Automatic welding device suitable for special-shaped workpieces

Abstract

The automatic welding device comprises a sliding table module, a transverse moving structure, an elastic telescopic structure, a rotating guide structure, a follow-up rotating structure and a welding structure, and the transverse moving structure is arranged on the sliding table module capable of moving longitudinally and vertically; the elastic telescopic structure is arranged at the transverse moving end of the transverse moving structure; the rotary guide structure is rotatably arranged at the telescopic end of the elastic telescopic structure and is abutted against the curved surface of the corrugated plate; the following rotating structure is arranged at the telescopic end of the elastic telescopic structure, and the guide end of the rotating guide structure drives the rotating end of the following rotating structure. A welding gun of the welding structure is arranged at the rotating end of the following rotating structure and is close to a welding seam of the corrugated plate and the straight plate; the welding working end of the welding gun is located on the rotating axis of the following rotating structure. The welding robot can adapt to welding of workpieces with smooth curved surfaces, and compared with a welding robot, the welding robot is lower in cost.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of welding, in particular to an automatic welding device suitable for special-shaped workpieces. BACKGROUND

[0002] In the manufacturing industry of building envelopes and light equipment shells, special-shaped workpieces such as corrugated plates with certain waveforms combined with flat plates are widely used, and the welding quality of the special-shaped workpieces is directly related to the structural strength and sealing performance of the products. The welding seams of such workpieces usually extend along the curved surface of the corrugated plate, which puts high requirements on the self-adaptive ability of the welding equipment.

[0003] In the prior art, when welding a gently curved corrugated plate, manual welding is still used, although it does not need to frequently deal with large longitudinal depth differences, but the welding gun angle still needs to be adjusted manually to fit the curve, which is easy to cause angle deviation due to hand fatigue, resulting in uneven welding seam formation.

[0004] For some general automatic welding devices, either a complex multi-axis welding robot (such as a 3-axis or more mechanical arm) is used to adapt to the longitudinal curve, which not only has high cost, but also has an overdesign problem when welding a gently curved surface. The redundant structure leads to slow response, which reduces the welding efficiency. Or a fixed trajectory design is used to simplify the structure, which cannot adapt to the small curvature change of the gently curved surface, resulting in position deviation of the welding gun and the welding seam.

[0005] Therefore, there is a need for an automatic welding device for gently curved special-shaped workpieces, which does not require the complexity and high cost of a robot, and can reliably achieve accurate following and posture adaptation of the welding gun to the welding seam. SUMMARY

[0006] The present application aims to at least solve one of the above technical problems in the technical field.

[0007] To achieve the above object, the first aspect of the present application provides an automatic welding device suitable for special-shaped workpieces, comprising a sliding table module, a transverse movement structure, an elastic telescopic structure, a rotating guide structure, a following rotating structure and a welding structure, wherein the transverse movement structure is arranged on the sliding table module which can move longitudinally and vertically; the elastic telescopic structure is arranged on the transverse movement end of the transverse movement structure; the rotating guide structure is rotatably arranged on the telescopic end of the elastic telescopic structure and abuts against the curved surface of the corrugated plate; the following rotating structure is arranged on the telescopic end of the elastic telescopic structure, and the guide end of the rotating guide structure is connected with the rotating end of the following rotating structure, so as to drive the rotating end of the following rotating structure when the rotating guide structure rotates following the curved surface of the corrugated plate; the welding gun of the welding structure is arranged on the rotating end of the following rotating structure and is close to the weld between the corrugated plate and the flat plate; wherein the welding working end of the welding gun is located on the rotating axis of the following rotating structure.

[0008] In addition, the automatic welding device suitable for special-shaped workpieces according to the above-mentioned application can have the following additional technical features:

[0009] As a further description of the above technical solution: the rotating guide structure comprises a rotating plate, a ball, an extension rod and a fork, wherein the rotating plate is rotatably arranged on the telescopic end of the elastic telescopic structure; the side of the rotating plate away from the elastic telescopic structure is provided with a ball seat, the ball is rollably embedded in the ball seat, and the ball abuts against the corrugated plate; the extension rod is vertically arranged on the rotating plate; the fork is arranged on the extension rod, and the fork is connected with the rotating end of the following rotating structure.

[0010] As a further description of the above technical solution: the following rotating structure comprises an arc-shaped outer gear ring, a gear, a rotating frame, a stand and a mounting frame, wherein the arc-shaped outer gear ring is mounted on the telescopic end of the elastic telescopic structure through a fixing frame; the rotating frame is slidingly arranged on the arc-shaped outer gear ring, so that the rotating frame can slide along the circumferential direction of the arc-shaped outer gear ring; the gear is rotatably arranged on the rotating frame and is connected with the arc-shaped outer gear ring in meshing; the stand is fixedly arranged on the rotating frame; the mounting frame is arranged on the stand, and the welding gun is arranged on the mounting frame, and the welding working end of the welding gun is located on the central axis of the arc-shaped outer gear ring; wherein the guide end of the rotating guide structure is connected with the stand.

[0011] As a further description of the above technical solution: the elastic expansion structure comprises a shaft sleeve, a connecting rod, a sliding block and a spring, wherein one end of the connecting rod is connected with the moving end of the transverse moving structure; the sliding block is arranged at the other end of the connecting rod; the shaft sleeve is sleeved outside the connecting rod, and the sliding block is slidingly arranged in the shaft sleeve; the spring is arranged in the shaft sleeve, and two ends of the spring are respectively connected with the sliding block and the inner wall of the shaft sleeve; wherein the rotary guide structure is rotatably arranged at the end of the shaft sleeve away from the connecting rod; the following rotary structure is arranged on the shaft sleeve.

[0012] As a further description of the above technical solution: the moving end of the transverse moving structure is provided with a guide column; the shaft sleeve is provided with a guide sleeve along the length direction, and the guide sleeve is slidingly sleeved on the guide column.

[0013] As a further description of the above technical solution: the spring is a pre-pressed spiral spring.

[0014] As a further description of the above technical solution: the transverse moving structure comprises a bidirectional screw rod, a screw rod sliding block, a sliding rod, a sliding sleeve and a connecting plate, wherein the bidirectional screw rod and the sliding rod are arranged along the transverse direction; the screw rod sliding block is arranged on the bidirectional screw rod; the sliding sleeve is slidingly sleeved on the sliding rod; the screw rod sliding block and the sliding sleeve are connected through the connecting plate; wherein the end of the bidirectional screw rod is provided with a driving motor for driving rotation.

[0015] As a further description of the above technical solution: the sliding table module comprises a longitudinal moving structure and a vertical moving structure, wherein the longitudinal moving structure is a linear module arranged on the base along the longitudinal direction; the vertical moving structure is a vertical sliding table arranged on the longitudinal moving end of the longitudinal moving structure; the transverse moving structure is arranged on the vertical moving end of the vertical moving structure.

[0016] According to the automatic welding device suitable for special-shaped workpieces, through the arrangement of the elastic expansion structure and the rotary guide structure, the device can always be in contact with the curved surface of the corrugated plate, real-time feedback the change of the curved surface, and ensure that the welding gun always follows the welding curve for adaptive movement; through the driving of the following rotary structure when the rotary guide structure rotates, the welding gun can maintain a better welding angle with the weld, improve the welding quality, and the whole device has lower cost compared with the welding robot, and is more suitable for the welding of the corrugated plate with gentle curve.

[0017] Additional aspects and advantages of the application will be described in the following description, some of which will become apparent from the following description, or will be learned by practice of the application. BRIEF DESCRIPTION OF DRAWINGS

[0018] The above and / or additional aspects and advantages of the present application will become apparent and more readily appreciated from the following description of embodiments, taken in conjunction with the references to the following drawings, in which:

[0019] Figure 1 is a structural schematic diagram of an automatic welding device suitable for a special-shaped workpiece according to an embodiment of the present application;

[0020] Figure 2 is an enlarged structural schematic diagram of a partial A according to an embodiment of the present application;

[0021] Figure 3 is a side structural schematic diagram of an automatic welding device suitable for a special-shaped workpiece according to an embodiment of the present application;

[0022] Figure 4 is a connection schematic diagram of an elastic telescopic structure, a rotating guide structure and a following rotating structure according to an embodiment of the present application;

[0023] Figure 5 is an exploded schematic diagram of an elastic telescopic structure, a rotating guide structure and a following rotating structure according to an embodiment of the present application;

[0024] Figure 6 is a schematic diagram of a following rotating structure according to an embodiment of the present application;

[0025] Figure 7 is a schematic diagram of a position relationship between a following rotating structure and a welding gun according to an embodiment of the present application;

[0026] Figure 8 is a schematic diagram of a position relationship between a following rotating structure and a welding gun in a front view state according to an embodiment of the present application;

[0027] Figure 9 is a schematic diagram of a position relationship between a following rotating structure and a welding gun in a front view state according to another embodiment of the present application;

[0028] Figure 10 is an internal structural schematic diagram of an elastic telescopic structure according to an embodiment of the present application;

[0029] As shown in the figure:

[0030] 100. Lateral movement structure; 110. Bidirectional lead screw; 120. Lead screw slider; 130. Slide rod; 140. Sliding sleeve; 150. Connecting plate; 101. Guide column; 200. Elastic telescopic structure; 210. Bushing; 220. Connecting rod; 230. Sliding block; 240. Spring; 201. Guide sleeve; 300. Rotational guide structure; 310. Rotating plate; 320. Ball bearing; 330. Extension rod; 340. Shift fork; 400. Following rotational structure; 401. Fixed frame; 410. Arc-shaped external gear ring; 420. Gear; 430. Rotating frame; 440. Column; 450. Mounting frame; 500. Welding structure; 501. Welding torch; 600. Corrugated plate; 700. Flat plate. Detailed Implementation

[0031] The embodiments of this application are described in detail below. Examples of these embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and intended to explain this application, and should not be construed as limiting this application.

[0032] The following describes an automatic welding apparatus for irregularly shaped workpieces according to embodiments of this application, with reference to the accompanying drawings.

[0033] like Figures 1 to 4 As shown in the figure, the automatic welding device for irregularly shaped workpieces according to the embodiments of this application may include a slide module (not shown in the figure), a lateral movement structure 100, an elastic telescopic structure 200, a rotation guide structure 300, a following rotation structure 400, and a welding structure 500.

[0034] The lateral moving structure 100 is mounted on the slide module that can move longitudinally and vertically, and the elastic telescopic structure 200 is mounted on the lateral moving end of the lateral moving structure 100.

[0035] The rotating guide structure 300 is rotatably mounted on the telescopic end of the elastic telescopic structure 200 and fits against the curved surface of the corrugated plate 600.

[0036] The following rotation structure 400 is set on the telescopic end of the elastic telescopic structure 200, and the guide end of the rotation guide structure 300 is connected to the rotation end of the following rotation structure 400 so as to drive the rotation end of the following rotation structure 400 when the rotation guide structure 300 rotates with the curved surface of the corrugated plate 600.

[0037] The welding torch 501 of the welding structure 500 is set on the rotating end of the following rotating structure 400 and close to the weld between the corrugated plate 600 and the flat plate 700. The welding working end of the welding torch 501 is located on the rotation axis of the following rotating structure 400.

[0038] To make the above embodiment clear, in an embodiment of the present application, as shown in Figure 5 The rotating guide structure 300 includes a rotating plate 310, a ball 320, an extension rod 330, and a yoke 340.

[0039] The rotating plate 310 is rotatably arranged on the telescopic end of the elastic telescopic structure 200, the side of the rotating plate 310 away from the elastic telescopic structure 200 is provided with a ball seat, the ball 320 is rollably arranged in the ball seat, and the ball 320 abuts against the corrugated plate 600. The extension rod 330 is vertically arranged on the rotating plate 310, the yoke 340 is arranged on the extension rod 330, and the yoke 340 is connected with the rotating end of the following rotating structure 400.

[0040] In addition, as shown in Figure 6 The following rotating structure 400 includes an arc-shaped outer gear ring 410, a gear 420, a rotating frame 430, a stand 440, and a mounting frame 450.

[0041] The arc-shaped outer gear ring 410 is mounted on the telescopic end of the elastic telescopic structure 200 through a fixing frame 401, the rotating frame 430 is slidingly arranged on the arc-shaped outer gear ring 410, so that the rotating frame 430 can slide along the circumferential direction of the arc-shaped outer gear ring 410, the gear 420 is rotatably arranged on the rotating frame 430 and connected with the arc-shaped outer gear ring 410 in meshing, the stand 440 is fixedly arranged on the rotating frame 430, the mounting frame 450 is arranged on the stand 440, and the welding gun 501 is arranged on the mounting frame 450. As shown in Figure 7 The welding working end of the welding gun 501 is located on the central axis of the arc-shaped outer gear ring 410.

[0042] The guide end (i.e. the yoke 340) of the rotating guide structure 300 is connected with the stand 440.

[0043] As a possible case, as shown in Figure 10 The elastic telescopic structure 200 includes a shaft sleeve 210, a connecting rod 220, a sliding block 230, and a spring 240.

[0044] One end of the connecting rod 220 is connected with the moving end of the horizontal moving structure 100, the sliding block 230 is arranged on the other end of the connecting rod 220, the shaft sleeve 210 is sleeved on the connecting rod 220, the sliding block 230 is slidingly arranged in the shaft sleeve 210, the spring 240 (which is a pre-pressed spiral spring) is arranged in the shaft sleeve 210, and the two ends of the spring 240 are respectively connected with the sliding block 230 and the inner wall of the shaft sleeve 210.

[0045] The rotating plate 310 of the rotating guide structure 300 is rotatably arranged at the end of the shaft sleeve 210 away from the connecting rod 220, and the arc-shaped outer gear ring 410 of the rotating structure 400 is arranged on the shaft sleeve 210 through the mounting frame 450.

[0046] Specifically, when the corrugated plate 600 with a gentle curve is welded, the corrugated plate 600 is vertically fixed on the flat plate 700 through the clamp, then the slide module is controlled to move longitudinally and vertically, and the welding gun 501 is moved to the starting position of the weld joint between the corrugated plate 600 and the flat plate 700 through the lateral adjustment of the lateral movement structure 100. At this time, the spring 240 of the elastic telescopic structure 200 is in a compressed state, and the shaft sleeve 210 pushes the rotating guide structure 300 so that the ball 320 preliminarily adheres to the curved surface of the corrugated plate 600.

[0047] Then the lateral movement structure 100 is started, and the elastic telescopic structure 200 is moved by the lateral movement structure 100. When the curved surface of the corrugated plate 600 changes in height (such as a gentle wave peak or a wave valley), the rotating plate 310 rotates following the change of the curved surface due to the resetting action of the spring 240, so that the ball 320 is always pressed on the curved surface of the corrugated plate 600, ensuring that the ball 320 is always closely adhered to the curved surface, avoiding the sensing failure caused by the height deviation. At this time, the rotating direction of the rotating plate 310 is consistent with the tangent direction of the curved surface.

[0048] The rotation of the rotating plate 310 drives the vertically fixed extension rod 330 and the fork 340 to rotate, so that the fork 340 pushes the column 440 of the rotating structure 400. When the column 440 is pushed, the rotating frame 430 slides along the arc-shaped outer gear ring 410, and at this time, the gear 420 meshes and rolls with the arc-shaped outer gear ring 410, ensuring that the rotating frame 430 moves smoothly along the arc-shaped track.

[0049] As shown in Figure 8 and Figure 9 , since the welding working end of the welding gun 501 is located on the central axis of the arc-shaped outer gear ring 410, the movement of the rotating frame 430 drives the welding gun 501 to rotate with the welding point as the center, so that the working end of the welding gun 501 is always perpendicular or close to perpendicular to the tangent of the curved surface where the weld joint is located, that is, a better welding angle is maintained.

[0050] In the above process, the telescopic end of the elastic telescopic structure 200 adjusts the position in real time according to the vertical position offset of the weld seam, so that the welding gun 501 always moves along the weld seam track, and finally completes the automatic welding of the whole weld seam. Through the extrusion compensation of the spring 240 of the elastic telescopic structure 200, the problem that the rigid structure cannot fit the curved surface is solved. Through the mechanical linkage of the rotating guide structure 300 and the following rotating structure 400, the manual welding angle deviation is avoided. The overall structure does not have complex multi-axis transmission or electric control module, and the cost is lower than that of a general welding robot. At the same time, through the rotating design of the welding gun 501, the best welding angle is ensured, and the welding requirements of the flat curved surface special-shaped workpiece are adapted.

[0051] It can be understood that the working end (i.e. the electric arc action point) of the welding gun 501 is perpendicular to the tangent of the curved surface, which is the core requirement to ensure the welding quality. Based on the physical characteristics of the welding arc and the weld forming law, the energy of the welding arc is concentrated in the axial direction. When the welding gun 501 is perpendicular to the tangent of the curved surface, the arc axis is consistent with the normal direction of the weld pool, and the energy can uniformly act on the weld pool, avoiding the problem of excessive energy on one side and insufficient energy on the other side caused by angle inclination. In the perpendicular state, the molten pool metal is distributed symmetrically under the action of gravity and arc force, the weld reinforcement and weld width are uniform, and defects such as undercut and welding tumor can be effectively avoided, which is particularly important for the sealing performance of the corrugated plate and the flat plate splicing.

[0052] In the actual working state of the present application, due to the accumulation of various factors such as the non-uniformity of the corrugated plate 600 product itself, the fitting gap and the rotating axis of the welding gun 501, a slight angle deviation of the welding angle of the welding gun 501 may occur, and only the state of the welding gun 501 being close to perpendicular to the tangent of the curved surface can be achieved. For the flat curved surface special-shaped workpiece, the small angle deviation is within the allowable range of the welding quality. Even if there is a small angle deviation, the actual welding gun 501 angle can still basically meet the requirements of the tangent of the curved surface.

[0053] In order to ensure the stability between the shaft sleeve 210 and the connecting rod 220 during the movement of the elastic telescopic structure 200, a guide column 101 is arranged on the moving end of the transverse movement structure 100, and the shaft sleeve 210 is provided with a guide sleeve 201 in the length direction, and the guide sleeve 201 is slidably sleeved on the guide column 101.

[0054] In an embodiment of the present application, as shown in Figure 2 The transverse movement structure 100 includes a bidirectional screw rod 110, a screw rod sliding block 120, a sliding rod 130, a sliding sleeve 140 and a connecting plate 150.

[0055] The bidirectional screw rod 110 and the sliding rod 130 are arranged in the transverse direction, the screw rod slider 120 is arranged on the bidirectional screw rod 110, the sliding sleeve 140 is arranged on the sliding rod 130 in a sleeving mode, and the screw rod slider 120 and the sliding sleeve 140 are connected through the connecting plate 150.

[0056] To make the above embodiment clear, in an embodiment of the present application, the sliding table module comprises a longitudinal movement structure and a vertical movement structure.

[0057] The longitudinal movement structure is a linear module arranged in the longitudinal direction on the base, the vertical movement structure is a vertical sliding table arranged on the longitudinal movement end of the longitudinal movement structure, and the transverse movement structure 100 is arranged on the vertical movement end of the vertical movement structure.

[0058] It should be noted that, before the corrugated plate 600 and the flat plate 700 are welded, the working end of the welding gun 501 on the transverse movement structure 100 is close to the welding seam of the corrugated plate 600 and the flat plate 700 through the adjustment of the longitudinal movement structure and the vertical movement structure, then the driving motor is started to drive the bidirectional screw rod 110 to rotate, so that the screw rod slider 120 moves on the bidirectional screw rod 110 and drives the connecting plate 150 to move synchronously, at this time, the sliding sleeve 140 slides on the sliding rod 130, and the movement of the moving plate synchronously drives the elastic extension structure 200 to move, until the working end of the welding gun 501 is close to the starting point of welding.

[0059] In summary, according to the automatic welding device for special-shaped workpieces in the embodiment of the present application, the device can always maintain contact with the curved surface of the corrugated plate 600, real-time feedback the change of the curved surface, and ensure that the welding gun 501 always follows the welding curve for adaptive movement, through the driving of the following rotating structure when the rotating guide structure 300 rotates, the welding gun 501 can maintain a better welding angle with the welding seam, improve the welding quality, and the whole device has lower cost compared with the welding robot, and is more suitable for the welding of the corrugated plate 600 with a gentle curve.

[0060] In the description of the present application, the terms "first", "second" are only for the purpose of description, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first", "second" can explicitly or implicitly include at least one of the features. In the description of the present application, the meaning of "a plurality of" is at least two, for example, two, three, etc., unless otherwise specifically limited.

[0061] In the description of the specification, the description using the terms "one embodiment", "some embodiments", "an example", "a specific example", or "some examples" etc. means that the particular feature, structure, material or characteristic being described is included in at least one embodiment or example of the present application. The illustrative appearances of the above-mentioned terms in various places in the specification are not necessarily referred to the same embodiment or example. Moreover, the particular features, structures, materials, or characteristics can be combined in any suitable manner in one or more embodiments or examples. Furthermore, the terms "comprise", "comprising", "include", "including", "contain", "containing" or variations thereof are used inclusively and do not exclude the additional inclusion of unrecited features, structures, materials, or characteristics.

[0062] Although the embodiments of the present application have been shown and described above, it is understood that the above-described embodiments are exemplary and are not to be taken as limiting the present application, and that within the scope of the present application, those ordinarily skilled in the art can make changes, modifications, replacements and variations to the above-described embodiments.

Claims

1. An automatic welding device suitable for irregularly shaped workpieces, characterized in that, include: The slide module, the lateral movement structure (100), the elastic telescopic structure (200), the rotation guide structure (300), the following rotation structure (400), and the welding structure (500) are included. The lateral moving structure (100) is mounted on the slide module, which is capable of moving longitudinally and vertically. The elastic telescopic structure (200) is disposed on the lateral moving end of the lateral moving structure (100); The rotating guide structure (300) is rotatably mounted on the telescopic end of the elastic telescopic structure (200) and fits against the curved surface of the corrugated plate (600). The following rotation structure (400) is disposed on the telescopic end of the elastic telescopic structure (200), and the guide end of the rotation guide structure (300) is connected to the rotation end of the following rotation structure (400) so as to drive the rotation end of the following rotation structure (400) when the rotation guide structure (300) follows the curved surface of the corrugated plate (600) to rotate. The welding torch (501) of the welding structure (500) is located on the rotating end of the following rotating structure (400) and close to the weld between the corrugated plate (600) and the straight plate (700). The welding working end of the welding torch (501) is located on the rotation axis of the following rotating structure (400).

2. The automatic welding device for irregularly shaped workpieces according to claim 1, characterized in that, The rotation guide structure (300) includes a rotating plate (310), a ball bearing (320), an extension rod (330), and a shift fork (340), wherein, The rotating plate (310) is rotatably mounted on the telescopic end of the elastic telescopic structure (200); The rotating plate (310) is provided with a ball seat on the side away from the elastic telescopic structure (200), and the ball (320) is rotatably embedded in the ball seat and abuts against the corrugated plate (600). The extension rod (330) is vertically mounted on the rotating plate (310); The shift fork (340) is disposed on the extension rod (330), and the shift fork (340) is connected to the rotating end of the following rotation structure (400).

3. The automatic welding device for irregularly shaped workpieces according to claim 1, characterized in that, The following rotation structure (400) includes an arc-shaped external gear ring (410), a gear (420), a rotating frame (430), a column (440), and a mounting frame (450), wherein, The arc-shaped external gear ring (410) is mounted on the telescopic end of the elastic telescopic structure (200) via a fixing bracket (401); The rotating frame (430) is slidably disposed on the arc-shaped external gear ring (410) so that the rotating frame (430) can slide along the circumferential direction of the arc-shaped external gear ring (410); The gear (420) is rotatably mounted on the rotating frame (430) and meshes with the arc-shaped external gear ring (410); The column (440) is fixedly mounted on the rotating frame (430); The mounting bracket (450) is mounted on the column (440), and the welding torch (501) is mounted on the mounting bracket (450). The welding working end of the welding torch (501) is located on the central axis of the arc-shaped external gear ring (410). The guide end of the rotating guide structure (300) is connected to the column (440).

4. The automatic welding device for irregularly shaped workpieces according to claim 1, characterized in that, The elastic telescopic structure (200) includes a bushing (210), a connecting rod (220), a sliding block (230), and a spring (240), wherein, One end of the connecting rod (220) is connected to the moving end of the lateral moving structure (100); The sliding block (230) is disposed at the other end of the connecting rod (220); The bushing (210) is sleeved outside the connecting rod (220), and the sliding block (230) is slidably disposed inside the bushing (210); The spring (240) is disposed inside the bushing (210), and the two ends of the spring (240) are respectively connected to the sliding block (230) and the inner wall of the bushing (210); The rotating guide structure (300) is rotatably disposed at the end of the bushing (210) away from the connecting rod (220); The following rotation structure (400) is disposed on the bushing (210).

5. An automatic welding device suitable for irregularly shaped workpieces according to claim 4, characterized in that, The lateral moving structure (100) is provided with a guide post (101) on its moving end. The bushing (210) is provided with a guide sleeve (201) along its length, and the guide sleeve (201) is slidably sleeved on the guide post (101).

6. An automatic welding device suitable for irregularly shaped workpieces according to claim 4, characterized in that, The spring (240) is a pre-compressed helical compression spring.

7. An automatic welding device suitable for irregularly shaped workpieces according to claim 1, characterized in that, The lateral movement structure (100) includes a bidirectional lead screw (110), a lead screw slider (120), a slide rod (130), a sliding sleeve (140), and a connecting plate (150), wherein, The bidirectional lead screw (110) and the slide rod (130) are arranged laterally; The lead screw slider (120) is disposed on the bidirectional lead screw (110); The sliding sleeve (140) is slidably mounted on the slide rod (130); The lead screw slider (120) and the sliding sleeve (140) are connected by the connecting plate (150); The end of the bidirectional lead screw (110) is provided with a drive motor for driving rotation.

8. An automatic welding device suitable for irregularly shaped workpieces according to claim 1, characterized in that, The slide module includes a longitudinal moving structure and a vertical moving structure, wherein, The longitudinal moving structure is a linear module arranged longitudinally on the base; The vertical moving structure is a vertical slide table disposed on the longitudinal moving end of the longitudinal moving structure; The lateral moving structure (100) is disposed on the vertical moving end of the vertical moving structure.

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