric slide rail is fixedly connected to the mechanical arm.

[0014] Furthermore, a third servo motor is fixedly connected to the bottom of the electric slide rail, and a surface of the third servo motor is fixedly connected to the electric cylinder.

[0015] Furthermore, a second universal wheel is fixedly connected to the bottom of the electric cylinder, and the lowest points of the first universal wheel and the second universal wheel are flush.

[0016] A surrounding welding method for fixed teaching tables and chairs, as follows:

[0017] 1. Remove the second arc frame, push the first arc frame together with the U-shaped frame to the corresponding position and sleeve it on the outside of the corresponding table leg or column, and then manually reset the second arc frame;

[0018] 2. The first servo motor is manually turned on, and the first servo motor drives the two clamping plates to move toward each other and clamp the corresponding table legs or columns in the middle through the transmission shaft, the driving bevel gear, the driven bevel gear, the gear shaft and the spur rack;

[0019] 3. Connect the welding gun to an external welding machine;

[0020] 4. When the welding gun needs to perform circumferential welding, the second servo motor is manually turned on, the second servo motor drives the spur gear to rotate, the spur gear rotates and meshes with the arc rack and drives the arc guide bar to rotate along the inner arcs of the first arc frame and the second arc frame, and the arc guide bar drives the welding gun to perform circumferential movement around the object to be welded through the electric cylinder, the third servo motor, the electric slide rail and the robotic arm, so that the welding gun can perform circumferential welding operation normally;

[0021] 5. When the welding gun needs to weld in a straight line, the third servo motor is manually controlled to rotate the electric slide rail to a position parallel to the straight line, and then the mechanical arm is manually controlled to drive the welding gun to rotate and move to the welding position, and then the electric slide rail is manually controlled to move the mechanical arm in the corresponding direction, and the mechanical arm drives the welding gun to perform straight line welding;

[0022] 6. When the welding gun needs non-linear welding, the robot arm is manually controlled to drive the welding gun to move to the welding position, and then the robot arm is manually controlled to drive the welding gun to weld along a predetermined trajectory.

[0023] The above-mentioned surrounding welding device and method for fixed teaching tables and chairs adopts the design of a detachable second arc frame and an arc rack. The user only needs to remove the second arc frame to place the fixed welded object inside the surrounding welding device, and then the user only needs to reset it. In the subsequent surrounding welding process, the welding surrounding operation can be performed 360° without dead angles, so as to solve the problem that the existing surrounding welding device is difficult to meet the needs of multiple-circle continuous welding;

[0024] The electric cylinder can adjust the position of the welding gun and the object to be welded, which can not only increase the welding range of the welding gun, but also weld objects of different volumes; the electric slide can linearly adjust the position of the robot arm and the welding gun to meet the needs of large-scale linear welding of the welding gun, so that the third servo motor can rotate the electric slide, which can not only adjust the direction of linear welding of the welding gun, but also further expand the welding range to meet the welding needs of different situations;

[0025] Compared with the existing method of first electric clamping and then manual adjustment, the use of a center-locking electric clamp can lock the object to be welded in the center of the circumferential axis of the circumferential welding device, without the need for the user to perform fine-tuning operations, making it easier for users to use. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] In order to more clearly illustrate the technical solutions in the present invention or the prior art, a brief introduction is given below to the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0027] Figure 1 It is a schematic diagram of the folding of the overall structure of the present invention;

[0028] Figure 2 It is a schematic diagram of the connection between the overall structure and the object to be welded in the present invention;

[0029] Figure 3 It is a cross-sectional schematic diagram of the electric clamp in the folded state of the present invention;

[0030] Figure 4 It is a partial schematic diagram of the electric clamp in the folded state of the present invention;

[0031] Figure 5 It is a schematic diagram of the structure of the surrounding guide assembly in the folded state in the present invention;

[0032] Figure 6 It is an exploded schematic diagram of the surrounding guide assembly in the folded state in the present invention;

[0033] Figure 7 It is a cross-sectional schematic diagram of the surround guide assembly in the folded state according to the present invention.

[0034] Reference numerals:

[0035] 100, robotic arm; 200, welding gun; 300, guiding mechanism; 310, electric clamp; 311, U-shaped frame; 312, transmission shaft; 313, active bevel gear; 314, driven bevel gear; 315, gear shaft; 316, spur rack; 317, clamping plate; 318, first servo motor; 320, surrounding guide assembly; 321, first arc frame; 322, second arc frame; 323, arc rack; 324, arc guide strip; 325, second servo motor; 326, spur gear; 327, card slot; 328, card block; 329, first universal wheel; 330, electric cylinder; 340, electric slide rail; 350, third servo motor; 360, second universal wheel. DETAILED DESCRIPTION

[0036] In order to make the purpose, technical solution and advantages of the embodiments of the present invention clearer, the technical solution in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0037] It should be noted that when a component is referred to as being "fixed to" or "disposed on" another component, it may be directly on the other component or there may be a central component. When a component is considered to be "connected to" another component, it may be directly connected to the other component or there may be a central component at the same time. The terms "vertical", "horizontal", "upper", "lower", "left", "right" and similar expressions used in the specification of the present invention are for illustrative purposes only and do not represent the only implementation method.

[0038] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" and "second" may explicitly or implicitly include at least one of the features. In the description of the present invention, the meaning of "plurality" is at least two, such as two, three, etc., unless otherwise clearly and specifically defined.

[0039] In the present invention, unless otherwise clearly specified and limited, a first feature being “above” or “below” a second feature may mean that the first feature is directly in contact with the second feature, or the first feature and the second feature are indirectly in contact through an intermediate medium. Moreover, a first feature being “above”, “above” or “above” a second feature may mean that the first feature is directly above or obliquely above the second feature, or simply means that the first feature is higher in level than the second feature. A first feature being “below”, “below” or “below” a second feature may mean that the first feature is directly below or obliquely below the second feature, or simply means that the first feature is lower in level than the second feature.

[0040] Unless otherwise defined, all technical and scientific terms used in the specification of the present invention have the same meaning as those commonly understood by those skilled in the art of the present invention. The terms used in the specification of the present invention are only for the purpose of describing specific embodiments and are not intended to limit the present invention. The term "and / or" used in the specification of the present invention includes any and all combinations of one or more related listed items.

[0041] Combine the following Figure 1 - Figure 7The invention describes a surrounding welding device and method for fixed teaching tables and chairs.

[0042] In one embodiment, a surrounding welding device for a fixed teaching desk and chair includes a mechanical arm 100, a welding gun 200 is fixedly connected to the output end of the mechanical arm 100, and a guiding mechanism 300 is fixedly connected to the bottom of the mechanical arm 100;

[0043] The welding gun 200 here needs to be connected and used with welding equipment including but not limited to welding machines. It should be noted that a welding machine refers to an electrical appliance that provides power with certain characteristics for welding. It is a well-known technology for those skilled in the art, so it is not drawn in the drawings of the specification. The specifications and models of the welding machine need to be selected according to actual conditions, which will not be elaborated here.

[0044] like Figure 2 , Figure 3 , Figure 4 , Figure 5 , Figure 6 and Figure 7 As shown, the guide mechanism 300 includes an electric clamp 310, and a surrounding guide assembly 320 is fixedly connected to the bottom of the electric clamp 310. The bottom of the surrounding guide assembly 320 is fixedly connected to an electric cylinder 330 fixedly connected to the robot arm 100. The user can adjust the position of the welding gun 200 and the object to be welded through the electric cylinder 330, which can not only increase the welding range of the welding gun 200, but also can weld objects of different volumes; the end of the output shaft of the electric cylinder 330 is fixedly connected to an electric slide rail 340, and the top of the moving part of the electric slide rail 340 is fixedly connected to the robot arm 100. The user can manually control the electric slide rail 340 to linearly adjust the position of the robot arm 100 together with the welding gun 200, so as to achieve the desired effect. The requirements of the welding gun 200 for large-scale linear welding are met; a third servo motor 350 is fixedly connected to the bottom of the electric slide rail 340, and the surface of the third servo motor 350 is fixedly connected to the electric cylinder 330. The user can rotate the electric slide rail 340 by manually controlling the third servo motor 350, which can not only adjust the direction of linear welding of the welding gun 200, but also further expand the welding range; a second universal wheel 360 is fixedly connected to the bottom of the electric cylinder 330, and the first universal wheel 329 is flush with the lowest point of the second universal wheel 360, which can support the electric cylinder 330 to reduce the probability of tilting or shaking of the welding gun 200 during operation or movement, thereby improving the stability of welding.

[0045] like Figure 3 and Figure 4As shown, the electric clamp 310 includes a U-shaped frame 311 fixedly connected to the top of the first arc frame 321, the U-shaped frame 311 is rotatably connected to a transmission shaft 312 inside, two active bevel gears 313 are fixedly connected to the surface of the transmission shaft 312, the opposite ends of the two active bevel gears 313 are meshedly connected to driven bevel gears 314, one end of the driven bevel gear 314 is fixedly connected to a gear shaft 315 rotatably connected to the U-shaped frame 311, the surface of the gear shaft 315 is meshedly connected to a spur rack 316 slidably connected to the U-shaped frame 311, and the opposite ends of the two spur racks 316 are fixedly connected to a clamping plate 31 7; The horizontal cross-section of the clamping plate 317 is V-shaped, and the clamping plates 317 on both sides are staggered up and down, which can expand the moving range of the clamping plate 317, not only can expand the clamping range of the object to be welded, but also can reduce the volume of the electric clamp 310 when it is stored, making it more convenient to carry out; one end of the U-shaped frame 311 is fixedly connected to the first servo motor 318, and the end of the output shaft of the first servo motor 318 is fixedly connected to the transmission shaft 312. The user can manually control the first servo motor 318 to stably and uniformly control the two clamping plates 317 to move toward or away from each other at the same time, so as to reduce the adjustment burden of the user.

[0046] like Figure 5 , Figure 6 and Figure 7 As shown, the surrounding guide assembly 320 includes a first arc frame 321 and a second arc frame 322, the second arc frame 322 is clamped at the notch of the first arc frame 321, the first arc frame 321 and the second arc frame 322 together form a circular frame, the vertical inner walls of the first arc frame 321 and the second arc frame 322 close to the axis of the first arc frame 321 are fixedly connected with an arc rack 323, the interior of the first arc frame 321 is slidably connected with an arc guide bar 324 fixedly connected to the electric cylinder 330, the bottom of the arc guide bar 324 is fixedly connected to the second servo motor 325, and the end of the output shaft of the second servo motor 325 is fixedly connected to a spur gear 326 meshing with the arc rack 323; the two ends of the first arc frame 321 A card slot 327 is provided at each end, and a card block 328 fixedly connected to the second arc frame 322 is carded inside the card slot 327, which can stably lock the second arc frame 322 at the notch of the first arc frame 321, so that the two arc racks 323 can be accurately aligned, thereby ensuring that the welding gun 200 can normally perform the surrounding welding operation; two first universal wheels 329 are fixedly connected to the bottom of the arc guide bar 324, and the two first universal wheels 329 are symmetrically distributed on both sides of the axis of the arc guide bar 324. The first universal wheel 329 can not only play the role of actively supporting the entire welding equipment, but also can further reduce the probability of bending or tilting of the welding gun 200, thereby improving the welding stability of the welding gun 200.

[0047] like Figure 1 - Figure 7 As shown, a surrounding welding method for fixed teaching tables and chairs is as follows:

[0048] 1. Remove the second arc frame 322, push the first arc frame 321 together with the U-shaped frame 311 to the corresponding position and sleeve them on the outside of the corresponding table leg or column, and then manually reset the second arc frame 322;

[0049] 2. The first servo motor 318 is manually turned on, and the first servo motor 318 drives the transmission shaft 312 to rotate in the corresponding direction. The transmission shaft 312 simultaneously drives the two active bevel gears 313 to rotate in the corresponding direction. The active bevel gear 313 drives the connected driven bevel gear 314 to rotate in the corresponding direction. Since the two driven bevel gears 314 are arranged at the opposite ends of the two active bevel gears 313, under the premise that the two active bevel gears 313 rotate in the same direction, the two driven bevel gears 314 rotate in opposite directions. The driven bevel gear 314 drives the gear shaft 315 to rotate, and the gear shaft 315 drives the spur rack 316 to approach the object to be welded along the U-shaped frame 311. The spur rack 316 drives the clamping plate 317 to approach the object to be welded. When one clamping plate 317 abuts against the surface of the object to be welded, the clamping plate 317 drives the entire welding device to move through the spur rack 316 and the U-shaped frame 311 during the subsequent movement until the two clamping plates 317 are relatively locked to the object to be welded.

[0050] 3. Connect the welding gun 200 to an external welding machine;

[0051] Fourth, when the welding gun 200 needs to perform circumferential welding, the second servo motor 325 is manually turned on, the second servo motor 325 drives the spur gear 326 to rotate, the spur gear 326 rotates and meshes with the arc rack 323 and drives the arc guide bar 324 to rotate along the inner arcs of the first arc frame 321 and the second arc frame 322, and the arc guide bar 324 drives the welding gun 200 to perform circumferential movement around the object to be welded through the electric cylinder 330, the third servo motor 350, the electric slide rail 340 and the robot arm 100, so that the welding gun 200 can perform circumferential welding operation normally;

[0052] 5. When the welding gun 200 needs to weld in a straight line, the third servo motor 350 is manually controlled to rotate the electric slide rail 340 to a position parallel to the straight line, and then the robot arm 100 is manually controlled to drive the welding gun 200 to rotate and move to the welding position, and then the electric slide rail 340 is manually controlled to move the robot arm 100 in the corresponding direction, and the robot arm 100 drives the welding gun 200 to perform straight line welding;

[0053] 6. When the welding gun 200 needs non-linear welding, the robot arm 100 is manually controlled to drive the welding gun 200 to move to the welding position, and then the robot arm 100 is manually controlled to drive the welding gun 200 to weld along a predetermined trajectory.

[0054] It should be noted that the robot arm 100, welding gun 200, first servo motor 318, second servo motor 325, electric cylinder 330, electric slide 340, third servo motor 350 and welding machine in the above description are all devices with relatively mature application of existing technology. The specific models can be selected according to actual needs. At the same time, the robot arm 100, welding gun 200, first servo motor 318, second servo motor 325, electric cylinder 330, electric slide 340, third servo motor 350 and welding machine can be powered by a built-in power supply or by AC power. The specific power supply method is selected according to the situation and will not be elaborated here.

[0055] The technical features of the above embodiments may be combined arbitrarily. To make the description concise, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0056] The above-described embodiments only express several implementation methods of the present invention, and the description thereof is relatively specific and detailed, but it cannot be understood as limiting the scope of the present invention. It should be pointed out that, for a person of ordinary skill in the art, several modifications and improvements can be made without departing from the concept of the present invention, and these all belong to the protection scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the attached claims.

Claims

1. A surrounding welding device for fixed teaching tables and chairs, comprising a mechanical arm (100), wherein the output end of the mechanical arm (100) is fixedly connected to a welding gun (200), characterized in that: The bottom of the mechanical arm (100) is fixedly connected with a guide mechanism (300); The guiding mechanism (300) comprises an electric clamp (310), the bottom of the electric clamp (310) is fixedly connected to a surrounding guiding assembly (320), and the bottom of the surrounding guiding assembly (320) is fixedly connected to an electric cylinder (330) fixedly connected to the mechanical arm (100); The surrounding guide assembly (320) comprises a first arc frame (321) and a second arc frame (322); the second arc frame (322) is clamped at the notch of the first arc frame (321); the first arc frame (321) and the second arc frame (322) together form a circular frame; the vertical inner walls of the first arc frame (321) and the second arc frame (322) close to the axis of the first arc frame (321) are fixedly connected with an arc rack (323); the interior of the first arc frame (321) is slidably connected with an arc guide bar (324) fixedly connected to the electric cylinder (330); the bottom of the arc guide bar (324) is fixedly connected with a second servo motor (325); the end of the output shaft of the second servo motor (325) is fixedly connected with a spur gear (326) meshing with the arc rack (323).

2. The surrounding welding device for fixed teaching tables and chairs according to claim 1 is characterized in that: The electric clamp (310) comprises a U-shaped frame (311) fixedly connected to the top of the first arc frame (321); the U-shaped frame (311) is internally rotatably connected to a transmission shaft (312); the surface of the transmission shaft (312) is fixedly connected to two active bevel gears (313); the opposite ends of the two active bevel gears (313) are meshedly connected to driven bevel gears (314); one end of the driven bevel gear (314) is fixedly connected to a gear shaft (315) rotatably connected to the U-shaped frame (311); the surface of the gear shaft (315) is meshedly connected to a spur rack (316) slidably connected to the U-shaped frame (311); the opposite ends of the two spur racks (316) are fixedly connected to a clamping plate (317).

3. The surrounding welding device for fixed teaching tables and chairs according to claim 2 is characterized in that: The horizontal cross-section of the clamping plates (317) is V-shaped, and the clamping plates (317) on both sides are staggered up and down.

4. The surrounding welding device for fixed teaching tables and chairs according to claim 2 is characterized in that: One end of the U-shaped frame (311) is fixedly connected to a first servo motor (318), and the end of an output shaft of the first servo motor (318) is fixedly connected to a transmission shaft (312).

5. The surrounding welding device for fixed teaching tables and chairs according to claim 1 is characterized in that: Both ends of the first arc frame (321) are provided with a clamping groove (327), and a clamping block (328) fixedly connected to the second arc frame (322) is clamped inside the clamping groove (327).

6. The surrounding welding device for fixed teaching tables and chairs according to claim 1 is characterized in that: Two first universal wheels (329) are fixedly connected to the bottom of the circular arc guide strip (324), and the two first universal wheels (329) are symmetrically distributed on both sides of the axis of the circular arc guide strip (324).

7. The surrounding welding device for fixed teaching tables and chairs according to claim 1 is characterized in that: The end of the output shaft of the electric cylinder (330) is fixedly connected to an electric slide rail (340), and the top of the moving part of the electric slide rail (340) is fixedly connected to the mechanical arm (100).

8. The surrounding welding device for fixed teaching tables and chairs according to claim 7 is characterized in that: A third servo motor (350) is fixedly connected to the bottom of the electric slide rail (340), and a surface of the third servo motor (350) is fixedly connected to the electric cylinder (330).

9. The surrounding welding device for fixed teaching tables and chairs according to claim 6, characterized in that: The bottom of the electric cylinder (330) is fixedly connected to a second universal wheel (360), and the first universal wheel (329) is flush with the lowest point of the second universal wheel (360).

10. A method for surrounding welding of fixed teaching tables and chairs, comprising the surrounding welding device for fixed teaching tables and chairs according to any one of claims 1 to 9, characterized in that: The details are as follows:

1. Remove the second arc frame (322), push the first arc frame (321) together with the U-shaped frame (311) to the corresponding position and sleeve them on the outer side of the corresponding table leg or column, and then manually reset the second arc frame (322); 2. The first servo motor (318) is manually turned on, and the first servo motor (318) drives the two clamping plates (317) to move toward each other and clamp the corresponding table legs or columns in the middle through the transmission shaft (312), the driving bevel gear (313), the driven bevel gear (314), the gear shaft (315) and the spur rack (316); 3. Connecting the welding gun (200) to an external welding machine; Fourth, when the welding gun (200) needs to perform circumferential welding, the second servo motor (325) is manually turned on, the second servo motor (325) drives the spur gear (326) to rotate, the spur gear (326) and the arc rack (323) rotate and mesh and drive the arc guide bar (324) to rotate along the inner arcs of the first arc frame (321) and the second arc frame (322), the arc guide bar (324) drives the welding gun (200) to perform circumferential movement around the object to be welded through the electric cylinder (330), the third servo motor (350), the electric slide rail (340) and the robot arm (100), so that the welding gun (200) can perform circumferential welding operations normally; 5. When the welding gun (200) needs to perform linear welding, the third servo motor (350) is manually controlled to rotate the electric slide rail (340) to a position parallel to the straight line, and then the mechanical arm (100) is manually controlled to drive the welding gun (200) to rotate and move to a welding position, and then the electric slide rail (340) is manually controlled to move the mechanical arm (100) in a corresponding direction, and the mechanical arm (100) drives the welding gun (200) to perform linear welding; 6. When the welding gun (200) needs non-linear welding, the robot arm (100) is manually controlled to drive the welding gun (200) to move to the welding position, and then the robot arm (100) is manually controlled to drive the welding gun (200) to weld along a predetermined trajectory.

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