Automatic welding equipment for storage rack

Abstract

The invention belongs to the technical field of welding, particularly relates to automatic welding equipment for a storage rack, and solves the problems of low welding automation degree and high manufacturing cost in the prior art. The automatic welding equipment comprises a welding box, fixing boxes are arranged on the two sides of the welding box, the welding box is composed of an inner gear ring and a limiting sliding block, and the inner gear ring is fixedly connected to the inner wall of the welding box; the limiting sliding block is movably arranged on the outer peripheral face of the inner gear ring in a sleeving mode, a first servo motor is installed on one side of the limiting sliding block, a first transmission shaft is installed at the output end of the first servo motor, and through the arrangement of a planetary gear system composed of the inner gear ring and the limiting sliding block, an indexing rotating mechanism composed of the rotating frame body and the outer gear ring and other structures, the indexing rotating mechanism can rotate synchronously; the inner gear ring drives the limiting sliding block to revolve along an annular track, the transmission gear rotates to adjust the welding posture, and space decoupling motion is formed; the rotating frame body drives the outer gear ring through the servo motor to achieve high-precision indexing rotation, and automatic welding of space curved surface welding seams and a polyhedral structure can be continuously completed in cooperation with circumferential movement of the welding head.

Description

Technical Field

[0001] The present invention relates to the technical field of welding, and particularly to an automatic welding device for a storage rack. Background Art

[0002] At present, the automatic welding device for a storage rack is an industrial equipment integrating advanced welding technology, automatic control technology and intelligent sensing technology, and is designed for mass welding production of metal structural parts such as storage racks.

[0003] In the field of welding manufacturing, existing equipment generally adopts a two-dimensional rectangular coordinate system motion mechanism, and its welding head can only achieve linear displacement in the X / Y axis directions within a plane. This technical architecture has significant limitations when dealing with space curved welds or overlapping structures of special-shaped pipes: traditional equipment must repeatedly clamp and adjust the spatial attitude of the workpiece to complete complex trajectory welding. This discontinuous operation mode not only causes interruption of the welding process, but also exposes serious defects when welding typical structural parts such as nodes of circular pipes: the process dead angle formed due to the limited movement range of the welding head forces operators to perform compensatory manual repair welding, and unfused defects are extremely likely to occur in the weld transition area due to insufficient degrees of freedom of the motion mechanism. In precision welding scenarios, conventional equipment relies on fixed paths generated by offline programming and completely lacks the ability to dynamically perceive welding thermal deformation. Traditional equipment can neither collect weld profile data in real time nor has a closed-loop compensation mechanism, resulting in continuous accumulation of weld tracking errors during the welding process. The problem of weld deviation caused by thermal deformation significantly increases the equipment repair rate and directly raises the manufacturing cost. Summary of the Invention

[0004] The purpose of the present invention is to provide an automatic welding device for a storage rack, which solves the problems of low welding automation and high manufacturing cost.

[0005] To achieve the above purpose, the present invention provides the following technical solution: an automatic welding device for a storage rack, including a welding box, and fixed boxes are arranged on both sides of the welding box; The welding box is composed of an internal gear ring and a limit slider. The internal gear ring is fixedly connected to the inner wall of the welding box. The limit slider is movably sleeved on the outer peripheral surface of the internal gear ring. One side of the limit slider is provided with a telescopic electric cylinder that moves around the axis of the internal gear ring. The output end of the telescopic electric cylinder is provided with a welding head, and the welding head is used for welding the storage rack; The fixed box is composed of a rotating frame and four auxiliary electric cylinders. The rotating frame is rotatably installed inside the fixed box. The auxiliary cylinders are circumferentially and evenly arranged inside the rotating frame. The output end of the auxiliary electric cylinder is provided with a long shaft. The top of the long shaft is fixedly connected with an inner groove frame. A clamping plate is slidably assembled inside the inner groove frame. A number of symmetrically arranged springs are jointly connected between the clamping plate and the inner groove frame, and the springs are used for auxiliary clamping of the storage rack.

[0006] As a preferred embodiment of the present invention, a first servo motor is installed inside the limit slider. A first transmission shaft is installed at the output end of the first servo motor. A first transmission gear is sleeved on the outer peripheral surface of the first transmission shaft. A rotating plate is movably hinged to one side of the limit slider. The telescopic cylinder is installed on one side of the rotating plate. A worm motor is installed inside the limit slider. A rotating shaft is installed at the output end of the worm motor. A rotating worm is fixedly sleeved on the outer peripheral surface of the rotating shaft. A follower shaft is fixedly connected to one side of the rotating plate. The follower shaft is rotatably installed inside the limit slider. A worm gear is sleeved on the outer peripheral surface of the follower shaft.

[0007] As a preferred embodiment of the present invention, the first transmission gear meshes with the internal gear ring, and the rotating worm meshes with the worm gear.

[0008] As a preferred embodiment of the present invention, at least four scanners evenly distributed in a circumferential direction are installed on the inner wall of the welding box.

[0009] As a preferred embodiment of the present invention, a rotating motor is installed on one side of the welding box. Two symmetrically arranged straight shafts are rotatably installed inside the welding box. One of the straight shafts is installed at the output end of the rotating motor. An angular displacement plate is sleeved on the outer peripheral surface of the straight shaft.

[0010] As a preferred embodiment of the present invention, contraction electric cylinders are installed at both ends of the displacement plate. A contraction shaft is installed at the output end of the contraction electric cylinder. A fixed frame is fixedly connected to one end of the two contraction shafts on the same side.

[0011] As a preferred embodiment of the present invention, a second servo motor is installed inside the fixed frame body. A second transmission shaft is installed at the output end of the second servo motor. A second transmission gear is fixedly sleeved on the outer peripheral surface of the second transmission shaft. An external gear ring is fixedly sleeved on the outer peripheral surface of the rotating frame body. The external gear ring meshes with the second transmission gear.

[0012] As a preferred embodiment of the present invention, a limit circular frame is fixedly sleeved on the outer peripheral surface of the internal gear ring. The limit slider is slidably assembled on the outer peripheral surface of the limit circular frame.

[0013] Compared with the prior art, the beneficial effects of the present invention are as follows: 1. Through the setting of structures such as the planetary gear system composed of the internal gear ring and the limit slider, and the indexing rotation mechanism composed of the rotating frame body and the external gear ring, the internal gear ring drives the limit slider to revolve along an annular track, and the transmission gear rotates self to adjust the welding posture, forming a spatial decoupled motion; the rotating frame body drives the external gear ring through a servo motor to achieve high-precision indexing rotation, and cooperates with the circumferential movement of the welding head to continuously complete the automatic welding of spatial curved surface welds and polyhedron structures.

[0014] 2. Through the settings of structures such as the flexible clamping mechanism composed of a spring and a clamping plate, a scanner array, and a point cloud modeling system, the elastic clamping mechanism drives the inner groove frame to translate through four groups of cylinders to adapt to workpieces with different pipe diameters; the scanner generates a weld point cloud model in real time and triggers closed-loop compensation, reducing manual intervention caused by workpiece errors in traditional equipment. The above structures work together to improve welding accuracy while reducing changeover time and rework costs. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Figure 1 is a schematic diagram of the overall structure of the present invention; Figure 2 is a schematic diagram of the overall structure of the welding box of the present invention; Figure 3 is a schematic diagram of the transmission structure of the limit slider of the present invention; Figure 4 is a cross-sectional view of the limit slider structure of the present invention; Figure 5 is a schematic diagram of the overall structure of the fixed box of the present invention; Figure 6 is a schematic diagram of the overall structure of the rotating frame of the present invention; Figure 7 is a schematic diagram of the transmission structure of the inner groove frame of the present invention; Figure 8 is a schematic diagram of the internal structure of the inner groove frame of the present invention.

[0016] In the figure: 1. Welding box; 11. Internal gear ring; 12. Limit circular frame; 13. Scanner; 21. Limit slider; 22. First servo motor; 221. First transmission shaft; 222. First transmission gear; 23. Worm motor; 231. Rotating shaft; 232. Rotating worm; 24. Follow-up shaft; 241. Worm gear; 242. Rotating plate; 25. Telescopic electric cylinder; 251. Welding head; 3. Fixed box; 31. Rotating motor; 311. Straight shaft; 312. Angular displacement plate; 32. Shrinking electric cylinder; 321. Shrinking shaft; 33. Second servo motor; 331. Second transmission shaft; 332. Second transmission gear; 34. Rotating frame; 341. External gear ring; 35. Auxiliary electric cylinder; 351. Long shaft; 352. Inner groove frame; 353. Clamping plate; 354. Spring. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0017] The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present invention without creative efforts shall fall within the protection scope of the present invention.

[0018] Please refer to Figure 1-8 , in this embodiment, an automatic welding device for a storage rack includes a welding box 1, and fixed boxes 3 are arranged on both sides of the welding box 1; The welding box 1 is composed of an internal gear ring 11 and a limit slider 21. The internal gear ring 11 is fixedly connected to the inner wall of the welding box 1. The limit slider 21 is movably sleeved on the outer peripheral surface of the internal gear ring 11. One side of the limit slider 21 is provided with a telescopic electric cylinder 25 that moves around the axis of the internal gear ring 11. The output end of the telescopic electric cylinder 25 is provided with a welding head 251, and the welding head 251 is used for welding the storage rack; The fixed box 3 is composed of a rotating frame 34 and four auxiliary electric cylinders 35. The rotating frame 34 is rotatably installed inside the fixed box 3. The auxiliary cylinders are evenly arranged in a circumferential manner inside the rotating frame 34. The output end of the auxiliary electric cylinder 35 is provided with a long shaft 351. The top of the long shaft 351 is fixedly connected with an inner groove frame 352. A clamping plate 353 is slidably assembled inside the inner groove frame 352. A plurality of symmetrically arranged springs 354 are jointly connected to the clamping plate 353 and the inner groove frame 352, and the springs 354 are used for auxiliary clamping of the storage rack.

[0019] Specifically, this embodiment elaborates on the basic structure and core movement principle of an automatic welding device for a storage rack; the device main body is composed of a welding box 1 and fixed boxes 3 symmetrically arranged on both sides. An annular internal gear ring 11 is fixed to the inner wall of the welding box 1, and the limit slider 21 is sleeved on the outer periphery of the internal gear ring 11 through an annular guide rail structure; a first servo motor 22 is installed on one side of the limit slider 21, and its output shaft drives a first transmission shaft 221 through key connection. A first transmission gear 222 sleeved on the shaft end forms an external meshing transmission pair with the internal gear ring 11; when the servo motor operates, the transmission gear makes a planetary motion along the internal gear ring 11, driving the limit slider 21 to translate along a circular path; a rotating plate 242 hinged on the side of the limit slider 21 realizes the rotation degree of freedom through a follower shaft 24. The end of the rotating plate 242 is fixed with a telescopic electric cylinder 25, and the welding head 251 is installed at the end of the cylinder piston rod; through the circumferential movement of the limit slider 21 and the pitch adjustment of the rotating plate 242, the welding head 251 can cover all spatial positions inside the cylindrical welding box 1; Inside the fixed box 3, a rotating frame 34 is arranged, and its outer periphery is connected to the shell of the fixed box 3 through bearings; four groups of auxiliary electric cylinders 35 are evenly distributed in a circle inside the rotating frame 34, and the piston rods of each group of cylinders are connected to the inner groove frame 352 through a long shaft 351; two groups of symmetrically arranged clamping plates 353 are arranged inside the inner groove frame 352, and the clamping plates 353 and the bottom surface of the groove body are connected through multiple groups of springs 354. Through the cooperation of the springs 354 and dampers, an elastic clamping mechanism is formed. When the auxiliary electric cylinder 35 expands and contracts, the long shaft 351 pushes the inner groove frame 352 to translate, and the clamping plates 353 adapt to the shape of the workpiece under the action of the springs 354 to achieve flexible clamping; the rotating frame 34 can be driven to rotate by an independent driving mechanism, and cooperate with the circumferential movement of the welding head 251 in the welding box 1 to form a multi-degree-of-freedom collaborative welding system.

[0020] In this embodiment, a first servo motor 22 is installed inside the limit slider 21. The output end of the first servo motor 22 is installed with a first transmission shaft 221. A first transmission gear 222 is sleeved on the outer peripheral surface of the first transmission shaft 221. One side of the limit slider 21 is movably hinged with a rotating plate 242. The telescopic cylinder 25 is installed on one side of the rotating plate 242. A worm motor 23 is installed inside the limit slider 21. The output end of the worm motor 23 is installed with a rotating shaft 231. A rotating worm 232 is fixedly sleeved on the outer peripheral surface of the rotating shaft 231. One side of the rotating plate 242 is fixedly connected with a follower shaft 24. The follower shaft 24 is rotatably installed inside the limit slider 21. A worm gear 241 is sleeved on the outer peripheral surface of the follower shaft 24; The first transmission gear 222 meshes with the internal gear ring 11, and the rotating worm 232 meshes with the worm gear 241.

[0021] Specifically, this embodiment focuses on the attitude adjustment mechanism and transmission principle of the welding head 251; a worm motor 23 is integrated inside the limit slider 21, and its output shaft is connected to the rotating shaft 231 through a coupling, and a rotating worm 232 is fixedly sleeved at the shaft end; the worm gear 241 meshing with the rotating worm 232 is sleeved on the outer periphery of the follower shaft 24. Both ends of the follower shaft 24 are installed inside the limit slider 21 through bearings, and the extended part of the shaft end is fixedly connected with the rotating plate 242; when the worm motor 23 operates, the rotating worm 232 drives the worm gear 241 to rotate, and then drives the follower shaft 24 and the rotating plate 242 to rotate synchronously, realizing the pitching angle adjustment of the welding head 251; the worm gear 241 worm drive has a self-locking characteristic, which can ensure that the welding head 251 is stably held at any angle; The meshing transmission between the first transmission gear 222 and the internal gear ring 11 constitutes a planetary gear system. When the first servo motor 22 drives the transmission gear to rotate, the limit slider 21 makes a revolution along the internal gear ring 11, and at the same time, the transmission gear itself generates a rotation; this compound motion enables the welding head 251 to not only circumferentially scan the surface of the workpiece but also adjust the welding posture through its own rotation; the rotational motion of the rotating plate 242 and the revolution motion of the limit slider 21 are spatially decoupled. Through the coordinated control of the servo motors, precise three-dimensional positioning of the welding head 251 in the cylindrical coordinate system can be achieved; the rotational motion of the rotating frame 34 is controlled by an independent servo system. Its external gear ring 341 meshes with the second transmission gear 332 in the fixed box 3, and indexing rotation is achieved through gear transmission. Cooperating with the multi-axis motion of the welding head 251, continuous welding of complex welds is completed.

[0022] In this embodiment, at least four circumferentially evenly distributed scanners 13 are installed on the inner wall of the welding box 1.

[0023] Specifically, this embodiment elaborates on the layout and function realization of the scanners 13 in the welding box 1; four groups of scanners 13 are evenly distributed on the inner wall circumference of the welding box 1. Each group of scanners 13 consists of a laser emission module and an image acquisition module; the laser emission module projects a structured grating onto the surface of the workpiece, and the image acquisition module obtains the three-dimensional topography data of the workpiece surface through the principle of triangulation; the scanner 13 array forms an annular measurement field, covering all the working spaces inside the welding box 1; when the workpiece is clamped and rotated by the fixed box 3, the scanners 13 collect the weld position, groove angle, and workpiece deformation data in real time, generate a point cloud model, and transmit it to the control system; Based on the point cloud data, the control system constructs a welding path planning model and generates the motion trajectory of the welding head 251 through a spatial interpolation algorithm; the scanners 13 also have the function of weld tracking. During the welding process, they dynamically monitor the deviation of the weld position and correct the posture of the welding head 251 in real time through feedback control; when there are assembly errors or thermal deformations in the workpiece, the scanner 13 array can quickly identify the deviations and trigger a compensation mechanism to ensure the welding accuracy; in addition, the scanner 13 data is also used for on-line welding quality inspection. By analyzing the weld morphology characteristics, welding defects are evaluated, providing a basis for optimizing the process parameters.

[0024] In this embodiment, a rotating motor 31 is installed on one side of the welding box 1. Two symmetrically arranged straight shafts 311 are rotatably installed inside the welding box 1. One of the straight shafts 311 is installed at the output end of the rotating motor 31, and an angular displacement plate 312 is sleeved on the outer peripheral surface of the straight shaft 311; Both ends of the displacement plate are installed with retractable electric cylinders 32. The output ends of the retractable electric cylinders 32 are installed with retractable shafts 321. The fixed frame is fixedly connected to one end of the two retractable shafts 321 on the same side.

[0025] Specifically, this embodiment describes the workpiece positioning and attitude adjustment mechanism of the fixed box 3. A rotary motor 31 is installed on one side of the welding box 1, and its output shaft is connected to a straight shaft 311 through a coupling. Both ends of the straight shaft 311 are installed on the housing of the welding box 1 through bearings. An angular displacement plate 312 is sleeved on the outer periphery of the straight shaft 311. When the rotary motor 31 operates, the straight shaft 311 drives the angular displacement plate 312 to rotate around the axis of the box body. Shrinkage electric cylinders 32 are symmetrically installed at both ends of the angular displacement plate 312, and the cylinder piston rod is connected to the fixed frame through a shrinkage shaft 321. The shrinkage electric cylinder 32 can independently control the telescopic amount of the piston rod, and realizes the axial translation and tilt adjustment of the fixed frame through differential adjustment. The fixed frame is synchronously driven by the shrinkage shafts 321 on both sides. When the telescopic amounts of the cylinders on both sides are the same, the fixed frame translates axially. When there is a difference in the telescopic amounts, the fixed frame generates a tilting motion. The rotational motion of the angular displacement plate 312 and the translational / tilting motion of the fixed frame form a composite positioning mechanism, which can realize the position and attitude adjustment of the workpiece in the cylindrical coordinate system. The rotary frame body 34 is installed inside the fixed frame, and the indexing rotation is realized by driving the external gear ring 341 through the second servo motor 33. When multi-sided welding of the workpiece is required, the rotary frame body 34 drives the workpiece to rotate to a specified angle, and cooperates with the circumferential motion of the welding head 251 in the welding box 1 to complete the continuous welding of multiple space welds.

[0026] In this embodiment, a second servo motor 33 is installed inside the fixed frame body. A second transmission shaft 331 is installed at the output end of the second servo motor 33. A second transmission gear 332 is fixedly sleeved on the outer peripheral surface of the second transmission shaft 331. An external gear ring 341 is fixedly sleeved on the outer peripheral surface of the rotary frame body 34, and the external gear ring 341 meshes with the second transmission gear 332.

[0027] Specifically, this embodiment elaborates on the driving mechanism and transmission principle of the rotary frame body 34. A second servo motor 33 is installed inside the fixed frame. Its output shaft is connected to a second transmission shaft 331 through a coupling, and a second transmission gear 332 is sleeved at the shaft end. An external gear ring 341 is fixedly sleeved on the outer periphery of the rotary frame body 34, and the external gear ring 341 and the second transmission gear 332 form an external meshing transmission pair. When the second servo motor 33 operates, the transmission gear drives the external gear ring 341 to rotate, and then drives the rotary frame body 34 to rotate around its own axis. Through the feedback control of the servo motor encoder, the rotary frame body 34 can achieve high-precision indexing rotation. Four groups of auxiliary electric cylinders 35 are evenly distributed inside the rotating frame 34. The piston rod of each group of cylinders is connected to the inner groove frame 352 through a long shaft 351. An elastic clamping mechanism is arranged inside the inner groove frame 352. The clamping plate 353 adapts to the shape of the workpiece under the action of the spring 354. When multi-sided welding of the workpiece is required, the rotating frame 34 drives the workpiece to rotate to a specified angle. After the welding head 251 completes the current weld seam inside the welding box 1, the rotating frame 34 automatically indexes to the next welding surface. Through the coordinated control of the second servo motor 33 and the auxiliary electric cylinders 35, automatic surface change of the workpiece and dynamic adjustment of the clamping force can be achieved to meet the welding requirements of storage racks of different specifications.

[0028] In this embodiment, a limiting circular frame 12 is fixedly sleeved on the outer peripheral surface of the internal gear ring 11, and the limiting slider 21 is slidably assembled on the outer peripheral surface of the limiting circular frame 12.

[0029] Specifically, this embodiment elaborates on the limiting structure of the internal gear ring 11 and the mechanism for ensuring motion stability. A limiting circular frame 12 is fixedly sleeved on the outer periphery of the internal gear ring 11. The cross-section of the limiting circular frame 12 is T-shaped. An annular groove is formed in the inner wall of the limiting slider 21 to form a sliding fit with the limiting circular frame 12. The limiting circular frame 12 is made of high-strength alloy steel and is surface hardened to improve wear resistance. The limiting slider 21 contacts the limiting circular frame 12 through multiple groups of ball bearings, converting sliding friction into rolling friction and significantly reducing the motion resistance. When the first servo motor 22 drives the transmission gear to move along the internal gear ring 11, the limiting slider 21 maintains a stable circular trajectory under the constraint of the limiting circular frame 12. The T-shaped cross-section design of the limiting circular frame 12 can effectively prevent the axial movement of the slider, ensuring that the welding head 251 is always in the predetermined working plane. In addition, the limiting circular frame 12 also serves as a reinforcing rib for the internal gear ring 11, improving the overall structural stiffness and suppressing the vibration generated during the welding process. Through the precise cooperation between the limiting slider 21 and the limiting circular frame 12, the device can achieve high-speed and high-precision circumferential motion, meeting the process requirements for automatic welding of storage racks.

[0030] Although the embodiments of the present invention have been shown and described, those of ordinary skill in the art can understand that various changes, modifications, substitutions, and variations can be made to these embodiments without departing from the principles and spirit of the present invention. The scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. An automatic welding device for a rack, comprising a welding box, with fixed boxes arranged on both sides of the welding box, characterized in that: The welding box is composed of an inner gear ring and a limit slider. The inner gear ring is fixedly connected to the inner wall of the welding box. The limit slider is movably sleeved on the outer circumference of the inner gear ring. A telescopic electric cylinder that moves around the axis of the inner gear ring is installed on one side of the limit slider. A welding head is installed on the output end of the telescopic electric cylinder. The welding head is used for welding the storage rack. The fixed box consists of a rotating frame and four auxiliary electric cylinders. The rotating frame is rotatably installed inside the fixed box. The auxiliary cylinders are evenly distributed in a circle inside the rotating frame. A long shaft is installed at the output end of the auxiliary electric cylinder. The top of the long shaft is fixedly connected to an inner groove frame. The inner groove frame is slidably equipped with a clamping plate. The clamping plate and the inner groove frame are jointly connected with a number of symmetrically arranged springs, and the springs are used to assist in the clamping of the storage rack.

2. The rack automatic welding equipment according to claim 1, characterized in that: A first servo motor is installed inside the limit slider, a first transmission shaft is installed at the output end of the first servo motor, a first transmission gear is sleeved on the outer circumference of the first transmission shaft, a rotating plate is movably hinged on one side of the limit slider, a telescopic cylinder is installed on one side of the rotating plate, a worm motor is installed inside the limit slider, a rotating shaft is installed at the output end of the worm motor, a rotating worm is fixedly sleeved on the outer circumference of the rotating shaft, a follower shaft is fixedly connected to one side of the rotating plate, the follower shaft is rotatably installed inside the limit slider, and a worm gear is sleeved on the outer circumference of the follower shaft.

3. The rack automatic welding equipment according to claim 2, characterized in that: The first transmission gear is meshed with the inner gear ring, and the rotating worm and the worm wheel are meshed with each other.

4. The rack automatic welding equipment according to claim 1, characterized in that: At least four scanners evenly distributed around the circumference are installed on the inner wall of the welding box.

5. The rack automatic welding equipment according to claim 1, characterized in that: A rotating motor is installed on one side of the welding box. Two symmetrically arranged straight shafts are installed for rotation inside the welding box. One of the straight shafts is installed at the output end of the rotating motor. An angle displacement plate is sleeved on the outer circumference of the straight shaft.

6. The rack automatic welding equipment according to claim 1, characterized in that: Both ends of the displacement plate are equipped with contraction electric cylinders, the output ends of the contraction electric cylinders are equipped with contraction shafts, and the fixing frame is fixedly connected to one end of the two contraction shafts on the same side.

7. The rack automatic welding equipment according to claim 1, characterized in that: A second servo motor is installed inside the fixed frame, a second transmission shaft is installed at the output end of the second servo motor, a second transmission gear is fixedly sleeved on the outer circumference of the second transmission shaft, an outer gear ring is fixedly sleeved on the outer circumference of the rotating frame, and the outer gear ring is meshed with the second transmission gear.

8. The rack automatic welding equipment according to claim 1, characterized in that: A limiting circular frame is fixedly sleeved on the outer circumference of the inner gear ring, and a limiting sliding block is slidably assembled on the outer circumference of the limiting circular frame.

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