An efficient automatic electric arc welding apparatus for electric iron accessories

Abstract

The application discloses a kind of high-efficiency automatic electric arc welding equipment of electric iron accessory, and the application relates to electric iron accessory processing technical field, including processing table, processing table, clamping mechanism, positioning mechanism and adjusting frame, clamping mechanism includes rotary disc, guide disc, multiple clamping rollers, height limiting rod and transmission rod, guide disc is fixed on the top of rotary disc and is provided with spiral guide groove, multiple clamping rollers are slidably connected with guide groove by respective sliding block, when rotary disc rotates, multiple clamping rollers are driven to be synchronous and approach radially to adaptively clamp workpiece, while the inclined surface of rotary disc bottom is linked with height limiting rod by transmission rod and is pressed down to constrain workpiece height, the advantages of the present application are that: the present application can realize adaptive clamping and multidirectional reliable positioning for electric iron accessories of different shapes, and realize high-precision automatic electric arc welding of complex weld path, significantly improve production efficiency.

Description

Technical Field

[0001] This invention relates to the field of electric power plant accessory processing technology, specifically to a high-efficiency automatic arc welding device for electric power plant accessories. Background Technology

[0002] Electric power iron fittings are important metal structural components in power transmission lines, including various iron accessories such as crossarms, clamps, and wire clamps. Their welding quality directly affects the safe and stable operation of power transmission lines. In the production and manufacturing process of electric power iron fittings, the welding process is one of the core technological links. Existing welding processes for electric ferroelectric accessories generally suffer from the following problems: First, electric ferroelectric accessories have varied shapes and complex structures. Traditional clamps are often designed for specific shapes, resulting in poor versatility. When faced with ferroelectric accessories of different shapes, the clamping mechanism cannot adaptively conform to the workpiece contour, leading to unstable clamping, workpiece displacement, and affecting welding accuracy. Second, traditional positioning methods lack effective constraints on the height direction of the workpiece, making it prone to tilting or jumping during welding, resulting in a decline in weld quality. Third, existing welding equipment has limited adjustment freedom of the welding head, insufficient adaptability to complex weld paths, and difficulty in achieving multi-directional and multi-angle automated welding, severely restricting the improvement of production efficiency. Fourth, the positioning mechanism and clamping mechanism of existing equipment are independent of each other, with poor linkage, cumbersome clamping operations, and a large amount of manual assistance time. Therefore, we propose a high-efficiency automatic arc welding device for electric ferroelectric accessories. Summary of the Invention

[0003] The purpose of this invention is to provide a highly efficient automatic arc welding device for electric iron accessories.

[0004] To achieve the above objectives, the present invention provides the following technical solution: a high-efficiency automatic arc welding device for electric iron accessories, comprising a processing table, a processing platform fixedly mounted on the top of the processing table, a clamping mechanism and a positioning mechanism mounted on the processing platform, and an adjustment frame fixedly mounted on the top of the processing table; The clamping mechanism includes a rotating disk, a guide disk, multiple clamping rollers, a height limiting rod, and a transmission rod. The guide disk is fixed to the top of the rotating disk and coaxially arranged with the rotating disk. A guide groove is provided on the guide disk. Each of the multiple clamping rollers slides in cooperation with the guide groove through a corresponding sliding block. The bottom of the rotating disk is provided with an inclined surface that is inclined in a circumferential direction. The bottom end of the transmission rod abuts against the inclined surface of the rotating disk, and the top end of the transmission rod is fixedly connected to the height limiting rod. The positioning mechanism includes two extrusion plates, two threaded rods, two first bevel gears, a second bevel gear, and a first servo motor. The output shaft of the first servo motor is fixedly connected to the second bevel gear. The second bevel gear meshes with the two first bevel gears respectively. Each of the two first bevel gears is fixedly connected to its corresponding threaded rod. The two threaded rods have opposite helical directions. The threaded rods pass through the corresponding extrusion plates and are threadedly engaged with the extrusion plates. The adjustment frame is equipped with an X-axis moving slide rail and a Z-axis moving slide rail. The Z-axis moving slide rail is slidably connected to the X-axis moving slide rail. A mounting platform is provided on the Z-axis moving slide rail, and a robotic arm is connected to the mounting platform. A welding head is provided at the end of the robotic arm.

[0005] As a further embodiment of the present invention: a rolling wheel is rotatably connected to one end of the sliding block facing the guide disk, the rolling wheel is embedded in the guide groove and rolls in contact with the groove wall of the guide groove, the end of the sliding block away from the guide disk is fixedly connected to the corresponding clamping roller, and a sliding groove is provided on the processing table for the sliding block to slide in the radial direction, and the sliding block slides in cooperation with the sliding groove.

[0006] As a further aspect of the present invention: the guide groove is a spiral curve groove. When the rotating disk rotates, it drives the guide disk to rotate synchronously. The guide groove, through cooperation with each of the rolling wheels, drives multiple clamping rollers to move synchronously toward the center in the radial direction, so that the multiple clamping rollers conform to the outer contour of the electric iron accessory to achieve adaptive clamping.

[0007] As a further aspect of the present invention: the inclined surface at the bottom of the rotating disk is inclined in the circumferential direction. When the rotating disk rotates, the inclined surface applies downward pressure to the bottom end of the transmission rod. When the transmission rod moves downward, it drives the height limiting rod to move downward, so as to squeeze and limit the top surface of the electric iron accessory placed on the processing table.

[0008] As a further embodiment of the present invention: a slider is fixedly provided on the side of the extrusion plate facing away from the clamping direction, and a limiting groove is provided on the processing table. The slider slides into the limiting groove to limit the movement of the extrusion plate along the axial direction of the threaded rod.

[0009] As a further aspect of the present invention: an electric slide rail is provided on the side of the extrusion plate facing the electric iron accessory, and an adjustment plate is fixedly provided on the electric slide rail. The adjustment plate moves along the electric slide rail to press against the middle side of the electric iron accessory.

[0010] As a further aspect of the present invention: a second servo motor is fixedly mounted on the adjustment plate, and a cam is fixedly connected to the output shaft of the second servo motor. The cam rotates with the output shaft of the second servo motor to apply a periodic clamping force to the electric iron accessory, thereby achieving supplementary fixation of the electric iron accessory.

[0011] As a further aspect of the present invention: the robotic arm is a multi-degree-of-freedom articulated robotic arm, and each joint of the robotic arm can rotate independently to drive the welding head to adjust the welding position and welding angle in three-dimensional space; the X-axis moving slide rail drives the Z-axis moving slide rail to move along the X-axis direction, and the Z-axis moving slide rail drives the mounting platform to move along the Z-axis direction, so as to realize a large range of displacement of the welding head in the X-axis and Z-axis planes.

[0012] Compared with the prior art, the beneficial effects of the present invention by adopting the above technical solution are as follows: 1. The present invention adopts an adaptive design in which the clamping mechanism uses a guide groove to drive multiple clamping rollers to move radially synchronously. This design can automatically adjust the position of the clamping rollers according to the actual shape and contour of the electric railway accessories, thereby achieving adaptive clamping of workpieces of different shapes and greatly improving the versatility of the equipment.

[0013] 2. This invention uses the linkage between the inclined surface at the bottom of the rotating disk and the transmission rod to synchronize the clamping operation with the downward pressing action of the height limiting rod. While completing radial clamping, it automatically constrains the height of the workpiece, eliminating the risk of workpiece lifting and improving welding stability.

[0014] 3. The present invention uses a positioning mechanism with a first servo motor that drives the two extrusion plates on both sides to move in opposite directions synchronously through bevel gear transmission, so as to achieve symmetrical and precise positioning of both ends of the workpiece; with the auxiliary clamping of the adjusting plate and cam, a multi-directional three-dimensional positioning system is formed to ensure that the spatial position of the workpiece is fixed and reliable during the welding process.

[0015] 4. This invention uses a composite moving mechanism of X-axis and Z-axis moving slide rails for the adjustment frame, combined with a multi-degree-of-freedom articulated robotic arm, to give the welding head the ability to flexibly adjust its position and angle within a large range of space, thereby achieving high-precision automatic welding of complex weld paths and significantly improving production efficiency.

[0016] Other advantages, objectives and features of the invention will be set forth in part in the description which follows, and in part will be apparent to those skilled in the art from the following examination or study, or may be learned from the practice of the invention. Attached Figure Description

[0017] Figure 1 This is an overall schematic diagram of an embodiment of the present invention; Figure 2This is a schematic diagram of the processing table in an embodiment of the present invention; Figure 3 This is a schematic diagram of the boot disk in an embodiment of the present invention; Figure 4 This is a schematic diagram of the transmission assembly in an embodiment of the present invention; Figure 5 This is a schematic diagram of the clamping mechanism in an embodiment of the present invention; Figure 6 This is a schematic diagram of the cross-section of the rotating disk in an embodiment of the present invention; Figure 7 This is a schematic diagram of the positioning mechanism in an embodiment of the present invention; Figure 8 This is a schematic diagram of the connection relationship of the mounting platform in an embodiment of the present invention.

[0018] In the diagram: 1. Machining table; 2. Machining platform; 3. Clamping mechanism; 31. Clamping roller; 32. Height limit bar; 33. Transmission rod; 34. Rotary disk; 35. Guide disk; 36. Guide groove; 37. Rolling wheel; 38. Sliding block; 4. Positioning mechanism; 41. Extrusion plate; 42. Slider; 43. Threaded rod; 44. First bevel gear; 45. Second bevel gear; 46. First servo motor; 47. Adjusting plate; 48. Second servo motor; 49. Cam; 5. Adjusting frame; 51. X-axis moving slide rail; 52. Z-axis moving slide rail; 53. Mounting platform; 54. Robotic arm; 55. Welding head. Detailed Implementation

[0019] The specific embodiments of the present invention will be further described below with reference to the accompanying drawings. It should be noted that the description of these embodiments is for the purpose of helping to understand the present invention, but does not constitute a limitation of the present invention.

[0020] Furthermore, the technical features involved in the various embodiments of the present invention described below can be combined with each other as long as they do not conflict with each other.

[0021] Please see the appendix Figure 1 - Appendix Figure 8 This invention discloses a high-efficiency automatic arc welding device for electric iron accessories, which mainly consists of five parts: a processing table 1, a processing platform 2, a clamping mechanism 3, a positioning mechanism 4, and an adjusting frame 5. The processing table 1 provides a supporting foundation for the entire device, and the processing platform 2 is fixedly installed on its top. The clamping mechanism 3 and the positioning mechanism 4 are integrated on the processing platform 2 to achieve reliable fixation of the electric iron accessories. The adjusting frame 5 is fixed on the top frame of the processing table 1, and the welding components are mounted on the adjusting frame 5 to provide multi-dimensional movement support for the welding head 55.

[0022] Clamping mechanism like Figure 2 , Figure 3 , Figure 4 , Figure 5 and Figure 6 As shown, the clamping mechanism 3 is set on the processing table 2 and mainly consists of clamping roller 31, height limiting rod 32, transmission rod 33, rotating disk 34, guide disk 35, guide groove 36, rolling wheel 37 and sliding block 38.

[0023] The rotary disk 34 is rotatably mounted at the center of the processing table 2. The rotary disk 34 is driven to rotate by an external drive motor. The guide disk 35 is fixed on the top of the rotary disk 34 and is coaxially fixed with the rotary disk 34. When the rotary disk 34 rotates, it drives the guide disk 35 to rotate synchronously. The top surface of the guide disk 35 is provided with a guide groove 36. The guide groove 36 is a spiral curved groove, and its curved path extends outward as the radius increases.

[0024] Multiple clamping rollers 31 are evenly distributed on the outer periphery of the rotary disk 34 along the radial direction of the processing table 2. Each clamping roller 31 is installed in a radial groove on the processing table 2 via a corresponding sliding block 38. The sliding block 38 can slide freely in the radial direction within the groove. A rolling wheel 37 is rotatably mounted on one end of the sliding block 38 facing the guide disk 35. The rolling wheel 37 is embedded in the guide groove 36 and maintains rolling contact with the groove wall of the guide groove 36. When the rotary disk 34 drives the guide disk 35 to rotate, the helical surface of the guide groove 36 applies a radial component force to each rolling wheel 37, driving each sliding block 38 to move synchronously in the radial direction within the corresponding groove. This, in turn, drives the multiple clamping rollers 31 to move synchronously toward the center, so that each clamping roller 31 conforms to the outline of the electric iron accessory, achieving adaptive clamping.

[0025] The bottom of the rotating disk 34 is provided with an inclined surface that is circumferentially distributed. The inclined surface is circumferentially distributed along the rotating disk 34. The transmission rod 33 is vertically arranged inside the processing table 2. The bottom end of the transmission rod 33 is always in contact with the inclined surface at the bottom of the rotating disk 34. When the rotating disk 34 rotates, the inclined surface applies a downward pushing force to the bottom end of the transmission rod 33, forcing the transmission rod 33 to move downward. The top end of the transmission rod 33 is fixedly connected to the height limiting rod 32. When the transmission rod 33 moves downward, it drives the height limiting rod 32 to move downward as well. The height limiting rod 32 applies a clamping force to the top surface of the electric iron accessory placed on the processing table 2, thereby constraining and fixing the height of the workpiece. The above structure enables the radial clamping action of the clamping roller 31 and the vertical clamping action of the height limiting rod 32 to be linked through the rotation of the same rotating disk 34. The operation is simple and the clamping is reliable. A return spring is sleeved on the transmission rod 33. One end of the return spring abuts against the inner wall of the processing table 2, and the other end abuts against the transmission rod 33. After welding is completed, the drive motor drives the rotating disk 34 to rotate in the opposite direction. When the inclined surface reaches the lowest point, the reset spring pushes the transmission rod 33 to reset upward. The height limit rod 32 is then lifted, and the clamping roller 31 synchronously retracts radially, allowing the workpiece to be released and removed.

[0026] Positioning mechanism like Figure 7 As shown, the positioning mechanism 4 is set on the processing table 2 and mainly consists of an extrusion plate 41, a slider 42, a threaded rod 43, a first bevel gear 44, a second bevel gear 45, a first servo motor 46, an adjustment plate 47, a second servo motor 48, and a cam 49.

[0027] The first servo motor 46 is fixedly installed in the middle of the processing table 2. The output shaft of the first servo motor 46 is fixedly connected to the second bevel gear 45. Two first bevel gears 44 are respectively set on both sides of the second bevel gear 45. The second bevel gear 45 meshes with the two first bevel gears 44 at the same time. Two threaded rods 43 are symmetrically arranged along the length of the workpiece. One end of each threaded rod 43 is coaxially fixedly connected to the corresponding first bevel gear 44. The helical directions of the two threaded rods 43 are opposite. Each threaded rod 43 passes through the extrusion plate 41 on the corresponding side and forms a threaded transmission engagement with the extrusion plate 41. A slider 42 is fixedly installed on the side of the extrusion plate 41 facing away from the clamping direction. A limiting groove is opened at the corresponding position on the processing table 2. The slider 42 is embedded in the limiting groove and slides with the limiting groove to restrict the extrusion plate 41 to move only along the axial direction of the threaded rod 43 and prevent the extrusion plate 41 from rotating with the threaded rod 43.

[0028] After the first servo motor 46 starts, it drives the second bevel gear 45 to rotate. The second bevel gear 45 synchronously drives the two first bevel gears 44 to rotate in opposite directions. The two first bevel gears 44 each drive the corresponding threaded rod 43 to rotate. The threaded rod 43 converts the rotational motion into the linear motion of the extrusion plate 41 through the threaded engagement with the extrusion plate 41, so that the two extrusion plates 41 move towards the center synchronously, and apply clamping force to the electric iron accessory from both ends to complete the positioning and fixing of the workpiece in the length direction.

[0029] An electric slide rail is provided on the side of the extrusion plate 41 facing the electric iron accessory. An adjustment plate 47 is fixedly installed on the electric slide rail. The adjustment plate 47 can slide along the electric slide rail on the extrusion plate 41 to adapt to the middle side of the workpiece at different height positions and apply lateral positioning pressure to the middle of the workpiece. A second servo motor 48 is fixedly installed on the adjustment plate 47. The output shaft of the second servo motor 48 is fixedly connected to a cam 49. The second servo motor 48 drives the cam 49 to rotate. The non-circular contour of the cam 49 applies periodic clamping force to the local area of ​​the workpiece to further fix the workpiece and prevent the workpiece from shifting under the influence of welding vibration and thermal expansion.

[0030] Adjustment frame and welding assembly like Figure 8As shown, the adjustment frame 5 is fixed on the top frame of the processing table 1. An X-axis moving slide rail 51 is fixedly installed on the adjustment frame 5. A Z-axis moving slide rail 52 is slidably connected to the X-axis moving slide rail 51 through a sliding block at its end. The Z-axis moving slide rail 52 can move horizontally along the X-axis direction under the drive of the X-axis moving slide rail 51. The mounting table 53 cooperates with the Z-axis moving slide rail 52 through a sliding connector. The mounting table 53 can move vertically along the Z-axis direction under the drive of the Z-axis moving slide rail 52. A multi-degree-of-freedom articulated robotic arm 54 is fixedly connected to the mounting table 53. Each joint of the robotic arm 54 can rotate independently, thereby flexibly adjusting the position and posture of the end of the robotic arm 54 in three-dimensional space. A welding head 55 is fixedly installed at the end of the robotic arm 54. Under the combined movement of the X-axis moving slide rail 51, the Z-axis moving slide rail 52 and the robotic arm 54, the welding head 55 can reach any welding position in the workspace and perform arc welding on the electric iron accessories at a suitable welding angle.

[0031] Overall working process In use, the electric iron accessory is placed in the designated central position on the processing table 2. The drive motor drives the rotating disk 34 and the guide disk 35 to rotate. The guide groove 36 guides each rolling wheel 37 to move radially, driving multiple clamping rollers 31 to synchronously move towards the center. The clamping rollers 31 conform to the outline of the electric iron accessory to achieve radial adaptive clamping. At the same time, the inclined surface at the bottom of the rotating disk 34 pushes the transmission rod 33 to move downward. The transmission rod 33 drives the height limiting rod 32 to press down to the top surface of the workpiece to achieve height constraint. Then, the first servo motor 46 is started, driving the threaded rods 43 on both sides to rotate synchronously through bevel gear transmission. The two extrusion plates 41 are pushed to move in opposite directions, applying axial clamping force from both ends of the workpiece; the electric slide rail adjusts the adjusting plate 47 to the corresponding height position, applying lateral positioning force to the middle side of the workpiece; the second servo motor 48 drives the cam 49 to rotate, performing supplementary clamping on the workpiece, ensuring that the workpiece is reliably fixed in multiple directions. After the workpiece is fixed, the X-axis moving slide rail 51 and the Z-axis moving slide rail 52 move the mounting table 53 and the robotic arm 54 to the initial welding position. The robotic arm 54 dynamically adjusts the spatial posture of the welding head 55 and performs fully automatic arc welding on the electric iron accessory according to the preset weld path. After welding is completed, the drive motor drives the rotating disk 34 to rotate in the opposite direction, the inclined surface rotates to the lowest point, the reset spring 39 pushes the transmission rod 33 to reset upward, and the height limit rod 32 is raised accordingly; At the same time, the clamping roller 31 retracts radially, and the first servo motor 46 drives the two side extrusion plates 41 to retract outward in the opposite direction, so that the workpiece is completely released from constraint and can be taken out by the operator.

[0032] The terms "front," "back," "left," "right," "top," and "bottom" all refer to the figures in the accompanying drawings. Figure 1 Based on.

[0033] In the description of this invention, it should be understood that the terms "center", "longitudinal", "lateral", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this invention and 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 limiting the scope of protection of this invention.

[0034] The embodiments of the present invention have been described in detail above with reference to the accompanying drawings, but the present invention is not limited to the described embodiments.

[0035] For those skilled in the art, various changes, modifications, substitutions, and variations can be made to these embodiments without departing from the principles and spirit of the present invention, and these variations still fall within the protection scope of the present invention.

Claims

1. A high-efficiency automatic arc welding device for electric iron accessories, comprising a processing table (1), characterized in that: The processing table (1) is fixedly provided with a processing platform (2), and the processing platform (2) is provided with a clamping mechanism (3) and a positioning mechanism (4). The processing table (1) is also fixedly provided with an adjustment frame (5). The clamping mechanism (3) includes a rotating disk (34), a guide disk (35), multiple clamping rollers (31), a height limiting rod (32), and a transmission rod (33). The guide disk (35) is fixed to the top of the rotating disk (34) and is coaxially arranged with the rotating disk (34). A guide groove (36) is provided on the guide disk (35). Each of the multiple clamping rollers (31) slides in cooperation with the guide groove (36) through a corresponding sliding block (38). The bottom of the rotating disk (34) is provided with an inclined surface that is inclined in the circumferential direction. The bottom end of the transmission rod (33) abuts against the inclined surface of the rotating disk (34). The top end of the transmission rod (33) is fixedly connected to the height limiting rod (32). The positioning mechanism (4) includes two extrusion plates (41), two threaded rods (43), two first bevel gears (44), a second bevel gear (45), and a first servo motor (46). The output shaft of the first servo motor (46) is fixedly connected to the second bevel gear (45). The second bevel gear (45) meshes with the two first bevel gears (44) respectively. The two first bevel gears (44) are each fixedly connected to the corresponding threaded rod (43). The spiral directions of the two threaded rods (43) are opposite. The threaded rods (43) pass through the corresponding extrusion plates (41) and are threadedly engaged with the extrusion plates (41). The adjustment frame (5) is provided with an X-axis moving slide rail (51) and a Z-axis moving slide rail (52). The Z-axis moving slide rail (52) is slidably connected to the X-axis moving slide rail (51). The Z-axis moving slide rail (52) is provided with a mounting platform (53). The mounting platform (53) is connected to a robotic arm (54). The end of the robotic arm (54) is provided with a welding head (55).

2. The high-efficiency automatic arc welding equipment for electric railway accessories according to claim 1, characterized in that: The sliding block (38) is rotatably connected to a rolling wheel (37) at one end facing the guide plate (35). The rolling wheel (37) is embedded in the guide groove (36) and rolls in contact with the groove wall of the guide groove (36). The end of the sliding block (38) away from the guide plate (35) is fixedly connected to the corresponding clamping roller (31). The processing table (2) is provided with a sliding groove for the sliding block (38) to slide in the radial direction. The sliding block (38) slides in cooperation with the sliding groove.

3. The high-efficiency automatic arc welding equipment for electric railway accessories according to claim 1, characterized in that: The guide groove (36) is a spiral curve groove. When the rotating disk (34) rotates, it drives the guide disk (35) to rotate synchronously. The guide groove (36) drives multiple clamping rollers (31) to move synchronously toward the center in the radial direction through cooperation with each of the rolling wheels (37), so that the multiple clamping rollers (31) fit the outline of the electric iron accessory to achieve adaptive clamping.

4. The high-efficiency automatic arc welding equipment for electric railway accessories according to claim 1, characterized in that: The inclined surface at the bottom of the rotating disk (34) is inclined in the circumferential direction. When the rotating disk (34) rotates, the inclined surface applies downward pressure to the bottom end of the transmission rod (33). When the transmission rod (33) moves downward, it drives the height limiting rod (32) to move downward, so as to squeeze and limit the top surface of the electric iron accessory placed on the processing table (2).

5. The high-efficiency automatic arc welding equipment for electric railway accessories according to claim 1, characterized in that: A slider (42) is fixedly provided on the side of the extrusion plate (41) facing away from the clamping direction. A limiting groove is provided on the processing table (2). The slider (42) slides in cooperation with the limiting groove to limit the extrusion plate (41) from moving along the axial direction of the threaded rod (43).

6. The high-efficiency automatic arc welding equipment for electric railway accessories according to claim 1, characterized in that: The pressing plate (41) is provided with an electric slide rail on the side facing the electric iron accessory. An adjusting plate (47) is fixedly provided on the electric slide rail. The adjusting plate (47) moves along the electric slide rail to press against the middle side of the electric iron accessory.

7. The high-efficiency automatic arc welding equipment for electric railway accessories according to claim 6, characterized in that: A second servo motor (48) is fixedly installed on the adjustment plate (47). A cam (49) is fixedly connected to the output shaft of the second servo motor (48). The cam (49) rotates with the output shaft of the second servo motor (48) to apply a periodic clamping force to the electric iron accessory, thereby achieving supplementary fixation of the electric iron accessory.

8. The high-efficiency automatic arc welding equipment for electric railway accessories according to claim 1, characterized in that: The robotic arm (54) is a multi-degree-of-freedom articulated robotic arm. Each joint of the robotic arm (54) can rotate independently to drive the welding head (55) to adjust the welding position and welding angle in three-dimensional space. The X-axis moving slide rail (51) drives the Z-axis moving slide rail (52) to move along the X-axis direction, and the Z-axis moving slide rail (52) drives the mounting table (53) to move along the Z-axis direction, so as to realize the large-range displacement of the welding head (55) in the X-axis and Z-axis planes.

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