Overhead chassis foot stool welding device

Abstract

The invention discloses an elevated chassis tripod welding device, which relates to the technical field of welding equipment and comprises laser cutting equipment, a round tube sorting device, a nut welding device, a chassis grabbing device, a round tube jacking device, a chassis welding device, a product conveying mechanism and a product carrying device. According to the full-automatic pipe cutting machine, through the arrangement of the laser cutting equipment, the round pipe sorting device, the nut welding device, the chassis grabbing device, the round pipe jacking device, the chassis welding device, the product conveying mechanism and the product carrying device, the full-automatic process from pipe cutting to product carrying is achieved, a large amount of manual intervention is not needed, and the production period is greatly shortened.

Description

Technical Field

[0001] This invention relates to the field of welding equipment technology, and in particular to a welding device for an elevated chassis support. Background Technology

[0002] Welding is a crucial step in the manufacturing process of elevated chassis scaffolding. Traditional welding methods for elevated chassis scaffolding suffer from the following drawbacks: 1. Traditional methods typically rely on manual selection and handling of cut round tubes, which is not only labor-intensive but also inefficient. 2. Traditional nut welding methods often lack precise positioning and clamping devices, leading to inaccurate welding positions between the nut and the round tube, resulting in inconsistent weld quality. 3. Traditional chassis gripping methods involve stacking multiple chassis in a chassis storage box. After the robot grasps a chassis, the stacked chassis are prone to collapse, increasing the difficulty of robot gripping and resulting in inaccurate gripping, severely impacting work efficiency. 4. Traditional welding processes have relatively weak environmental protection measures. Welding generates a large amount of intense light and welding waste, which not only threaten the health of operators (such as causing vision loss with prolonged exposure) but also pollute the surrounding environment. Summary of the Invention

[0003] The purpose of this invention is to provide a welding device for elevated chassis supports to solve the above-mentioned technical problems.

[0004] The technical solution adopted in this invention is as follows: A welding device for elevated chassis scaffolding, comprising: Laser cutting equipment is used to cut pipes into round tubes of specified dimensions; A round tube sorting device includes a conveying device for conveying round tubes, a first pushing mechanism mounted on the conveying device, a guiding device disposed on one side of the conveying device, and a lifting mechanism disposed on one side of the guiding device for lifting the round tubes. A first robot for transporting the round tubes is disposed on one side of the lifting mechanism. A nut welding device is installed on one side of the round tube sorting device. It includes a nut spot welding machine for welding nuts to round tubes, a round tube clamping mechanism located on one side of the nut spot welding machine, a first visual recognition mechanism installed on the round tube clamping mechanism, a vertical material transfer mechanism installed between the nut spot welding machine and the round tube clamping mechanism, a positioning mechanism installed between the nut spot welding machine and the vertical material transfer mechanism, a nut feeding machine installed near the nut spot welding machine, and a first rotating mechanism arranged opposite to the nut spot welding machine. A chassis gripping device is installed on one side of the nut welding device to grip the chassis and perform correction and positioning on the chassis; A circular tube lifting device is positioned opposite the chassis gripping device to lift and move the circular tube, thereby enabling the connection between the circular tube and the chassis. A chassis welding device is installed on one side of the chassis gripping device to weld the round tube to the chassis. The product conveying mechanism passes through the nut welding device, the chassis gripping device, and the chassis welding device to realize the conveying of the round tube and the chassis; The product handling device is installed on one side of the chassis welding device to transport the welded round pipe and chassis to the recycling bin.

[0005] Preferably, the guiding device includes a first frame installed on one side of the conveying device, and a material conveying panel inclinedly disposed on the upper end of the first frame, the material conveying panel facing the first pushing mechanism, so that the first pushing mechanism can push the round tube into the material conveying panel; The guiding device also includes limiting plates installed at both ends of the material conveying panel, and the limiting plates are connected to the first frame.

[0006] As a further preferred embodiment, the lifting mechanism includes a component mounted on the first frame and located on one side of the material conveying panel, capable of moving up and down relative to the material conveying panel to lift the circular tube on the material conveying panel; a shifting mechanism is provided at the lower end of the material conveying panel and on the side near the lifting mechanism to cover the gap between the material conveying panel and the lifting mechanism. The lifting mechanism also includes a lifting block assembly for supporting the round tube, and a material positioning device disposed on one side of the lifting block assembly. The lifting mechanism further includes a lifting panel that can move up and down relative to the material conveying panel, a first profile disposed on the lifting panel, a second profile disposed on the upper end of the first frame, and a lifting cylinder disposed on the lower end of the lifting panel for driving the lifting panel to move up and down. The lifting mechanism further includes a first mounting panel disposed on the first frame for mounting the lifting cylinder. The side wall of the lifting panel is provided with a connecting plate for connecting with the piston rod of the lifting cylinder. The first mounting panel is also provided with a guide shaft for connecting with the connecting plate.

[0007] As a further preferred embodiment, the shifting mechanism includes a shifting bar movably mounted on the lower end of one side of the material conveying panel, a linear motor module mounted on the frame for driving the displacement of the shifting bar, and a first limiting mechanism mounted on the lower end of the material conveying panel and connected to the shifting bar to limit the movement distance of the shifting bar.

[0008] Preferably, the positioning mechanism includes a first base located on one side of the nut spot welding machine, a positioning seat located on the upper end of the first base, and a guide post located in the positioning seat. One end of the guide post extends out of the positioning seat, and one end of the guide post is provided with a top pin that mates with the nut mounting hole on the round tube. The positioning mechanism further includes an electrode cap, a top pin movable seat, a pin seat drive rod, and a second cylinder. The electrode cap is provided at one end of the guide column, and a pin hole is provided on the electrode cap. The second cylinder and the top pin movable seat are provided inside the guide column. The top pin is provided at the upper end of the top pin movable seat and can extend out of the pin hole. One end of the pin seat drive rod is connected to the output end of the second cylinder, and the other end of the pin seat drive rod is provided with a first inclined surface. The lower end of the top pin movable seat is provided with a slot, and the upper inner wall of the slot has a second inclined surface, which cooperates with the first inclined surface.

[0009] As a further preferred embodiment, the round tube clamping mechanism includes a first cylinder mounting plate, one side of which is connected to the vertical material transfer mechanism, and two first cylinders are provided on the other side of the first cylinder mounting plate. The output ends of the two first cylinders are provided with clamping seats for clamping the round tube. The first cylinder mounting plate has a through hole in the middle for the round tube to pass through, and the clamping seat is provided with a ball bearing mounting seat, and the ball bearing mounting seat is provided with a first ball bearing for contacting the side wall of the round tube.

[0010] Preferably, the first rotating mechanism includes a first mounting bracket, a sliding seat, a second mounting panel, a first slide rail, a second slide rail, a first rotary motor, a second rotary motor, a third rotary motor, a third cylinder, a protective cover, a slewing bearing, a first rack, a second rack, a first gear, a second gear, a third gear, and a gripper. The upper end of the first mounting bracket is provided with two first slide rails. The lower end of the sliding seat is slidably mounted on the upper end of the two first slide rails via a slider. A first rack is provided on one side of the first slide rail. The first rotary motor is mounted on the sliding seat. The output end of the first rotary motor engages with the first rack via the first gear to drive the sliding seat to slide on the first slide rail. Two second slide rails are provided on one side of the sliding seat. The second mounting panel is slidably connected to the two second slide rails via a slider. A second rack is provided at one end of the second mounting panel. The second rotary motor is provided on the other side of the sliding seat. The output end of the second rotary motor engages with the second rack via the second gear to drive the... The second mounting panel slides on the second slide rail. A mounting hole is provided in the center of the second mounting panel, and a slewing bearing is installed within the mounting hole. A third rotary motor is installed on one side of the second mounting panel. The output end of the third rotary motor is connected to the outer gear ring of the slewing bearing via a third gear to drive the slewing bearing to rotate. A protective cover is bolted onto the slewing bearing and is located on the other side of the second mounting panel. A third cylinder is installed inside the protective cover and is mounted on the slewing bearing. A gripper is provided on one side of the protective cover. The gripper includes a fixed base, a first connecting rod, a second connecting rod, and an anti-slip block. The fixed base is installed on one side of the protective cover. The first connecting rod is V-shaped, and its middle portion is connected to the fixed base via a first pin. One end of the first connecting rod is connected to one end of the second connecting rod via a second pin. The other end of the second connecting rod is hinged to the piston rod of the third cylinder. The other end of the first connecting rod is provided with the anti-slip block.

[0011] Preferably, the chassis gripping device includes: A first frame is provided with a first positioning component to correct the position of the chassis. A moving mechanism is provided inside the first frame, and a second positioning component is provided on the moving mechanism to fix the position of the chassis. A chassis storage mechanism is located on one side of the first rack to realize chassis storage; The second robot is located on one side of the first frame to pick up the chassis and move the chassis from the chassis storage mechanism to the first positioning member and the second positioning member in sequence; The second visual recognition mechanism is installed on one side of the chassis storage mechanism to detect the position of the chassis so that the second robot can accurately pick up the chassis. The second limiting mechanism is provided on the moving mechanism and located above the second positioning member, and is used to restrict the upward movement of the round tube so that the round tube can be aligned with the chassis.

[0012] Preferably, the circular tube lifting device includes: The second frame has a second pushing mechanism on its inner side to push the circular tube to move along its own axis. A lifting mechanism is installed inside one side of the second frame to drive the circular tube to rise and fall; The third limiting mechanism is installed inside one side of the second frame and is located above the lifting mechanism to limit the upward position of the circular tube. The pressing mechanism is installed inside the other side of the second frame and cooperates with the third limiting mechanism and the lifting mechanism to press the round tube.

[0013] Preferably, the chassis welding device includes: The second rotating mechanism includes a second base, a sliding mechanism mounted on the second base, a gripper mechanism mounted on the sliding mechanism, and a first driving guide mechanism mounted on the sliding mechanism for driving the gripper mechanism to grip, lift and rotate the circular tube. A welding protection mechanism is disposed on one side of the second rotating mechanism, and includes a third base, a welding cover disposed above the third base, and a second drive guide mechanism disposed on the upper end of the third base for horizontal movement of the welding cover. A third robot is positioned on one side of the welding protection mechanism. The end of the arm of the third robot is equipped with a welding head, which can enter the welding enclosure under the drive of the third robot to weld the round tube and the chassis.

[0014] The above technical solution has the following advantages or beneficial effects: (1) In this invention, by setting up a laser cutting device, a round tube sorting device, a nut welding device, a chassis gripping device, a round tube lifting device, a chassis welding device, a product conveying mechanism and a product handling device, a fully automated process from tube cutting to product handling is realized, without the need for a lot of manual intervention, which greatly shortens the production cycle.

[0015] (2) In this invention, the nut is automatically fed to the nut mounting hole by the nut feeding machine, the round tube clamping mechanism clamps the round tube, the vertical material transfer mechanism precisely adjusts the position of the round tube, the positioning mechanism and the vision recognition mechanism are precisely positioned, and the round tube is rotated in conjunction with the external rotating mechanism to realize the correction of the position of the nut mounting hole on the round tube, and finally the welding is completed by the nut spot welding machine.

[0016] (3) In this invention, the chassis storage mechanism ensures orderly storage and convenient retrieval of the chassis. The lifting mechanism ensures the smooth lifting and lowering of the support platform, and the chassis guiding mechanism ensures the stability of the chassis during storage and lifting. The robot can quickly and accurately grasp the chassis without spending time dealing with collapsed or disorganized chassis. Compared with traditional stacking storage methods, this further improves production efficiency.

[0017] (4) In this invention, the welding cover of the welding protection mechanism closes the welding area during welding, effectively blocking strong light. This not only protects the health of the operator, but also provides a relatively stable environment for the welding process, reducing the impact of external factors on the welding quality. Attached Figure Description

[0018] Figure 1 This is a schematic diagram of the structure of the elevated chassis support welding device in this invention; Figure 2 This is a schematic diagram of the circular tube sorting device in this invention; Figure 3 yes Figure 2 Enlarged view of point A in the middle; Figure 4 This is a schematic diagram of the bottom structure of the circular tube sorting device. Figure 1 ; Figure 5 yes Figure 4 Enlarged view of point B in the middle; Figure 6 This is a schematic diagram of the structure of the lifting cylinder and the first mounting panel. Figure 7 This is a schematic diagram of the bottom structure of the circular tube sorting device. Figure 2 ; Figure 8 This is a schematic diagram of the nut welding device. Figure 1 ; Figure 9 yes Figure 8 Enlarged view of point C in the middle; Figure 10 This is a schematic diagram of the nut welding device. Figure 2 ; Figure 11 yes Figure 10 Enlarged view at point D; Figure 12This is a schematic diagram showing the cooperation between the nut welding device and the rotating mechanism; Figure 13 This is a schematic diagram of the first rotating mechanism. Figure 1 ; Figure 14 This is a schematic diagram of the first rotating mechanism. Figure 2 ; Figure 15 This is a schematic diagram of the gripper part in the first rotating mechanism; Figure 16 This is a top view of the guide post and the top pin in action; Figure 17 yes Figure 16 EE-directed sectional view; Figure 18 It is a 3D diagram showing the fit between the guide post and the top pin; Figure 19 yes Figure 17 Enlarged view at point F; Figure 20 This is a schematic diagram of the three-dimensional structure of the chassis gripping device. Figure 1 ; Figure 21 This is a schematic diagram of the three-dimensional structure of the chassis gripping device. Figure 2 ; Figure 22 yes Figure 20 Enlarged view of point G in the middle; Figure 23 This is a schematic diagram of the structure of the first frame, first positioning component, and second positioning component in the chassis gripping device. Figure 1 ; Figure 24 This is a structural diagram of the chassis storage mechanism; Figure 25 yes Figure 23 Enlarged view of section H in the middle; Figure 26 This is a schematic diagram of the structure of the first frame, first positioning component, and second positioning component in the chassis gripping device. Figure 2 ; Figure 27 yes Figure 26 Enlarged view of point I in the middle; Figure 28 yes Figure 21 Enlarged view of point J in the middle; Figure 29 This is a three-dimensional structural diagram of a circular tube lifting device. Figure 1 ; Figure 30 This is a three-dimensional structural diagram of a circular tube lifting device. Figure 2 ; Figure 31 This is a structural diagram of the lifting mechanism and the third limiting mechanism. Figure 1 ; Figure 32 yes Figure 31 Enlarged view at point K; Figure 33 This is a structural diagram of the lifting mechanism and the third limiting mechanism. Figure 2 ; Figure 34 yes Figure 33 Enlarged view of point L in the middle; Figure 35 This is a structural diagram of the lifting mechanism and the third limiting mechanism. Figure 3 ; Figure 36 This is a schematic diagram of the pressing mechanism; Figure 37 This is a schematic diagram of the chassis welding device structure; Figure 38 This is a schematic diagram of the structure in which the third robot cooperates with the welding protection mechanism. Figure 1 ; Figure 39 This is a schematic diagram of the structure in which the third robot cooperates with the welding protection mechanism. Figure 2 ; Figure 40 yes Figure 38 Enlarged view at point M; Figure 41 yes Figure 38 Enlarged view at point N; Figure 42 This is a schematic diagram of the product conveying mechanism in this invention; Figure 43 This is a schematic diagram of the structure of the second rotating mechanism in this invention. Figure 1 ; Figure 44 This is a schematic diagram of the structure of the second rotating mechanism in this invention. Figure 2 ; Figure 45 This is a schematic diagram of the structure of the second rotating mechanism in this invention. Figure 3 ; Figure 46 This is a schematic diagram of the structure of the second rotating mechanism in this invention. Figure 4 ; Figure 47 yes Figure 43 Enlarged view of point P in the middle.

[0019] In the diagram: 1. Circular tube sorting device; 101. Conveying device; 102. First support; 103. Conveyor line; 104. First pushing mechanism; 105. Material detection sensor; 106. Stop block; 107. Guiding device; 108. Material conveying panel; 109. Limiting plate; 110. First frame; 111. Lifting mechanism; 112. Lifting block assembly; 113. Material positioning device; 114. Lifting panel; 115. First profile; 116. Second profile; 117. Lifting cylinder; 118. Mounting panel; 119. Connecting plate; 120. Guide shaft; 121. First mounting plate; 122. Second mounting plate; 123. Threaded sleeve; 124. First screw; 125. Fixing block; 126. Fixed lifting mechanism. 127. Movable lifting block; 128. Material arrival sensor; 129. First positioning plate; 130. Fourth cylinder mounting plate; 131. Fourth cylinder; 132. Second limit plate; 133. Transfer mechanism; 134. Transfer bar; 135. Linear motor module; 136. First limit mechanism; 137. Limit rod; 138. First limit block; 139. First robot; 2. Nut welding device; 201. Nut spot welding machine; 202. Spot welding machine body; 203. Spot welding head; 204. Fifth cylinder; 205. Round tube clamping mechanism; 206. First cylinder mounting plate; 207. First cylinder; 208. Clamping seat; 209. Through hole; 210. Ball bearing mounting seat; 211. First ball bearing; 212. Vertical 213. Direct material transfer mechanism; 214. Positioning mechanism; 215. First base; 216. Positioning seat; 217. Guide column; 218. Top pin; 219. L-shaped plate; 220. Electrode cap; 221. Top pin movable seat; 222. Pin seat drive rod; 222. Second cylinder; 223. Pin hole; 224. First vision recognition mechanism; 225. Second bracket; 226. Supplementary light; 227. Vibration sensor; 228. Nut feeder; 229. Vibratory feeder; 230. Nut feeder; 231. Third frame; 232. First rotating mechanism; 233. First mounting bracket; 234. Sliding seat; 235. Second mounting panel; 236. First slide rail; 237. Second slide rail; 238. Second rotary motor; 239. 240. Third rotary motor; 241. Third cylinder; 242. First protective cover; 243. First slewing bearing; 244. First rack; 245. Second rack; 246. Gripper; 247. First fixed seat; 248. First connecting rod; 249. First anti-slip block; 3. Chassis gripping device; 301. First frame; 302. First positioning component; 303. Second positioning component; 304. Positioning block mounting plate; 305. Positioning block; 306. Second positioning plate; 307. Lifting ring; 308. First hook; 309. Chassis storage mechanism; 310. Material table; 311. Lifting mechanism; 312. Chassis guiding mechanism; 313. First foot; 314. Guide rod mounting platform; 315. Guide rod;316. Support platform; 317. Dual-axis motor; 318. Transfer case; 319. Worm gear lift; 320. Shim; 321. Second robot; 322. Magnetic clamp; 323. First position sensor; 324. Magnet mounting plate; 325. Electromagnet; 326. Second vision recognition mechanism; 327. CCD camera column; 328. CCD camera housing; 329. Base plate; 330. Reinforcing rib; 331. Second limiting mechanism; 332. Hydraulic cylinder; 333. Second limiting block; 334. Hydraulic cylinder mounting bracket; 335. Moving mechanism; 336. Slide rail; 337. Second mounting bracket; 338. Sliding block; 339. Guide rail; 340. First connecting plate; 341. First physical pointer; 42. Second physical pointer; 343. Fourth rotary motor; 344. Protective cover; 345. Second screw; 346. Second nut; 347. Nut mounting plate; 348. Motor housing; 349. Lead screw; 350. First nut; 351. Chassis; 352. First limit switch bracket; 353. First limit switch; 354. Second limit switch bracket; 355. Second limit switch; 356. Cable chain mounting plate; 357. Cable chain groove; 358. Cable chain; 4. Circular tube lifting device; 401. Second frame; 402. Support leg; 403. Crossbeam; 404. Second pushing mechanism; 405. Lifting mechanism; 406. First hydraulic cylinder; 407. First support mechanism; 408. Third mounting plate; 409. 410. Fixed block; 411. Second ball bearing; 412. V-groove; 413. Third limiting mechanism; 414. Third bracket; 415. Fourth mounting plate; 416. Third limiting block; 417. Third ball bearing; 418. First groove; 419. First adjusting mechanism; 420. Positioning pin; 421. First mounting hole; 422. First positioning hole; 423. First pull ring; 424. Pressing mechanism; 425. Second frame; 426. Second connecting plate; 427. Lifting bracket; 428. Second hydraulic cylinder; 429. Fourth ball bearing; 430. Second groove; 431. Second fixed block; 432. Sliding plate; 433. Connecting rod; 434. Second positioning hole; 435. Second positioning pin; 36. Top plate; 437. Pressure block; 5. Chassis welding device; 501. Second rotating mechanism; 502. Second base; 503. Sliding mechanism; 504. Grab base frame; 505. Third mounting panel; 506. Second slewing bearing; 507. Third slide rail; 508. First slider; 509. First displacement cylinder; 510. Cylinder head mounting plate; 511. Second cylinder mounting plate; 512. Limiting mounting block; 513. Cylinder buffer; 514. Support seat; 515. First drive guide mechanism; 516. First motor; 517. Fourth slide rail; 518. Second slider; 519. Second motor; 520. Third rack; 521. Fourth gear; 522. Fourth limiting block; 523. Gripper mechanism;524. Second protective cover; 525. Second fixed base; 526. Support rod; 527. Sixth cylinder; 528. Mounting block; 529. First connecting block; 530. Support block; 531. Second connecting block; 532. Grab connecting block; 533. Third pin; 534. Fourth pin; 535. Rotating shaft; 536. Second anti-slip block; 537. Welding protection mechanism; 538. Third base; 539. Welding cover; 540. Second drive guide mechanism; 541. Fifth slide rail; 542. Third slider; 543. Second displacement cylinder; 544. Welding cover mounting base; 545. 546. Second linear slide; 547. Cylinder connecting plate; 548. Scrap box; 549. Cover fixing block; 550. Second hook; 551. Connecting piece; 552. Connecting hole; 553. Opening; 554. Third robot; 555. Welding head; 555. Round tube support mechanism; 556. Second cylinder mounting plate; 557. Seventh cylinder; 558. Caster wheel mounting plate; 559. Caster wheel; 560. Transition plate; 561. Connector; 562. Push rod; 563. Push block; 564. Insertion hole; 565. Pin; 6. Product conveying mechanism; 7. Product handling device; 8. Laser cutting equipment. Detailed Implementation

[0020] The technical solution of the present invention will now be clearly and completely described with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0021] In the description of this invention, it should be noted that terms such as "center," "upper," "lower," "left," "right," "vertical," "horizontal," "inner," and "outer," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are used only for the convenience of describing this invention and for simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this invention. Furthermore, terms such as "first," "second," and "third" are used for descriptive purposes only and should not be construed as indicating or implying relative importance.

[0022] In the description of this invention, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "joining" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this invention based on the specific circumstances.

[0023] See Figure 1-47 As shown, an elevated chassis scaffolding welding device includes: The laser cutting device 8 is used to cut the pipe into a round pipe of a specified size; the laser cutting device 8 in this embodiment is an existing structure, and its specific structure will not be limited here.

[0024] The round tube sorting device 1 includes a conveying device 101 for conveying round tubes, a first pushing mechanism 104 mounted on the conveying device 101, a guiding device 107 located on one side of the conveying device 101, and a lifting mechanism 111 located on one side of the guiding device 107 for lifting the round tubes. A first robot 139 for handling the round tubes is provided on one side of the lifting mechanism 111. In this embodiment, the conveying device 101 includes a first support 102 and a conveying line 103 mounted on the upper end of the first support 102 for driving the displacement of the round tubes. The upper end of the conveying line 103 is provided with a first pushing mechanism 104 for pushing the round tubes. The first pushing mechanism 104 pushes the round tubes to the guiding device 107, and then the round tubes roll on the guiding device 107 to the lifting mechanism 111. Then the lifting mechanism 111 lifts the round tubes so that the first robot 139 can clamp the round tubes and place the first round tubes in an orderly manner on the product conveying mechanism 6.

[0025] The nut welding device 2 is installed on one side of the round tube sorting device 1. It includes a nut spot welding machine 201 for welding nuts to round tubes, a round tube clamping mechanism 205 located on one side of the nut spot welding machine 201, a first visual recognition mechanism 224 installed on the round tube clamping mechanism 205, a vertical material transfer mechanism 212 installed between the nut spot welding machine 201 and the round tube clamping mechanism 205, a positioning mechanism 213 installed between the nut spot welding machine 201 and the vertical material transfer mechanism 212, a nut feeding machine 228 installed near the nut spot welding machine 201, and a first rotating mechanism 232 arranged opposite to the nut spot welding machine 201. In this embodiment, the nut welding device 2 includes multiple mechanisms such as the nut spot welding machine 201, the round tube clamping mechanism 205, the vertical material transfer mechanism 212, the positioning mechanism 213, the first visual recognition mechanism 224, and the nut feeding machine 228. The nut spot welding machine 201 is responsible for welding the nut to the round tube. The round tube clamping mechanism 205 is installed on one side of the nut spot welding machine 201, which can firmly clamp the round tube and provide a stable workpiece fixing base for welding. The vertical material transfer mechanism 212 is set between the nut spot welding machine 201 and the round tube clamping mechanism 205. It works in conjunction with the round tube clamping mechanism 205 and can drive the round tube clamping mechanism 205 to move up and down, flexibly adjusting the height position of the round tube to meet different welding process requirements. The positioning mechanism 213 is located between the nut spot welding machine 201 and the vertical material transfer mechanism 212. It not only provides stable support for the vertical material transfer mechanism 212, but also accurately positions the nut mounting hole on the round tube. The first vision recognition mechanism 224 is installed on the round tube clamping mechanism 205 and located on the side of the positioning mechanism 213. It works with the positioning mechanism 213 to accurately detect the position of the nut mounting hole on the round tube. The nut feeder 228 is located near the nut spot welding machine 201. Through its equipped nut feeder 230, it automatically feeds nuts into the nut mounting holes, preparing them for welding operations by the nut spot welding machine 201. The close cooperation between these mechanisms achieves full automation from nut feeding and tube positioning to welding, greatly improving welding efficiency.

[0026] The chassis gripping device 3 is installed on one side of the nut welding device 2 to grip the chassis 351 and to correct and position the chassis 351. The round tube lifting device 4 is set opposite to the chassis gripping device 3 to lift and move the round tube, so as to achieve the splicing of the round tube and the chassis 351. The chassis welding device 5 is installed on one side of the chassis gripping device 3 to weld the round tube to the chassis 351. The product conveying mechanism 6 passes through the nut welding device 2, the chassis gripping device 3, and the chassis welding device 5 to realize the conveying of the round tube and the chassis 351. Product handling device 7, installed on one side of chassis welding device 5, transports the welded round pipes and chassis 351 to a recycling bin. In this embodiment, the automated welding production of the elevated chassis 351 scaffold is achieved through the coordinated operation of laser cutting equipment 8, round pipe sorting device 1, nut welding device 2, chassis gripping device 3, round pipe lifting device 4, chassis welding device 5, product conveying mechanism 6, and product handling device 7. This structure improves production efficiency. Simultaneously, the precise design and coordinated operation of each device ensure the welding quality of the product, reduce errors caused by manual intervention, and significantly improve the dimensional accuracy, structural strength, and other performance indicators of the elevated chassis 351 scaffold.

[0027] Furthermore, as a preferred embodiment, the guiding device 107 includes a first frame 110 installed on one side of the conveying device 101, and a material conveying panel 108 inclinedly disposed on the upper end of the first frame 110. The material conveying panel 108 faces the first pushing mechanism 104 so that the first pushing mechanism 104 can push the round tube onto the material conveying panel 108. In this embodiment, the material conveying panel 108 and the first frame 110 are connected by bolts, and the material conveying panel 108 is inclined. The angle of inclination can be set as needed. The inclined arrangement of the material conveying panel 108 facilitates the round tube to roll along the inclined direction of the material conveying panel 108 under its own weight until the round tube contacts the lifting panel 114 in the lifting mechanism 111.

[0028] The guiding device 107 also includes limiting plates 109 installed at both ends of the material conveying panel 108, and the limiting plates 109 are connected to the first frame 110. The limiting plates 109 and the first frame 110 are welded together or bolted together. The setting of the limiting plates 109 can effectively prevent the round tube from slipping off from both ends when it moves on the material conveying panel 108, ensuring the stability of the round tube during the guiding process. In this embodiment, the cut round tube will automatically fall onto the conveyor line 103, and under the action of the conveyor line 103, the round tube will be moved to a position directly opposite the material conveying panel 108. At this time, the first pushing mechanism 104 starts to work, automatically pushing the round tube onto the material conveying panel 108 and pushing the round tube out of the conveyor line 103. A material detection sensor 105 is provided on the outer frame of the conveyor line 103 to detect the position of the round tube. The material detection sensor 105 is located close to the first pushing mechanism 104. When the material detection sensor 105 detects the round tube, the first pushing mechanism 104 can work. Compared with traditional manual pushing, this greatly improves sorting efficiency and accuracy, and realizes the efficient transfer of the round tube from conveyor line 103 to the sorting guide path.

[0029] Furthermore, as a preferred embodiment, the lifting mechanism 111 includes a lifting block assembly 112 mounted on the first frame 110 and located on one side of the material conveying panel 108, capable of moving up and down relative to the material conveying panel 108 to lift the circular tube on the material conveying panel 108; the lifting mechanism 111 includes a lifting block assembly 112 for supporting the circular tube, and a material positioning device 113 disposed on one side of the lifting block assembly 112; when the circular tube contacts the lifting panel 114 in the lifting mechanism 111, the lifting mechanism 111 will move downward relative to the material conveying panel 108, so that the circular tube enters the inner side of the lifting mechanism 111, and then the lifting mechanism 111 rises and drives the circular tube to move upward, so that the circular tube enters the lifting block assembly 112, at which time the lifting block assembly 112 can support and limit the circular tube.

[0030] A shifting mechanism 133 is provided at the lower end of the material conveying panel 108, near the lifting mechanism 111, to cover the gap between the material conveying panel 108 and the lifting mechanism 111. The gap between the lifting mechanism 111 and the material conveying panel 108 prevents the material conveying panel 108 from interfering with its vertical movement. The shifting mechanism 133 adjusts the gap to accommodate pipes of different diameters, preventing small-diameter pipes from falling out of the gap. The shifting mechanism 133 also supports the pipe, and its tilt angle matches that of the material conveying panel 108.

[0031] In this embodiment, the conveyor line 103 is generally V-shaped, with a stop 106 on one side to limit the displacement of the circular tube. The V-shaped conveyor line 103 prevents the circular tube from rolling on it and falling off the side. A baffle is also provided at the end of the conveyor line 103 to prevent the circular tube from falling off either end. The stop 106 is located at the upper end of the conveyor line 103 and is bolted or welded to the outer frame. When the cut circular tube falls onto the conveyor line 103, it may detach due to inertia. The stop 106, positioned directly opposite the point where the tube falls, will contact the stop 106 due to inertia, thus preventing the tube from falling off the conveyor line 103.

[0032] The lifting mechanism 111 also includes a lifting panel 114 that can move up and down relative to the material conveying panel 108, a first profile 115 disposed on the lifting panel 114, a second profile 116 disposed on the upper end of the first frame 110, and a lifting cylinder 117 disposed on the lower end of the lifting panel 114 for driving the lifting panel 114 to move up and down; the first profile 115 is bolted to the upper side of the lifting panel 114, and when the lifting cylinder 117 is working, it can drive the lifting panel 114 to move up and down, thereby driving the first profile 115 to move up and down.

[0033] The lifting mechanism 111 also includes a first mounting panel 118 disposed on the first frame 110 for mounting the lifting cylinder 117. The side wall of the lifting panel 118 is provided with a connecting plate 119 for connecting with the piston rod of the lifting cylinder 117. The first mounting panel 118 is also provided with a guide shaft 120 for connecting with the connecting plate 119. The connecting plate 119 is fixedly connected to the lifting panel 114. A reinforcing rod is also provided on the side wall of the lifting panel 114 above the connecting plate 119 to improve the support strength of the lifting panel 114. The first mounting panel 118 includes a first mounting plate 121, a second mounting plate 122, threaded sleeves 123, and a first screw 124. The first mounting plate 121 is connected to the first frame 110 by bolts. Four threaded sleeves 123 are provided on the first mounting plate 121, and a first screw 124 is threaded into each threaded sleeve 123. The second mounting plate 122 can be locked and fixed to the end of the first screw 124 by a nut. The lifting cylinder 117 is bolted to the second mounting plate 122. By rotating the first screw 124, the position of the second mounting plate 122 can be adjusted, thereby adjusting the position of the lifting cylinder 117 so that the piston rod of the lifting cylinder 117 can be correctly connected to the connecting plate 119 on the lifting panel 114. At the same time, this can adjust the position of the lifting panel 114, thereby adjusting the gap between the first profile 115 and the second profile 116. Among them, a fixing block 125 is sleeved on the outer side of the guide shaft 120. The fixing block 125 is connected to the second mounting plate 122. The guide shaft 120 can move relative to the fixing block 125. The guide shaft 120 can provide guidance for the movement of the lifting panel 114.

[0034] The lifting block assembly 112 in this embodiment includes a fixed lifting block 126 disposed on the upper end of the second profile 116 and a movable lifting block 127 disposed on the upper end of the first profile 115. The fixed lifting block 126 and the movable lifting block 127 cooperate to support the round tube. The upper end of the second profile 116 is also provided with a material positioning sensor 128 for detecting the position of the round tube. The fixed support block 126 is in a fixed position, while the movable support block 127 can move up and down. The fixed support block 126 is connected to the second profile 116 by bolts, and the movable support block 127 is also connected to the first profile 115 by bolts. The upper surfaces of both the fixed support block 126 and the movable support block 127 are inclined. When the round tube contacts the support panel 114, the support cylinder 117 drives the support panel 114 to move downward, which in turn drives the movable support block 127 to move downward, so that the round tube enters the position between the inclined surface of the movable support block 127 and the side wall of the first frame 110, thereby limiting the position of the round tube. Then, under the action of the support cylinder 117, the movable support block 127 pushes the round tube upward until the round tube enters the position between the fixed support block 126 and the movable support block 127. The inclined surfaces on the fixed support block 126 and the movable support block 127 limit the position of the round tube and prevent the round tube from falling. The material positioning sensor 128 can be used to detect the position of the round tube and determine whether the round tube is in contact with the lifting panel 114.

[0035] The material positioning device 113 in this embodiment includes an L-shaped first positioning plate 129 installed on the upper end of the first frame 110. The first positioning plate 129 is located on one side of the lifting block assembly 112 and is used to abut against the end of the round tube. The first positioning plate 129 can be used to limit the position of the round tube and prevent the round tube from falling off.

[0036] The lifting mechanism 111 also includes a fourth cylinder mounting plate 130 mounted on the upper end of the second profile 116, and a fourth cylinder 131 mounted on the fourth cylinder mounting plate 130. The piston rod end of the fourth cylinder 131 is provided with a second limiting plate 132 for pushing the circular tube to move so that the end of the circular tube abuts against the first positioning plate 129. When the circular tube enters between the fixed lifting block 126 and the movable lifting block 127, the fourth cylinder 131 can drive the second limiting plate 132 to move, and the second limiting plate 132 will push one end of the circular tube, so that the circular tube moves between the fixed lifting block 126 and the movable lifting block 127, thereby making the other end of the circular tube contact the first positioning plate 129, realizing the reference positioning of the circular tube, which is convenient for the external robot to accurately grasp the circular tube. The first robot 139 can be a six-axis robot. The first robot 139 is set close to the lifting mechanism 111 and is used to transport the circular tube, which is convenient for moving the circular tube to the next process.

[0037] Furthermore, as a preferred embodiment, the shifting mechanism 133 includes a shifting bar 134 movably mounted on the lower end of one side of the material conveying panel 108, a linear motor module 135 mounted on the first frame 110 for driving the displacement of the shifting bar 134, and a first limiting mechanism 136 mounted on the lower end of the material conveying panel 108 and connected to the shifting bar 134 to limit the movement distance of the shifting bar 134. Two linear motor modules 135 are provided, mounted on both sides of the first frame 110, for driving the shifting bar 134 to move. The first limiting mechanism 136 includes a limiting rod 137, which is rotatably connected to the lower end of the material conveying panel 108 via a pin. One end of the limiting rod 137 is provided with a strip-shaped hole along the length of the limiting rod 137, and a pin connected to the shift bar 134 is provided inside the strip-shaped hole. The bottom of the other end of the limiting rod 137 is provided with a first limiting block 138. The first frame 110 is provided with a groove for the first limiting block 138 to engage. The width of the groove is greater than the width of the first limiting block 138, allowing the first limiting block 138 to have a certain angle of rotation tendency within the groove. When the shift bar 134 moves, it drives the limiting rod 137 to rotate. The limiting rod 137 drives the first limiting block 138 to rotate in the groove. When the side wall of the first limiting block 138 abuts against the side wall of the groove, it means that the limiting rod 137 has rotated to its maximum angle. This can limit the moving distance of the shift bar 134 and prevent the shift bar 134 from contacting the lifting panel 114 and affecting the normal lifting and lowering of the lifting panel 114.

[0038] In this embodiment, the shifting bar 134 can adjust the gap between the lifting panel 114 and the material conveying panel 108 when it moves, preventing the round tube from getting stuck in the gap during the transfer process and ensuring the stability and smoothness of the equipment operation. During use, the cut round tube falls onto the conveyor line 103, which then moves the tube. When the material detection sensor 105 detects the round tube, the first pushing mechanism 104 pushes the tube, causing it to enter the material conveying panel 108. Due to the inclined setting of the material conveying panel 108, the round tube rolls under its own gravity until it contacts the lifting panel 114. At this point, the material positioning sensor 128 detects the position of the round tube, and then the lifting cylinder 117 automatically operates, driving the lifting panel... 114 moves downward a specified distance, causing the round tube to roll onto the inclined surface of the movable lifting block 127. At this time, the lifting cylinder 117 works again, driving the lifting panel 114 to move upward a certain distance, so that the round tube enters between the fixed lifting block 126 and the movable lifting block 127. Then, the fourth cylinder 131 works, driving the second limiting plate 132 to push the round tube, so that the end of the round tube abuts against the first positioning plate 129, achieving the reference positioning of the round tube. Then, the first robot 139 automatically clamps the round tube and transports the round tube to the product conveying mechanism 6.

[0039] Furthermore, as a preferred embodiment, the positioning mechanism 213 includes a first base 214 disposed on one side of the nut spot welding machine 201, a positioning seat 215 disposed on the upper end of the first base 214, and a guide post 216 disposed in the positioning seat 215, with one end of the guide post 216 extending out of the positioning seat 215, and one end of the guide post 216 being provided with a top pin 217 that cooperates with the nut mounting hole on the round tube.

[0040] In this embodiment, the nut spot welding machine 201 includes a spot welding machine body 202, a spot welding head 203 mounted on one side of the spot welding machine body 202, and a fifth cylinder 204 for driving the spot welding head 203 to move up and down. The spot welding machine body 202 provides the electrical energy required for welding. The spot welding head 203 is mounted on one side of the spot welding machine body 202 and can move up and down under the drive of the fifth cylinder 204 to accurately weld the contact area between the nut and the round tube. In addition, the nut spot welding machine 201 is also equipped with a vibratory feeder 229 and a third frame 231. One end of the nut feeder 230 is connected to the vibratory feeder 229, and the other end of the nut feeder 230 faces the top pin 217. The vibratory feeder 229 can arrange the nuts in an orderly manner and feed them to the nut feeder 230. The nut feeder 230 feeds the nuts into the nut mounting holes on the round tube. The third frame 231 is used to securely mount the vibratory feeder 229, ensuring the smooth progress of the feeding process and further improving the automation level of welding. The fifth cylinder 204 can be connected to one side of the spot welding machine body 202 by bolts. A spot welding head 203 is installed at the lower end of the fifth cylinder 204 to drive the spot welding head 203 to move up and down, so that the spot welding head 203 can weld and fix the nut in the round tube mounting hole.

[0041] The first base 214 is positioned on one side of the nut spot welding machine 201, providing stable support for the entire positioning mechanism 213. The top pin 217 on the guide post 216 is adapted to the nut mounting hole, accurately determining the position of the nut mounting hole. The L-shaped plate 218 connects the positioning seat 215 and the nut spot welding machine 201, enhancing the connection stability between the positioning mechanism 213 and the nut spot welding machine 201, ensuring positioning accuracy, and providing a reliable position reference for subsequent welding operations. The guide post 216 is used to cooperate with the round tube. The round tube is inserted on the outside of the guide post 216, and then the round tube is rotated by the first rotating mechanism 232 so that the nut mounting hole on the round tube is facing upwards, that is, facing the top pin 217. Then, the round tube is moved downwards a certain distance by the round tube clamping mechanism 205 and the vertical material transfer mechanism 212, making it easier for the top pin 217 to enter the nut mounting hole. Specifically, the L-shaped plate 218 is connected to the spot welding machine body 202 and the positioning seat 215, and the L-shaped plate 218 and the spot welding machine body 202 can be connected by bolts.

[0042] The positioning mechanism 213 also includes an electrode cap 219, a top pin movable seat 220, a pin seat drive rod 221, and a second cylinder 222. One end of the guide post 216 is provided with an electrode cap 219, and the electrode cap 219 is provided with a pin hole 223. The second cylinder 222 and the top pin movable seat 220 are provided inside the guide post 216. The upper end of the top pin movable seat 220 is provided with a top pin 217, which can extend out of the pin hole 223. One end of the pin seat drive rod 221 is connected to the output end of the second cylinder 222, and the other end of the pin seat drive rod 221 is provided with a first inclined surface. The lower end of the top pin movable seat 220 is provided with a slot, and the upper inner wall of the slot is provided with a second inclined surface, which cooperates with the first inclined surface. When the round tube is inserted into the outer side of one end of the guide post 216, the position of the round tube is adjusted so that the nut mounting hole is aligned with the top pin 217. At this time, after the round tube moves down a certain distance, the inner wall of the round tube contacts the upper end of the electrode cap 219. Then, the second cylinder 222 drives the pin seat drive rod 221 forward. The first inclined surface on the pin seat drive rod 221 will cooperate with the second inclined surface on the top pin movable seat 220, thereby driving the top pin movable seat 220 to move upward. The top pin movable seat 220 drives the top pin 217 to extend out of the pin hole 223 and enter into the nut mounting hole. At this time, the nut feeder 230 delivers the nut into the nut mounting hole and puts it on the top pin 217. After the spot welding is completed, the second cylinder 222 drives the pin seat drive rod 221 backward. At this time, the top pin movable seat 220 moves downward under the cooperation of the first and second inclined surfaces, so that the top pin 217 enters the electrode cap 219.

[0043] In this embodiment, the vertical material transfer mechanism 212 includes a linear module, which is disposed on the side wall of the first base 214. Specifically, the linear module can be a first linear slide, which is bolted to the side wall of the first base 214. The first cylinder mounting plate 206 in the tube clamping mechanism 205 is connected to the slider in the first linear slide. The linear module can precisely control the vertical displacement of the tube clamping mechanism 205, and through precise position adjustment, the top pin 217 can accurately enter the nut mounting hole.

[0044] Furthermore, as a preferred embodiment, the round tube clamping mechanism 205 includes a first cylinder mounting plate 206. One side of the first cylinder mounting plate 206 is connected to the vertical material transfer mechanism 212, and the other side of the first cylinder mounting plate 206 is provided with two first cylinders 207. The output ends of the two first cylinders 207 are provided with clamping seats 208 for clamping the round tube. The first cylinders 207 can be bolted to the first cylinder mounting plate 206. The clamping seats 208 are welded to the piston rod of the first cylinders 207. When the first cylinders 207 are working, they can drive the two clamping seats 208 to move closer or further away from each other, thereby achieving the clamping of the round tube.

[0045] The first cylinder mounting plate 206 has a through hole 209 in the middle for the round tube to pass through. A ball bearing mounting seat 210 is provided on the clamping seat 208, and a first ball bearing 211 is provided on the ball bearing mounting seat 210 for contacting the side wall of the round tube. The first ball bearing 211 is rotatably mounted on the ball bearing mounting seat 210. When in contact with the side wall of the round tube, the first ball bearing 211 can rotate, thus allowing the round tube to rotate. This ensures clamping of the round tube while reducing damage to its surface, and also allows the round tube to rotate relatively during clamping, facilitating adjustment of the orientation of the nut mounting hole on the round tube. The ball bearing mounting seat 210 and the clamping seat 208 can be connected by bolts.

[0046] In this embodiment, the first visual recognition mechanism 224 includes a second bracket 225, a supplementary light 226, and a vision sensor 227. The second bracket 225 is mounted on the first cylinder mounting plate 206. A supplementary light 226 is provided at one end of the second bracket 225, arranged in a ring and facing the guide post 216. The vision sensor 227 is located inside the second bracket 225 and is used to detect the nut mounting hole. The ring-shaped supplementary light 226 provides sufficient and uniform illumination to the vision sensor 227, ensuring it can clearly detect the nut mounting hole. The vision sensor 227 can accurately detect the position of the nut mounting hole, providing precise data support for accurate nut loading and welding, effectively improving welding quality. In this embodiment, the cylindrical tube has a nut mounting hole on its outer wall at one end for installing the nut. In use, when the round tube enters between the first rotating mechanism 232 and the nut welding device 2 under the action of the external conveying mechanism, the position detection sensor on the conveying mechanism will detect the position of the round tube. Then, the first rotating mechanism 232 clamps the other end of the round tube and lifts the round tube to a position directly opposite the through hole 209 on the first cylinder mounting plate 206. The first rotating mechanism 232 drives the round tube to move horizontally a certain distance, so that one end of the round tube is inserted into the outside of the guide post 216. At the same time, the first cylinder 207 is activated, driving the first ball 211 to abut against the outer wall of the round tube, so that the round tube can be stably supported. Then, the first rotating mechanism 232 drives the round tube to rotate. At the same time, the supplementary light 226 and the vision sensor 227 are activated. The vision sensor 227 detects the position of the nut mounting hole on the round tube until the nut mounting hole is reached. When facing upwards, that is, when directly aligned with the top pin 217 or pin hole 223, the axis of the nut mounting hole coincides with the axis of the top pin 217. Then, the first rotating mechanism 232 and the vertical material transfer mechanism 212 simultaneously drive the round tube to move downwards a certain distance. Then, the second cylinder 222 drives the pin seat drive rod 221 to drive the top pin movable seat 220 and the top pin 217 to move upwards, so that the top pin 217 enters the nut mounting hole. At the same time, the nut in the vibratory plate 229 enters the nut feeder 230 under the action of the vibratory plate 229, and enters the nut mounting hole under the action of the nut feeder 230, and is fitted on the outside of the top pin 217. Then, the fifth cylinder 204 drives the spot welding head 203 to move downwards to the welding position. The spot welding head 203 works to weld and fix the nut in the nut mounting hole.

[0047] Furthermore, as a preferred embodiment, the first rotating mechanism 232 includes a first mounting bracket 233, a sliding seat 234, a second mounting panel 235, a first slide rail 236, a second slide rail 237, a first rotary motor, a second rotary motor 238, a third rotary motor 239, a third cylinder 240, a first protective cover 241, a first slewing bearing 242, a first rack 243, a second rack 244, a first gear, a second gear, a third gear, and a gripper 245. The upper end of the first mounting bracket 233 is provided with two first slide rails 236, and the lower end of the sliding seat 234 is slidably mounted on the upper end of the two first slide rails 236 via a slider. A first rack 243 is provided on one side of slide 236, and a first rotary motor is provided on slide 234. The output end of the first rotary motor engages with the first rack 243 through a first gear to drive slide 234 to slide on the first slide rail 236. Two second slide rails 237 are provided on one side of slide 234, and a second mounting panel 235 is slidably connected to the two second slide rails 237 through a slider. A second rack 244 is provided at one end of the second mounting panel 235, and a second rotary motor 238 is provided on the other side of slide 234. The output end of the second rotary motor 238 engages with the second rack 244 through a second gear to drive the second mounting panel 235 to slide on the first slide rail 236. Panel 235 slides on second slide rail 237. A mounting hole is provided in the center of the second mounting panel 235, and a first slewing bearing 242 is installed inside the mounting hole. A third rotary motor 239 is installed on one side of the second mounting panel 235. The output end of the third rotary motor 239 is connected to the external gear ring of the first slewing bearing 242 via a third gear to drive the first slewing bearing 242 to rotate. A first protective cover 241 is bolted onto the first slewing bearing 242, and the first protective cover 241 is located on the other side of the second mounting panel 235. A third cylinder 240 is installed inside the first protective cover 241. The third cylinder 240 is mounted on the first slewing bearing 242. On the support 242, a gripper 245 is provided on one side of the first protective cover 241. The gripper 245 includes a first fixed seat 246, a first connecting rod 247, a second connecting rod 248, and a first anti-slip block 249. The first fixed seat 246 is installed on one side of the first protective cover 241. The first connecting rod 247 is V-shaped. The middle part of the first connecting rod 247 is connected to the first fixed seat 246 by a first pin. One end of the first connecting rod 247 is connected to one end of the second connecting rod 248 by a second pin. The other end of the second connecting rod 248 is hinged to the piston rod of the third cylinder 240. The other end of the first connecting rod 247 is provided with the first anti-slip block 249.When the position of the circular tube is detected, the third cylinder 240 is activated, driving the second connecting rod 248 to rotate the first connecting rod 247. After several first connecting rods 247 clamp the circular tube, the second rotary motor 238 is activated, driving the second mounting panel 235 to move upward, thereby lifting the circular tube and adjusting its height. Then, the first rotary motor is activated, driving the sliding seat 234 to move on the first slide rail 236, thereby moving the circular tube. This can accommodate circular tubes of different lengths, allowing the circular tube to be inserted outside the guide post 216. Then, the third rotary motor 239 is activated, driving the first slewing bearing 242 to rotate, thereby driving the first protective cover 241 and the third cylinder 240 to rotate synchronously, thereby driving the gripper 245 to rotate, ultimately realizing the rotation of the circular tube. In this embodiment, the first rotating mechanism 232 can realize the adjustment of the circular tube's height, horizontal position, and circumferential rotation.

[0048] Furthermore, as a preferred embodiment, the chassis gripping device 3 includes: A first frame 301 is provided, on which a first positioning element 302 is installed to correct the position of the chassis 351. A moving mechanism 335 is provided inside the first frame 301, and a second positioning element 303 is installed on the moving mechanism 335 to fix the position of the chassis 351. Both the first positioning element 302 and the second positioning element 303 include a positioning block mounting plate 304 and a positioning block 305 on the positioning block mounting plate 304 for fixing the chassis 351. The positioning block mounting plate 304 has threaded holes for mounting bolts to connect the positioning block mounting plate 304 to the first frame 301. The first positioning element 302 can perform preliminary position correction on the chassis 351, ensuring that the chassis 351 is in a roughly accurate position before entering subsequent processes. The second positioning element 303 is mounted on the moving mechanism 335 to precisely fix the position of the chassis 351, facilitating the docking of the round tube with the chassis 351. By docking one end of the round tube with the chassis 351, preliminary fixation is achieved, facilitating welding in the next process. The moving mechanism 335 is used to adjust the position of the second positioning element 303 to accommodate round tubes of different lengths, improving the adaptability of the equipment.

[0049] In this embodiment, the chassis 351 is first positioned by the first positioning element 302, and then positioned by the second positioning element 303, which greatly improves the positioning accuracy of the chassis 351 and provides a guarantee for the accurate alignment and assembly of the subsequent workpiece with the chassis 351.

[0050] The chassis storage mechanism 309 is located on one side of the first rack 301 to realize the storage of the chassis 351; The second robot 321, located on one side of the first frame 301, picks up the chassis 351 and sequentially transports it from the chassis storage mechanism 309 to the first positioning member 302 and the second positioning member 303. The second robot 321 can be a six-axis or seven-axis robot. A magnetic gripper 322 for picking up the chassis 351 and a first position sensor 323 for detecting the position of the positioning block 305 are provided at the end of the arm of the second robot 321. The magnetic gripper 322 can be connected to the end of the arm of the second robot 321 via a flange. The first position sensor 323 can detect the position of the positioning block 305, enabling the second robot 321 to more accurately adjust the position of the chassis 351 based on the information fed back by the first position sensor 323 when gripping the chassis 351 and placing it on the first positioning member 302 or the second positioning member 303, thereby further improving positioning accuracy. When the first position sensor 323 detects a slight deviation in the position of the chassis 351, the second robot 321 can fine-tune the position of the chassis 351 to ensure that it is accurately placed on the corresponding positioning component.

[0051] In this embodiment, the magnetic clamp 322 includes several magnet mounting plates 324 connected to the flange, and a sensor and an electromagnet 325 are provided at the end of the magnet mounting plate 324. The electromagnet 325 is energized or de-energized to achieve the attraction and release of the chassis 351.

[0052] The second visual recognition mechanism 326 is installed on one side of the chassis storage mechanism 309 and is used to detect the position of the chassis 351 so that the second robot 321 can accurately pick up the chassis 351. In this embodiment, the second visual recognition mechanism 326 is used to detect the position of the chassis 351 in the chassis storage mechanism 309 so that the signal can be sent to the external controller, and the controller can then control the second robot 321 to accurately pick up the chassis 351.

[0053] The second limiting mechanism 331, located on the moving mechanism 335 and above the second positioning member 303, restricts the upward movement of the round tube to facilitate alignment between the round tube and the chassis 351. The second limiting mechanism 331 also limits the height of the round tube and coordinates with the position of the chassis 351 on the second positioning member 303 to ensure precise docking of the round tube with the chassis 351, thereby improving product quality.

[0054] In this embodiment, the chassis storage mechanism 309 includes a material table 310, a lifting mechanism 311 disposed on the upper end of the material table 310, and a chassis guide mechanism 312 cooperating with the lifting mechanism 311. The lower end of the material table 310 in this embodiment is provided with a first foot 313 for supporting the material table 310, and the first foot 313 can be connected to the ground by bolts to prevent the material table 310 from shaking. The chassis guide mechanism 312 is used to place the chassis 351 and drive the chassis 351 to move up and down, so that the top chassis 351 is always at the same height, facilitating the second robot 321 to accurately grasp the chassis 351.

[0055] The chassis guiding mechanism 312 includes a guide rod mounting platform 314 located on the upper end of the material table 310, a guide rod 315 located on the upper end of the guide rod mounting platform 314, and a support platform 316 sleeved on the outside of the guide rod 315 to support the chassis 351. The lifting mechanism 311 includes a dual-axis motor 317, a transfer case 318 driven by the dual-axis motor 317, and two worm gear elevators 319 driven by each transfer case 318. The worm gear elevators 319 are mounted on the upper end of the material table 310 and connected to the support platform 316 to drive the support platform 316 to rise and fall. In this embodiment, two transfer cases 318 are provided, and each transfer case 318 is connected to two worm gear elevators 319 respectively. In this way, a single dual-axis motor 317 can simultaneously drive four worm gear elevators 319 to work synchronously, achieving reasonable power distribution, effectively reducing costs, and ensuring that the support platform 316 is always in a horizontal state. Meanwhile, the worm gear hoist 319 enables the support platform 316 to be raised and lowered smoothly.

[0056] The guide rod 315 guides the chassis 351, ensuring its stability during storage and lifting, preventing displacement. This structural design makes the storage and retrieval of the chassis 351 more orderly and efficient. In this embodiment, the guide rod mounting platform 314 is fixed to the upper end of the material table 310, and the lower end of the guide rod 315 is detachably connected to the upper end of the guide rod mounting platform 314 by bolts. This facilitates the replacement or installation of the guide rod 315. The diameter of the guide rod 315 can be set as needed to accommodate different inner diameters of the chassis 351, improving the adaptability of the equipment.

[0057] In this embodiment, several guide rods 315 are provided, and the specific number can be set according to needs. The guide rods 315 are vertically arranged and pass through the support platform 316. The bottommost chassis 351 is fitted onto the guide rods 315 and contacts the support platform 316. Then, the chassis 351 is installed, so that several chassis 351 are stacked together. This can ensure that the chassis 351 is placed stably and will not collapse. This can not only avoid scratches or deformation of the surface of the chassis 351 due to collapse, but also further improve work efficiency and product quality.

[0058] A shim 320 is provided at the bottom of the worm gear elevator 319 to provide a buffering effect. The two output shafts of the dual-shaft motor 317 can be connected to the input shaft of the transfer case 318 through a coupling. The two output shafts of the transfer case 318 can be connected to the corresponding input end of the worm gear elevator 319 through a coupling. Since the worm gear elevator 319 is an existing structure, its specific structure will not be specifically limited here.

[0059] In this embodiment, the dual-axis motor 317 is located in the middle of the guide rod mounting platform 314. An opening is provided in the middle of the guide rod mounting platform 314 to facilitate the connection between the dual-axis motor 317 and the upper end of the material table 310. The two transfer boxes 318 and the four worm gear elevators 319 are distributed around the guide rod mounting platform 314, realizing the rational use of space and making the structure of the equipment more compact.

[0060] The second visual recognition mechanism 326 in this embodiment includes a CCD camera column 327, a CCD camera housing 328 mounted on the upper end of the CCD camera column 327, and a CCD camera disposed inside the CCD camera housing 328. A base plate 329 is provided at the lower end of the CCD camera column 327, with threaded holes for mounting bolts to facilitate connection between the base plate 329 and the ground, thereby improving the stability of the CCD camera column 327 after installation. Furthermore, several reinforcing ribs 330 are provided on the sidewalls of the CCD camera column 327 to enhance the overall structural stability of the CCD camera column 327. The CCD camera housing 328 is bolted to the upper end of the CCD camera column 327, allowing the CCD camera to be installed inside the housing, thus protecting the CCD camera. The lower end of the CCD camera housing 328 is open 552 to allow the CCD camera to properly detect the chassis 351. The CCD camera pillar 327 is L-shaped in overall design.

[0061] The moving mechanism 335 in this embodiment includes a slide rail 336 disposed on the upper end of the first frame 301 and a second mounting bracket 337 connected to the two slide rails 336. In this embodiment, the slide rails 336 are symmetrically mounted on the upper end of the first frame 301, and can be specifically connected to the first frame 301 by bolts. A slider can slide on the slide rails 336 to connect the second mounting bracket 337, facilitating the movement of the second mounting bracket 337 on the slide rails 336.

[0062] In this embodiment, the second positioning component 303 also includes a second positioning plate 306. A plurality of positioning block mounting plates 304 are bolted to the second positioning plate 306, and a lifting ring 307 is provided at one end of the second positioning plate 306. A plurality of first hooks 308 are provided on one side of the first frame 301 for hanging second positioning components 303 of different specifications. These different specifications refer to the different diameters of the positioning blocks 305, to accommodate chassis 351 with different inner diameters. Hanging these second positioning components 303 of different specifications on one side of the first frame 301 allows for quick replacement when the second positioning component 303 needs to be replaced. Furthermore, the positioning block mounting plates 304 in the second positioning component 303 are linearly distributed on the second positioning plate 306.

[0063] A sliding block 338 is fixedly installed on one side of the second mounting bracket 337. A guide rail 339 is slidably installed on the sliding block 338. A first connecting plate 340 is installed on the side of the guide rail 339 away from the second mounting bracket 337. The first connecting plate 340 can drive the guide rail 339 to slide within the sliding block 338. The second positioning plate 306 in the second positioning member 303 is bolted to one side of the first connecting plate 340. A first physical pointer 341 is installed at the lower end of the other side of the first connecting plate 340 to more intuitively display the position of the second positioning member 303 inside the first frame 301. A second physical pointer 342 is installed at the upper end of the second mounting bracket 337 to more intuitively display the position of the second mounting bracket 337. A first limit switch bracket 352 is provided on the upper end of one side of the first frame 301, and a first limit switch 353 and a second limit switch 355 are provided on the upper end of the second mounting bracket 337. The first limit switch 353 and the second limit switch 355 are located on both sides of the second physical pointer 342. The first limit switch 353 is used to cooperate with the first limit switch bracket 352. A second limit switch bracket 354 is provided on the upper end of the other side of the first frame 301, which is used to cooperate with the second limit switch 355. Through the cooperation between the first limit switch 353, the first limit switch bracket 352, the second limit switch 355 and the second limit switch bracket 354, the movement range of the second mounting bracket 337 can be limited.

[0064] A fourth rotary motor 343 is also provided at the upper end of the second mounting bracket 337. A protective cover 344 is provided on the outside of the fourth rotary motor 343 to protect it. A second screw 345 is provided at the output end of the fourth rotary motor 343, and a second nut 346 is provided on the second screw 345. A nut mounting plate 347 for mounting the second nut 346 is provided at the lower end of the other side of the first connecting plate 340. The second screw 345 is driven to rotate by the fourth rotary motor 343, which in turn drives the second nut 346 to move. The second nut 346 can drive the first connecting plate 340 to move through the nut mounting plate 347, thereby adjusting the height of the second positioning member 303 to facilitate the installation of the chassis 351.

[0065] In this embodiment, a motor is also included on the upper end of the first frame 301, and a screw and nut mechanism connected to the output end of the motor. The screw and nut mechanism is connected to the second mounting frame 337 to drive the second mounting frame 337 to move on the slide rail 336. A motor cover 348 is provided on the outside of the motor to protect it, and both the motor and the motor cover 348 can be connected to the first frame 301 by bolts. The screw and nut mechanism includes a screw 349 and a first nut 350 mounted on the screw 349. Both ends of the screw 349 are mounted on the upper end of the first frame 301 via bearings, and one end of the screw 349 is connected to the output end of the motor via a coupling. The motor drives the screw 349 to rotate, thereby causing the first nut 350 to move on the screw 349, which in turn moves the second mounting frame 337. The second mounting frame 337 can move the second positioning member 303 to accommodate round tubes of different lengths.

[0066] In this embodiment, the second limiting mechanism 331 includes a hydraulic cylinder 332 located at the upper end of the second mounting bracket 337 and a second limiting block 333 located at the output end of the hydraulic cylinder 332. The hydraulic cylinder 332 in this embodiment can be connected to an external hydraulic station, which can be connected to a controller. The hydraulic station provides power to the hydraulic cylinder 332, enabling the hydraulic cylinder 332 to drive the second limiting block 333 to move up and down. The lower end of the second limiting block 333 has a "︿"-shaped notch for engaging with a round tube to press down on the round tube and prevent it from moving upwards. In this embodiment, a hydraulic cylinder 332 mounting bracket is also provided on the upper end of the second mounting bracket 337. The hydraulic cylinder 332 is located inside the hydraulic cylinder 332 mounting bracket and is connected to the upper end of the second mounting bracket 337 through the hydraulic cylinder 332 mounting bracket. The hydraulic cylinder 332 mounting bracket and the second mounting bracket 337 are connected by bolts. The second limiting block 333 on the hydraulic cylinder 332 is located on the side of the second positioning member 303 away from the second mounting bracket 337.

[0067] A cable chain mounting plate 356 is provided at one end of the first frame 301, and the cable chain mounting plate 356 can be connected to the first frame 301 by bolts. A cable chain groove 357 is provided inside the cable chain mounting plate 356, and a cable chain 358 is provided in the cable chain groove 357, which can store, pull and protect the cables and oil pipes of various components. In use, the chassis 351 are first stacked on the guide rod 315 in sequence. Then, the CCD camera detects the position of the chassis 351 and uploads the signal to the controller. The controller then controls the arm of the second robot 321 to move to the corresponding chassis 351 according to the preset path, and then controls the electromagnet 325 to be energized to pick up the corresponding chassis 351. Then, the arm of the second robot 321 places the picked-up chassis 351 onto the positioning block 305 in the first positioning member 302 according to a preset path, performing preliminary correction on the position and angle of the chassis 351. During this process, the first position sensor 323 at the end of the arm of the second robot 321 automatically detects the position of the positioning block 305 and uploads the signal to the controller, so that the controller can control the second robot 321 to adjust the position and angle of the chassis 351 in real time, so that it can be accurately placed on the positioning block 305. Then, the electromagnet 325 is energized again, picking up the chassis 351 from the positioning block 305 in the first positioning member 302 and moving the chassis 351 to the inside of the first frame 301. At the same time, the first position sensor 323 continues to detect the position of the positioning block 305 on the second positioning member 303, so as to accurately install the chassis 351 on the positioning block 305 of the second positioning member 303, thereby fixing the position of the chassis 351. Then, the controller controls the hydraulic cylinder 332 to start working. The hydraulic cylinder 332 drives the second limit block 333 to move downward a certain distance, but always keeps the second limit block 333 on the upper side of the chassis 351. Then, after the external conveying mechanism delivers the round tube, the lifting mechanism 405 in the round tube lifting device 4 lifts the round tube upward, so that one end of the round tube enters the "︿"-shaped notch on the lower side of the second limit block 333. At this time, the axis of the round tube is collinear with the axis of the chassis 351. Then, the external pushing mechanism (cylinder) pushes the other end of the round tube, so that one end of the round tube aligns with the round hole in the middle of the chassis 351, thereby achieving the initial installation of the round tube and the chassis 351, so as to facilitate welding the round tube and the chassis 351 together. After the installation is completed, the round tube lifting device 4 drives the round tube with the chassis 351 installed to descend onto the product conveying mechanism 6, so that the round tube with the chassis 351 can enter the chassis welding device 5.

[0068] Furthermore, as a preferred embodiment, the circular tube lifting device 4 includes: The second pushing mechanism 404 is provided on the inner side of the first frame 301 to push the round tube to move along its own axis. The lower end of the first frame 301 is provided with four support legs 402. Two opposite support legs 402 are connected by a crossbeam 403, which helps to improve the stability of the entire first frame 301. The lower end of the lifting mechanism 405 can be installed on the crossbeam 403 or other suitable positions.

[0069] The lifting mechanism 405 is installed inside one side of the first frame 301 to push the round tube up and down. The lifting mechanism 405 can push the round tube up and down to adjust the height of the round tube, which facilitates the subsequent processing of the round tube. For example, when the round tube is raised to a specified height, the second pushing mechanism 404 pushes one end of the round tube so that the other end of the round tube is inserted into the chassis 351, thereby installing the round tube and the chassis 351 together.

[0070] The third limiting mechanism 412 is installed inside one side of the first frame 301 and located above the lifting mechanism 405 to limit the rising position of the circular tube. In this embodiment, the third limiting mechanism 412 cooperates with the lifting mechanism 405. When the lifting mechanism 405 lifts the circular tube, the outer wall of the circular tube abuts against the third limiting mechanism 412, indicating that the circular tube has reached the specified height. By adjusting the height of the third limiting mechanism 412, it can accommodate different diameters of circular tubes. Because when the installation height of the chassis 351 that cooperates with the circular tube is fixed, the height of the third limiting mechanism 412 can be changed to accommodate circular tubes of different diameters. Similarly, when the diameter of the circular tube is fixed, the height of the third limiting mechanism 412 can be changed to allow the circular tube to adapt to chassis 351 of different heights.

[0071] The pressing mechanism 424 is installed inside the other side of the first frame 301 and cooperates with the third limiting mechanism 412 and the lifting mechanism 405 to press the circular tube. The height of the pressing mechanism 424 is adjustable, which makes it easy to adapt to circular tubes of different diameters and to limit the height of the circular tube. It is used to cooperate with the third limiting mechanism 412 to facilitate pressing and limiting both ends of the circular tube.

[0072] When installing the round tube to the chassis 351, it is necessary to ensure that the axis of the round tube is aligned with the axis of the central circular hole in the chassis 351. This can be achieved by pre-setting the height of the third limiting block 415 in the third limiting mechanism 412 and the pressure block 437 in the pressing mechanism 424. In this embodiment, the height of the round tube can be precisely controlled through the cooperation of the lifting mechanism 405, the third limiting mechanism 412, and the pressing mechanism 424, ensuring that the axis of the round tube is aligned with the axis of the central circular hole in the chassis 351, thereby improving the accuracy of subsequent processing.

[0073] The second pushing mechanism 404 is one of a pneumatic cylinder, a hydraulic cylinder 332, or an oil cylinder. In this embodiment, the second pushing mechanism 404 can preferably be a hydraulic cylinder 332. The hydraulic cylinder 332 is connected to an external hydraulic station to facilitate the provision of a power source for the hydraulic cylinder 332. The setting of the hydraulic cylinder 332 can precisely control the horizontal displacement of the round tube and avoid the round tube squeezing the chassis 351 and causing damage to the chassis 351.

[0074] The lifting mechanism 405 includes a first hydraulic cylinder 406 and a first support mechanism 407 installed at the output end of the first hydraulic cylinder 406 to support the circular tube and correct its position. The lower end of the first hydraulic cylinder 406 can be connected to the crossbeam 403 at the lower end of the first frame 301 by bolts. The first hydraulic cylinder 406 can be connected to an external hydraulic station. When the first hydraulic cylinder 406 is working, it can drive the first support mechanism 407 to move up and down to control the height of the circular tube.

[0075] In this embodiment, the first support mechanism 407 includes a third mounting plate 408, a first fixing block 409, and a second ball bearing 410. The third mounting plate 408 is connected to the output end of the first hydraulic cylinder 406. The third mounting plate 408 has several first fixing blocks 409, each with a V-groove 411. Second balls bearing 410 are arranged on the inner walls of both sides of the V-groove 411. The V-grooves 411 are linearly distributed. The third mounting plate 408 is bolted to the output end of the first hydraulic cylinder 406. Four first fixing blocks 409 are provided, and they are bolted to the third mounting plate 408. The four V-grooves 411 are on the same straight line and at the same height. The second balls bearing 410 are rotatably connected to the inner walls of the V-grooves 411, which reduces friction with the circular tube and allows the circular tube to be easily moved horizontally under the action of the second pushing mechanism 404.

[0076] In this embodiment, the first fixing block 409 and the second ball bearing 410 not only stably support the circular tube, but also correct its position using the V-groove 411 and the second ball bearing 410. When the first hydraulic cylinder 406 lifts the circular tube, the V-groove 411 guides the tube to the center position, and the second ball bearing 410 reduces the friction between the tube and the V-groove 411, ensuring the tube rises smoothly and accurately. Furthermore, the V-groove 411 and the ball bearing prevent the tube from shifting position within the V-groove 411 during lifting, effectively improving lifting accuracy.

[0077] In this embodiment, the third limiting mechanism 412 includes a third bracket 413 and fourth mounting plates 414 disposed on both sides of the third bracket 413. The fourth mounting plates 414 are connected to the inner wall of the first frame 301. A third limiting block 415 is disposed on the inner side of the upper end of the third bracket 413, and a third ball bearing 416 is disposed on the third limiting block 415 that contacts the outer wall of the circular tube. In this embodiment, the fourth mounting plate 414 can be welded to the side wall of the third bracket 413 or fixed with screws, while the fourth mounting plate 414 and the inner wall of the first frame 301 are connected by bolts, which facilitates fixing the position of the third bracket 413. The third limiting block 415 can move up and down relative to the third bracket 413, which facilitates adjusting the height of the third limiting block 415 and thus the height of the third ball bearing 416, so as to accommodate circular tubes of different diameters.

[0078] In this embodiment, the lower end of the third limiting block 415 is provided with a "︿"-shaped first groove 417, and the third ball bearing 416 is disposed on the inner walls on both sides of the first groove 417; the third ball bearing 416 is rotatably connected to the first groove 417, and the third ball bearing 416 contacts the outer wall of the round tube, which can reduce the friction between the round tube and the first groove 417, making it easier for the second pushing mechanism 404 to push the round tube to move horizontally.

[0079] It also includes a first adjustment mechanism 418, and a third limiting block 415 is connected to a third bracket 413 through the first adjustment mechanism 418 to adjust the height of the third limiting block 415. In this embodiment, the first adjustment mechanism 418 includes a positioning post 419 and a first positioning pin 420. The upper end of the third bracket 413 is provided with a first mounting hole 421 for mounting the positioning post 419. The positioning post 419 is provided with a plurality of first positioning holes 422 along the axial direction. The first positioning pin 420 passes through the third bracket 413 and the first positioning holes 422 to fix the positioning post 419 in the first mounting hole 421. The lower end of the positioning post 419 is connected to the third limiting block 415. The first mounting hole 421 penetrates the upper end of the third bracket 413, and the axis of the first mounting hole 421 is vertically set. The axis of the first positioning hole 422 is perpendicular to the axis of the first mounting hole 421, while the first positioning pin 420 horizontally penetrates the third bracket 413 and the first positioning hole 422, thereby fixing the first positioning pin 420 in the first mounting hole 421. The lower end of the first positioning pin 420 is fixedly connected to the third limiting block 415. By adjusting the position of the first positioning pin 420 in the first mounting hole 421, the height of the third limiting block 415 can be adjusted, thereby adjusting the height of the third ball bearing 416 to adapt to the rising position restriction requirements of round tubes of different specifications. This design ensures both the accuracy of the limiting and provides flexibility in height. For example, when processing round tubes of different diameters, the height of the third limiting block 415 can be easily and quickly adjusted without complex modifications to the equipment, improving the versatility of the equipment. A first pull ring 423 is provided at one end of the first positioning pin 420 for pulling the first positioning pin 420 out of the first positioning hole 422.

[0080] Furthermore, as a preferred embodiment, the pressing mechanism 424 includes a second frame 425, second connecting plates 426 disposed on both sides of the second frame 425, and a lifting bracket 427 disposed inside the second frame 425. A second hydraulic cylinder 428 is disposed inside the lifting bracket 427, and a pressure block 437 is disposed at the lower end of the lifting bracket 427. A fourth ball bearing 429 is disposed on the pressure block 437. The second hydraulic cylinder 428 drives the pressure block 437 to move up and down. The second frame 425 is generally arranged in a "П" shape, and the second connecting plates 426 can be connected to the frame by bolts or welding. The lifting bracket 427 is installed inside the second frame 425 and can be raised and lowered. Under the action of the second hydraulic cylinder 428, it can drive the pressure block 437 to move up and down to adjust the height of the fourth ball bearing 429. The upper end of the second hydraulic cylinder 428 can be connected to the upper end of the second frame 425 by bolts.

[0081] Furthermore, as a preferred embodiment, the lower end of the pressure block 437 is provided with a second groove 430 in the shape of a "︿", and the fourth ball bearing 429 is disposed on the inner walls on both sides of the second groove 430. The fourth ball bearing 429 is rotatably connected to the second groove 430, which helps to reduce the contact friction with the round tube, and the design of the "︿" shaped second groove 430 can guide the round tube, making it easier to adjust the position of the round tube.

[0082] Furthermore, as a preferred embodiment, the lifting bracket 427 includes two second fixing blocks 431 disposed on the upper inner wall of the second frame 425, a sliding plate 432 connected to the second fixing blocks 431, and two connecting rods 433 that cooperate with the sliding plate 432 and are connected to the pressure block 437. The second fixing blocks 431 have a plurality of second positioning holes 434 axially arranged on them. The sliding plate 432 is provided with second positioning pins 435 that cooperate with the second positioning holes 434 to connect and fix the sliding plate 432 to the second fixing blocks 431. The connecting rods 433 are arranged in a "]" shape, with their upper ends positioned above the sliding plate 432. When the second hydraulic cylinder 428 drives the connecting rods 433 to move downwards, the inner wall of the upper end of the connecting rods 433 can contact the upper surface of the sliding plate 432, limiting the stroke of the second hydraulic cylinder 428 and thus limiting the height of the pressure block 437. A second pull ring is provided at one end of the second positioning pin 435 to facilitate pulling the second positioning pin 435 out of the second positioning hole 434.

[0083] In this embodiment, the lifting bracket 427 also includes a top plate 436 disposed between the two connecting rods 433, and the top plate 436 is connected to the lower ends of the two connecting rods 433. The lower ends of the connecting rods 433 are connected to the pressure block 437. The output end of the second hydraulic cylinder 428 is connected to the pressure block 437 through the top plate 436. By setting the top plate 436, the pressure block 437 can be protected, and the pressure block 437 can be prevented from being damaged due to excessive local force.

[0084] In this embodiment, the lifting mechanism 405, the third limiting mechanism 412 and the pressing mechanism 424 work together to lift, limit and press the round tube, which effectively improves the positional accuracy and stability of the round tube during the processing and reduces the defect rate.

[0085] In this embodiment, the third limiting mechanism 412 and the pressing mechanism 424 can adapt to the processing needs of round tubes of different diameters, reduce equipment modification and replacement costs, and improve equipment utilization. Previously, multiple sets of equipment might be needed for round tubes of different specifications, but now one set of this device can meet the processing needs of round tubes of various specifications. In use, the round tube is transported to the inside of the first frame 301 under the action of the product conveying mechanism 6. When the position of the round tube is detected, the second hydraulic cylinder 428 works, driving the pressure block 437 down to the designated position. Then, the first hydraulic cylinder 406 is controlled to work, driving the first fixing block 409 and the second ball bearing 410 on it to lift the round tube until the outer wall of the round tube contacts the third ball bearing 416 in the first slot 417 and the fourth ball bearing 429 in the second slot 430. At this time, the round tube has been raised to the designated height. Then, the first hydraulic cylinder 406 stops working, and the second pushing mechanism 404 pushes the round tube to move, so that the round tube docks with the chassis 351. Then the second pushing mechanism 404 resets, while the first hydraulic cylinder 406 drives the first fixing block 409 to descend, placing the round tube on the product conveying mechanism 6, so that the round tube with the chassis 351 enters the chassis welding device 5.

[0086] Furthermore, as a preferred embodiment, the chassis welding device 5 includes: The second rotating mechanism 501 includes a second base 502, a sliding mechanism 503 mounted on the second base 502, a gripper mechanism 523 mounted on the sliding mechanism 503, and a first driving guide mechanism 515 mounted on the sliding mechanism 503 for driving the gripper mechanism 523 to grip, lift, and rotate the circular tube. In this embodiment, a second position sensor for detecting the position of the circular tube can be provided on the second base 502. The sliding mechanism 503 is used to mount the gripper mechanism 523 and can drive the gripper mechanism 523 to move horizontally. The first driving guide mechanism 515 is used to drive the gripper mechanism 523 to move up and down, rotate, and grip the circular tube.

[0087] The welding protection mechanism 537, located on one side of the second rotating mechanism 501, includes a third base 538, a welding cover 539 positioned above the third base 538, and a second drive guide mechanism 540 positioned above the third base 538 for horizontal movement of the welding cover 539. The second drive guide mechanism 540 can drive the welding cover 539 horizontally to adjust its position, facilitating the entry of the round tube and chassis 351 into the welding cover 539, thereby enabling the third robot 553 to weld the joint between the round tube and chassis 351. Furthermore, the welding cover 539 effectively blocks strong light and welding waste from spreading in all directions, protecting the health of the operators and providing a relatively stable environment for the welding process, reducing the impact of external factors on welding quality.

[0088] The third robot 553 is positioned on one side of the welding protection mechanism 537. A welding head 554 is attached to the end of the arm of the third robot 553. Driven by the third robot 553, the welding head 554 enters the welding housing 539 to weld the circular tube and the chassis 351. The third robot 553 is a six-axis robot and can be connected to its control system. This control system can be connected to an external PLC to control the arm of the third robot 553 to move the welding head 554 along a preset path into the welding housing 539, thus welding and fixing the chassis 351 to the circular tube. A vision recognition system can be installed at the end of the arm of the third robot 553 to identify the position of the connection between the circular tube and the chassis 351, facilitating precise welding.

[0089] Furthermore, in a preferred embodiment, the sliding mechanism 503 includes a gripper base frame 504, a third mounting panel 505, and a second slewing bearing 506. The gripper base frame 504 is slidably mounted on the upper end of the second base 502. The third mounting panel 505 is located on one side of the gripper base frame 504, and the second slewing bearing 506 is mounted on the third mounting panel 505. The gripper mechanism 523 is mounted on the second slewing bearing 506 to grip the round tube. The design of the sliding mechanism 503 allows the gripper base frame 504 to move flexibly on the second base 502, providing position adjustment for the gripper mechanism 523. The second slewing bearing 506 serves as the mounting base for the gripper mechanism 523, enabling the gripper mechanism 523 to rotate 360°. In the first drive guide mechanism 515, the first motor 516 drives the fifth gear to rotate via its output shaft. The fifth gear meshes with the outer gear ring of the second slewing bearing 506, thereby driving the second slewing bearing 506 to rotate the gripper mechanism 523, thus achieving the rotation of the circular tube. Simultaneously, the second motor 519 drives the fourth gear 521 to mesh with the third rack 520, causing the third mounting panel 505 to slide up and down along the fourth slide rail 517, thereby lifting the gripper mechanism 523. This design allows the circular tube to be precisely adjusted in position and angle during the welding process, meeting the needs of different welding processes.

[0090] In this embodiment, the second rotating mechanism 501 significantly improves the positioning accuracy and flexibility of the round tube during the welding process. It can precisely grip, lift, and rotate the round tube, making the welding process more accurate and effectively improving welding quality. This design greatly reduces errors caused by human factors, improving the consistency and stability of the welding. At the same time, the automated operation reduces the labor intensity of operators and improves work efficiency.

[0091] Furthermore, as a preferred embodiment, the sliding mechanism 503 also includes a third slide rail 507, a first slider 508, a first displacement cylinder 509, a cylinder head mounting plate 510, a sixth cylinder 527, a second cylinder mounting plate 511, and a limiting mounting block 512. The third slide rail 507 is mounted on the upper end of the second base 502. The first slider 508 is provided on the third slide rail 507. The gripper base frame 504 is connected to the first slider 508. The cylinder head mounting plate 510 is provided on the lower end of the gripper base frame 504. A limiting mounting block 512 is provided on one side of the upper end of the second base 502. A sixth cylinder 527 and a second cylinder mounting plate 511 are provided on one side of the limiting mounting block 512. A first displacement cylinder 509 is provided on the sixth cylinder 527 and the second cylinder mounting plate 511. The output end of the first displacement cylinder 509 is connected to the cylinder head mounting plate 510. In this embodiment, the second base 502 can be placed directly on the ground during use, and the third slide rail 507 can be connected to the second base 502 by bolts. The first slider 508 can slide on the third slide rail 507, and the upper end of the gripper base frame 504 is bolted to the first slider 508, which facilitates the sliding of the gripper base frame 504 on the third slide rail 507. The cylinder head mounting plate 510 is bolted to the lower end of the gripper base frame 504, and the limiting mounting block 512 is bolted to the upper end of the second base 502. The second cylinder mounting plate 511 of the sixth cylinder 527 is bolted or welded to the limiting mounting block 512, and the first displacement cylinder 509 is bolted to the second cylinder mounting plate 511 of the sixth cylinder 527. There are two third slide rails 507, and the two third slide rails 507 are arranged side by side. The first displacement cylinder 509 can be connected to an external hydraulic station, which in turn can be connected to an external controller, facilitating the control of the first displacement cylinder 509. The first displacement cylinder 509 drives the cylinder head mounting plate 510 to slide along the third slide rail 507 of the gripper base frame 504, thereby causing the gripper mechanism 523 to move linearly. This allows for easy adjustment of the gripper mechanism 523's position, ensuring accurate gripping of one end of the round tube. The other end of the round tube is connected to the chassis 351.

[0092] Furthermore, as a preferred embodiment, the sliding mechanism 503 also includes cylinder buffers 513. Two cylinder buffers 513 are provided on both sides of the upper end of the second base 502. The cylinder buffers 513 are directly opposite the second base 502 and can abut against the gripper base frame 504. It also includes a support base 514 for mounting the cylinder buffers 513. The support base 514 is bolted to the upper end of the second base 502, which facilitates the disassembly of the cylinder buffers 513. By setting two cylinder buffers 513, the movement distance of the gripper base frame 504 can be limited, while simultaneously protecting the first displacement cylinder 509.

[0093] Furthermore, in a preferred embodiment, the first drive guide mechanism 515 includes a first motor 516, a fourth slide rail 517, a second slider 518, a second motor 519, a third rack 520, a fifth gear, a fourth gear 521, and a fourth limiting block 522. The first motor 516 is located on one side of the third mounting panel 505, and the fifth gear is located at the output end of the first motor 516. The fifth gear is connected to the outer gear ring of the second slewing bearing 506 to drive the second slewing bearing 506 to rotate the gripper mechanism 523. The first motor 516 drives the fifth gear to rotate, which in turn drives the outer gear ring to rotate, thereby driving the second slewing bearing 506 to rotate, thus facilitating the rotation of the gripper mechanism 523. A second mounting hole for mounting the second slewing bearing 506 is provided on the third mounting panel 505, and the outer shell of the second slewing bearing 506 is welded to the inner wall of the second mounting hole.

[0094] A fourth slide rail 517 is provided on one side of the gripper base frame 504. A second slider 518 is provided on the fourth slide rail 517. A third mounting panel 505 is connected to the second slider 518. A third rack 520 is provided at one end of the third mounting panel 505. A second motor 519 is provided at one end of the gripper base frame 504. The output end of the second motor 519 meshes with the third rack 520 through a fourth gear 521 to drive the third mounting panel 505 to rise and fall. There are two fourth slide rails 517, which are arranged side by side, and the second slider 518 slides on the fourth slide rail 517. The third mounting panel 505 and the fourth slide rail 517 are connected by bolts. The fourth slide rail 517 is connected by bolts to the gripper base frame 504. The third rack 520 is welded to the third mounting panel 505. The second motor 519 is connected to one end of the gripper base frame 504 by bolts. The second motor 519 drives the fourth gear 521 to rotate, which in turn drives the third rack 520 to move. This causes the third rack 520 to move the third mounting panel 505 up and down, thereby moving the gripper mechanism 523 up and down, which facilitates the adjustment of the height of the gripper mechanism 523.

[0095] A fourth limiting block 522 is provided at the upper end of the gripper base frame 504 to limit the rising height of the third mounting panel 505. The fourth limiting block 522 is welded to the upper end of the gripper base frame 504 or connected by bolts.

[0096] Furthermore, as a preferred embodiment, the gripper mechanism 523 includes: The second protective cover 524 is located on the other side of the third mounting panel 505 and is connected to the second slewing bearing 506. The second protective cover 524 and the second slewing bearing 506 are connected by bolts. The second protective cover 524 can be used to protect the sixth cylinder 527. A perforated hole is provided on the outside of the second protective cover 524.

[0097] The second fixing seat 525 is disposed on one side of the second protective cover 524, and the second fixing seat 525 and the second protective cover 524 are connected by a support rod 526; the support rod 526 is welded to the second protective cover 524, and the support rod 526 and the second fixing seat 525 can be connected by bolts or welding. The support rod 526 is provided to support and install the second fixing seat 525.

[0098] The sixth cylinder 527 is located inside the second protective cover 524 and connected to the second slewing bearing 506. The output end of the sixth cylinder 527 extends out of the second protective cover 524 and is provided with a mounting block 528. The mounting block 528 can be welded to the output end of the sixth cylinder 527 or connected by bolts.

[0099] The first connecting block 529 is V-shaped, and the middle part of several first connecting blocks 529 is rotatably connected to the second fixing seat 525; the second fixing seat 525 has four support blocks 530 around its perimeter, and the middle part of each first connecting block 529 is rotatably connected to the support block 530.

[0100] The second connecting block 531 has a gripper connecting block 532 between one end of the second connecting block 531 and one end of the first connecting block 529. The gripper connecting block 532 is rotatably connected to the second fixed seat 525 via a rotating shaft 535. The gripper connecting block 532 is provided with a third pin 533 and a fourth pin 534. The third pin 533 passes through the gripper connecting block 532 and the first connecting block 529 respectively, and the fourth pin 534 passes through the gripper connecting block 532 and the second connecting block 531 respectively. Two gripper connecting blocks 532 are provided on both sides of the connection between the first connecting block 529 and the second connecting block 531. A rotating shaft 535, two third pins 533 and one fourth pin 534 are provided through the gripper connecting block 532. The pivot 535 is specifically a support block 530 that passes through the second fixed base 525, which facilitates the rotational connection between the gripper connecting block 532 and the second fixed base 525. The third pin 533 fixes the first connecting block 529 relative to the gripper connecting block 532, allowing the first connecting block 529 to rotate with the gripper connecting block 532. The fourth pin 534 allows the second connecting block 531 to rotate relative to the gripper connecting block 532.

[0101] The second anti-slip block 536 is provided at the other end of the first connecting block 529. The second anti-slip block 536 is connected to the first connecting block 529 by bolts, thus preventing slippage when rotating the round tube. The other end of the second connecting block 531 is rotatably connected to the mounting block 528 by a fifth pin.

[0102] In this embodiment, the sixth cylinder 527 can be connected to an external hydraulic station, which facilitates the control of the sixth cylinder 527. When the sixth cylinder 527 is working, it can pull the mounting block 528 away from the second fixed seat 525, thereby pulling the second connecting block 531. Under the action of the gripper connecting block 532, the second connecting block 531 drives the first connecting block 529 to rotate away from the axis of the second fixed seat 525, thereby realizing the release action of the gripper mechanism 523. When the sixth cylinder 527 pushes the mounting block 528 closer to the second fixed seat 525, the mounting block 528 pushes the second connecting block 531 to rotate, causing the second connecting block 531 to drive the gripper connecting block 532 to rotate, which in turn drives several first connecting blocks 529 to rotate closer to the axis of the second fixed seat 525, realizing the gripping action and facilitating the clamping of the round tube.

[0103] Furthermore, as a preferred embodiment, the second drive guide mechanism 540 includes a fifth slide rail 541, a third slider 542, a second displacement cylinder 543, a welding cover mounting base 544, a second linear slide 545, and a cylinder connecting plate 546. The second linear slide 545 is mounted on the upper end of the third base 538. The fifth slide rail 541 is provided on the upper end of the second linear slide 545. The third slider 542 is provided on the fifth slide rail 541. The welding cover mounting base 544 is provided on the upper end of the third slider 542. The second displacement cylinder 543 is provided on one side of the second linear slide 545. The cylinder connecting plate 546 is provided on the lower end of the welding cover mounting base 544. The output end of the second displacement cylinder 543 is connected to the cylinder connecting plate 546. The second linear slide 545 is an existing structure, and its specific structure will not be limited here. The second linear slide 545 can drive the welding cover mounting base 544 to move horizontally, thereby adjusting the horizontal position of the welding cover 539, allowing the other end of the circular tube and the base 351 to enter the welding cover 539 for good protection. The cylinder connecting plate 546 is bolted to the welding cover mounting base 544. The second displacement cylinder 543 can drive the cylinder connecting plate 546 to move, thereby driving the welding cover mounting base 544 to move horizontally, achieving fine-tuning of the position of the welding cover mounting base 544. The second linear slide 545 is used to drive the welding cover mounting base 544 to move with a large stroke, which facilitates the adaptation to circular tubes of different lengths. The second displacement cylinder 543 can be connected to an external hydraulic station.

[0104] Furthermore, as a preferred embodiment, it also includes a waste box 547, a cover fixing block 548, a second hook 549, and a connecting piece 550. The welding cover 539 is installed on the upper end of the welding cover mounting base 544. Cover fixing blocks 548 are provided on both sides of the welding cover 539, and the cover fixing blocks 548 abut against the side wall of the welding cover mounting base 544. A waste box 547 is provided at the lower end of the welding cover 539. A connecting piece 550 is provided on the upper end of one side of the waste box 547, and the connecting piece 550 is connected to the welding cover 539. A second hook 549 is provided on the other side of the welding cover 539. A connecting hole 551 that mates with the second hook 549 is provided on the welding cover mounting base 544. In this embodiment, a threaded hole is provided at the other end of the welding cover 539, and the connecting piece 550 on the waste box 547 is connected to the threaded hole by bolts, and the second hook 549 cooperates with the connecting hole 551. This enables a quick connection between the waste box 547 and the welding cover 539. The waste box 547 is used to collect waste generated during the welding process. The lower end of the welding cover 539 is provided with an opening 552 for communication with the waste box 547. Waste generated during the welding process can fall directly into the waste box 547 for easy collection and processing. The cover fixing block 548 is connected to the welding cover 539 by bolts, and the cover fixing block 548 abuts against the side wall of the mounting base, which helps to improve the stability of the welding cover 539 during installation. The welding cover 539 and the welding cover mounting base 544 can be connected by bolts.

[0105] Furthermore, as a preferred embodiment, it also includes a round tube support mechanism 555, which is provided at one end of the welded cover 539; the round tube support mechanism 555 is used to clamp the other end of the round tube and does not affect the normal rotation of the round tube.

[0106] The circular tube support mechanism 555 includes a seventh cylinder 557, a second cylinder mounting plate 511, a seventh cylinder 557, a chuck mounting plate 558, a chuck 559, a transition plate 560, and connecting pieces 561. Two seventh cylinder 557 second cylinder mounting plates 511 are provided at one end of the welded cover 539. The seventh cylinder 557 is provided on the seventh cylinder 557 second cylinder mounting plate 511. Each seventh cylinder 557 has a transition plate 560 at its output end. The transition plate 560 has a chuck mounting plate 558. The chuck mounting plate 558 has a chuck 559. Two connecting pieces 561 are provided at the upper and lower ends of one seventh cylinder 557. The connecting pieces 561 are connected to the chuck mounting plate 558. The mounting plate 511 of the second cylinder of the seventh cylinder 557 is bolted to the welding cover 539, and the seventh cylinder 557 is bolted to the mounting plate 511 of the second cylinder of the seventh cylinder 557. The transition plate 560 is welded to the output end of the seventh cylinder 557. The chuck mounting plate 558 is bolted to the transition plate 560. Two chucks 559 are provided on the chuck mounting plate 558, for a total of four chucks 559, which are arranged in a rectangular pattern. An opening 552 is provided in the middle of one end of the welding cover 539 for the round tube and the chassis 351 to enter the welding cover 539. One end of the connector 561 is connected to the cam roller mounting plate 558, and the other end of the connector 561 is provided with a push rod 562. Top blocks 563 are fixedly installed at both ends of the seventh cylinder 557. The push rod 562 has several third positioning holes along its axial direction. Several insertion holes 564 are opened on the side wall of the other end of the connector 561. A pin 565 passes through the insertion hole 564 and extends into one of the third positioning holes. This allows for the fixing of the push rod 562, and the extension length of the push rod 562 can be adjusted through the third positioning holes. When the seventh cylinder 557 drives the cam roller mounting plate 558 to move the connector 561, the connector 561 causes the push rod 562 to abut against one side surface of the top block 563, thus limiting the stroke of the cam roller mounting plate 558. The other seventh cylinder 557 does not have a connector 561. The seventh cylinder 557 can be connected to an external hydraulic station.

[0107] When the other end of the round tube enters the welding housing 539, the two seventh cylinders 557 drive the chuck mounting plate 558 to move the chuck 559 against the outer wall of the round tube. Since the chuck 559 is rotatable, the position of the round tube can be automatically adjusted so that the round tube is positioned between the four chucks 559. Furthermore, when the second rotating mechanism 501 drives the round tube to rotate, the chuck 559 can rotate accordingly, reducing friction. This provides stable support for the other end of the round tube without affecting its normal rotation, ensuring the smooth progress of the welding process.

[0108] In use, after the external circular tube is spliced ​​with the chassis 351, it moves to the welding station under the action of the conveying structure. At this time, after the second position sensor detects the circular tube, the controller controls the first displacement cylinder 509 to work. The first displacement cylinder 509 drives the cylinder head mounting plate 510 to move the gripper base frame 504 on the third slide rail 507, adjusting the position of the gripper mechanism 523. After the gripper mechanism 523 is in position, the sixth cylinder 527 works, driving the mounting block 528 to move, which in turn drives the second connecting block 531 and the first connecting block 529 to rotate, so that several first connecting blocks 529 clamp the circular tube. Then, the second motor 519 drives the fourth gear 521 to rotate, driving the third rack 520 to move the third mounting panel 505 upward, thereby lifting the circular tube and changing its height. After the circular tube rises to a certain height, the second motor 519 stops working. Then, the second displacement cylinder 543 drives the cylinder connecting plate 546 to move the welding cover mounting base 544 linearly, which in turn moves the welding cover 539, thus covering the other end of the round tube and the chassis 351. Then, the third robot 553 drives the welding head 554 into the welding cover 539 to weld the connection between the round tube and the chassis 351. Simultaneously, the first motor 516 drives the fifth gear to rotate, which in turn drives the second slewing bearing 506 to rotate the gripper mechanism 523, thus slowly rotating the round tube to facilitate welding the connection between the round tube and the chassis 351. When the length of the round tube changes, the second linear slide 545 can drive the welding cover mounting base 544 to move, adjusting the position of the welding cover mounting base 544 so that the welding cover 539 can cover the other end of the round tube and the chassis 351. After the round tube is welded to the chassis 351, the round tube and chassis 351 are lowered onto the product conveying mechanism 6. Then, under the action of the product handling device 7, the round tube with the welded chassis 351 is transported to the recycling bin. The product handling device 7 is a fourth robot, which is a six-axis robot with a clamping mechanism at its end for holding the round tube.

[0109] The specific structure of the product conveying mechanism 6 in this embodiment can be found in [reference]. Figure 42 As shown, the product conveying mechanism 6 is a drag chain conveyor. A drag block is provided on the drag chain of the drag chain conveyor, and a clamping groove for clamping the round tube is opened on the drag block.

[0110] The above description is merely a preferred embodiment of the present invention and does not limit the implementation and protection scope of the present invention. Those skilled in the art should realize that any equivalent substitutions and obvious changes made based on the description and illustrations of the present invention should be included within the protection scope of the present invention.

Claims

1. A welding device for elevated chassis supports, characterized in that, include: Laser cutting equipment is used to cut pipes into round tubes of specified dimensions; A round tube sorting device includes a conveying device for conveying round tubes, a first pushing mechanism mounted on the conveying device, a guiding device disposed on one side of the conveying device, and a lifting mechanism disposed on one side of the guiding device for lifting the round tubes. A first robot for transporting the round tubes is disposed on one side of the lifting mechanism. A nut welding device is installed on one side of the round tube sorting device. It includes a nut spot welding machine for welding nuts to round tubes, a round tube clamping mechanism located on one side of the nut spot welding machine, a first visual recognition mechanism installed on the round tube clamping mechanism, a vertical material transfer mechanism installed between the nut spot welding machine and the round tube clamping mechanism, a positioning mechanism installed between the nut spot welding machine and the vertical material transfer mechanism, a nut feeding machine installed near the nut spot welding machine, and a first rotating mechanism arranged opposite to the nut spot welding machine. A chassis gripping device is installed on one side of the nut welding device to grip the chassis and perform calibration and positioning on the chassis; A circular tube lifting device is positioned opposite the chassis gripping device to lift and move the circular tube, thereby enabling the connection between the circular tube and the chassis. A chassis welding device is installed on one side of the chassis gripping device to weld the round tube to the chassis. The product conveying mechanism passes through the nut welding device, the chassis gripping device, and the chassis welding device to realize the conveying of the round tube and the chassis; The product handling device is installed on one side of the chassis welding device to transport the welded round pipe and chassis to the recycling bin.

2. The welding device for elevated chassis scaffolding as described in claim 1, characterized in that, The guiding device includes a first frame installed on one side of the conveying device, and a material conveying panel inclinedly disposed on the upper end of the first frame. The material conveying panel faces the first pushing mechanism so that the first pushing mechanism can push the round tube into the material conveying panel. The guiding device also includes limiting plates installed at both ends of the material conveying panel, and the limiting plates are connected to the first frame.

3. The welding device for elevated chassis supports as described in claim 2, characterized in that, The lifting mechanism includes a component mounted on the first frame and located on one side of the material conveying panel, capable of moving up and down relative to the material conveying panel to lift the round tube on the material conveying panel; a shifting mechanism is provided at the lower end of the material conveying panel and on the side near the lifting mechanism to cover the gap between the material conveying panel and the lifting mechanism. The lifting mechanism also includes a lifting block assembly for supporting the round tube, and a material positioning device disposed on one side of the lifting block assembly. The lifting mechanism further includes a lifting panel that can move up and down relative to the material conveying panel, a first profile disposed on the lifting panel, a second profile disposed on the upper end of the first frame, and a lifting cylinder disposed on the lower end of the lifting panel for driving the lifting panel to move up and down. The lifting mechanism further includes a first mounting panel disposed on the first frame for mounting the lifting cylinder. The side wall of the lifting panel is provided with a connecting plate for connecting with the piston rod of the lifting cylinder. The first mounting panel is also provided with a guide shaft for connecting with the connecting plate.

4. The welding device for elevated chassis scaffolding as described in claim 3, characterized in that, The shifting mechanism includes a shifting bar movably mounted on the lower end of one side of the material conveying panel, a linear motor module mounted on the frame for driving the displacement of the shifting bar, and a first limiting mechanism mounted on the lower end of the material conveying panel and connected to the shifting bar to limit the movement distance of the shifting bar.

5. The welding device for elevated chassis scaffolding as described in claim 1, characterized in that, The positioning mechanism includes a first base located on one side of the nut spot welding machine, a positioning seat located on the upper end of the first base, and a guide post located in the positioning seat. One end of the guide post extends out of the positioning seat, and one end of the guide post is provided with a top pin that mates with the nut mounting hole on the round tube. The positioning mechanism further includes an electrode cap, a top pin movable seat, a pin seat drive rod, and a second cylinder. The electrode cap is provided at one end of the guide column, and a pin hole is provided on the electrode cap. The second cylinder and the top pin movable seat are provided inside the guide column. The top pin is provided at the upper end of the top pin movable seat and can extend out of the pin hole. One end of the pin seat drive rod is connected to the output end of the second cylinder, and the other end of the pin seat drive rod is provided with a first inclined surface. The lower end of the top pin movable seat is provided with a slot, and the upper inner wall of the slot has a second inclined surface, which cooperates with the first inclined surface.

6. The welding device for elevated chassis scaffolding as described in claim 5, characterized in that, The round tube clamping mechanism includes a first cylinder mounting plate. One side of the first cylinder mounting plate is connected to the vertical material transfer mechanism. Two first cylinders are provided on the other side of the first cylinder mounting plate. The output ends of the two first cylinders are provided with clamping seats for clamping the round tube. The first cylinder mounting plate has a through hole in the middle for the round tube to pass through, and the clamping seat is provided with a ball bearing mounting seat, and the ball bearing mounting seat is provided with a first ball bearing for contacting the side wall of the round tube.

7. The welding device for elevated chassis scaffolding as described in claim 1, characterized in that, The first rotating mechanism includes a first mounting bracket, a sliding seat, a second mounting panel, a first slide rail, a second slide rail, a first rotary motor, a second rotary motor, a third rotary motor, a third cylinder, a protective cover, a slewing bearing, a first rack, a second rack, a first gear, a second gear, a third gear, and a gripper. Two first slide rails are provided at the upper end of the first mounting bracket. The lower end of the sliding seat is slidably mounted on the upper end of the two first slide rails via a slider. A first rack is provided on one side of the first slide rail. The first rotary motor is mounted on the sliding seat. The output end of the first rotary motor engages with the first rack via the first gear to drive the sliding seat to slide on the first slide rail. Two second slide rails are provided on one side of the sliding seat. The second mounting panel is slidably connected to the two second slide rails via a slider. A second rack is provided at one end of the second mounting panel. The second rotary motor is provided on the other side of the sliding seat. The output end of the second rotary motor engages with the second rack via the second gear to drive the second... The mounting panel slides on the second slide rail. A mounting hole is provided in the center of the second mounting panel, and a slewing bearing is installed within the mounting hole. A third rotary motor is installed on one side of the second mounting panel. The output end of the third rotary motor is connected to the outer gear ring of the slewing bearing via a third gear to drive the slewing bearing to rotate. A protective cover is bolted onto the slewing bearing and is located on the other side of the second mounting panel. A third cylinder is installed inside the protective cover and is mounted on the slewing bearing. A gripper is provided on one side of the protective cover. The gripper includes a fixed base, a first connecting rod, a second connecting rod, and an anti-slip block. The fixed base is installed on one side of the protective cover. The first connecting rod is V-shaped, and its middle portion is connected to the fixed base via a first pin. One end of the first connecting rod is connected to one end of the second connecting rod via a second pin. The other end of the second connecting rod is hinged to the piston rod of the third cylinder. The other end of the first connecting rod is equipped with the anti-slip block.

8. The welding device for elevated chassis scaffolding as described in claim 1, characterized in that, The chassis gripping device includes: A first frame is provided with a first positioning component to correct the position of the chassis. A moving mechanism is provided inside the first frame, and a second positioning component is provided on the moving mechanism to fix the position of the chassis. A chassis storage mechanism is located on one side of the first rack to realize chassis storage; The second robot is located on one side of the first frame to pick up the chassis and move the chassis from the chassis storage mechanism to the first positioning member and the second positioning member in sequence; The second visual recognition mechanism is installed on one side of the chassis storage mechanism to detect the position of the chassis so that the second robot can accurately pick up the chassis. The second limiting mechanism is provided on the moving mechanism and located above the second positioning member, and is used to restrict the upward movement of the round tube so that the round tube can be aligned with the chassis.

9. The welding device for elevated chassis scaffolding as described in claim 1, characterized in that, The circular tube lifting device includes: The second frame has a second pushing mechanism on its inner side to push the circular tube to move along its own axis. A lifting mechanism is installed inside one side of the second frame to drive the circular tube to rise and fall; The third limiting mechanism is installed inside one side of the second frame and is located above the lifting mechanism to limit the upward position of the circular tube. The pressing mechanism is installed inside the other side of the second frame and cooperates with the third limiting mechanism and the lifting mechanism to press the round tube.

10. The welding device for elevated chassis scaffolding as described in claim 1, characterized in that, The chassis welding device includes: The second rotating mechanism includes a second base, a sliding mechanism mounted on the second base, a gripper mechanism mounted on the sliding mechanism, and a first driving guide mechanism mounted on the sliding mechanism for driving the gripper mechanism to grip, lift and rotate the circular tube. A welding protection mechanism is disposed on one side of the second rotating mechanism, and includes a third base, a welding cover disposed above the third base, and a second drive guide mechanism disposed on the upper end of the third base for horizontal movement of the welding cover. A third robot is positioned on one side of the welding protection mechanism. The end of the arm of the third robot is equipped with a welding head, which can enter the welding enclosure under the drive of the third robot to weld the round tube and the chassis.

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