An automatic weld seam tracking and adjustment device

Abstract

This invention relates to the field of welding technology in shipbuilding, and more particularly to an automatic weld seam tracking and adjustment device. The automatic weld seam tracking and adjustment device includes a portal frame and a moving assembly, the moving assembly comprising a lateral moving mechanism and a longitudinal moving mechanism. The device also includes a weld head base, on which a weld head is mounted. The weld head base has an abutment portion for contacting the workpiece to be welded, and the weld head is located slightly above and to the side of the abutment portion to maintain a specific distance between the weld head and the workpiece. One of the lateral and longitudinal moving mechanisms is used to mount the weld head base. A pre-compressed elastic element is provided between the weld head base and a second output end, so that the weld head base and the second output end tend to move away from each other under the action of the elastic element. This solves the problems of high cost, complex control, and potential delay in the vertical direction of existing automatic weld seam tracking devices.

Description

Technical Field

[0001] This invention relates to the field of welding technology in shipbuilding, and in particular to an automatic weld seam tracking and adjustment device. Background Technology

[0002] In modern shipbuilding and steel structure welding, welding quality directly affects the safety and reliability of the overall structure. With the continuous development of automation technology, automatic weld tracking systems have gradually become an important means to improve welding efficiency and ensure welding quality. For example, Chinese invention patent application CN 117773423 A, published on March 29, 2024, discloses a weld tracking processing method. This method acquires the original weld image through a visual sensor, extracts weld information through an internal algorithm, and finally controls the welding head of the welding equipment to move forward along the center line of a predetermined weld light stripe.

[0003] However, in the above technical solutions, the welding head displacement is controlled using adjusting devices such as motors or threaded rods and nuts, and the connection between the welding head and the adjusting structure is rigid. For general plate welding, the plate surface will have undulations or unevenness. During welding, if the distance between the welding head and the weld is too large, it will result in insufficient weld penetration and affect the weld strength. However, if the welding head is too close to the edge of the weld, it will not only cause the welding trajectory to deviate but may also damage the welding head and even cause unnecessary damage to the base material. Therefore, this type of automatic weld tracking processing method also includes a height adjustment device, which essentially constitutes a three-axis motion platform, increasing costs. Moreover, when using vision sensors to detect height and distance, there may be deviations, causing changes in the distance between the welding head and the weld, affecting the welding quality. In addition, weld recognition and welding head control are both real-time controls, requiring the recognition, calculation, and control of the welding head movement. The aforementioned height recognition calculation is large, and welding head control may be delayed. Summary of the Invention

[0004] In view of this, the present invention provides an automatic weld seam tracking and adjustment device to solve the problems of high cost, complex control, and potential delay in the height direction of existing automatic weld seam tracking devices.

[0005] An automatic weld seam tracking and adjustment device includes a portal frame with a moving component on the frame capable of controlling the movement of a welding head in a horizontal plane. The moving component includes a lateral moving mechanism with its output end capable of lateral movement and a longitudinal moving mechanism with its output end capable of longitudinal movement. The adjustment device also includes a welding head base, on which welding heads and weld seam identification mechanisms for identifying weld seam positions are spaced apart. The welding head base has an abutment portion for contacting the workpiece to be welded, with the welding head positioned slightly above and to the side of the abutment portion to maintain a specific distance between the welding head and the workpiece. One of the lateral and longitudinal moving mechanisms is used to mount the welding head base. One is designated as the second moving mechanism, and the other as the first moving mechanism. The output end corresponding to the first moving mechanism is designated as the first output end, and the output end corresponding to the second moving mechanism is designated as the second output end. The welding head base is mounted on the second output end, and the second moving mechanism is disposed on the first output end. The second output end is provided with a connecting hole opened in the vertical direction, and the welding head base is provided with a connecting rod located in the connecting hole. A pre-compressed elastic element is provided between the welding head base and the second output end, so that the welding head base and the second output end tend to move away from each other under the action of the elastic element, and the welding head base moves upward under the action of external force by compressing the elastic element.

[0006] Furthermore, the welding head base includes an abutment block for contacting the workpiece to be welded and a mounting plate fixedly disposed on the abutment block. The abutment block is fixedly connected to the connecting rod. The mounting plate is located on the side of the abutment block and has a horizontally arranged mounting surface. The welding head and weld seam identification mechanism are disposed on the mounting surface.

[0007] Furthermore, the mounting plate has an L-shaped cross-section, with one side fixedly connected to the abutment block and the other side having the mounting surface. The mounting plate is also provided with a welding head mounting hole for mounting the welding head.

[0008] Furthermore, the bottom of the portal frame is provided with a placement plate for placing the workpiece to be welded, and the bottom of the placement plate is provided with a hydraulic rod to control the lifting and lowering of the placement plate.

[0009] Furthermore, the side of the placement plate for receiving materials is provided with an inclined guide plate.

[0010] Furthermore, the bottom end of the welding head base is provided with a caster wheel, which constitutes the abutment part.

[0011] Furthermore, the top of the portal frame is provided with a sliding groove extending in a straight line. The first moving mechanism includes a first motor and a gear connected to the output end of the first motor and located on the upper side of the portal frame, as well as a first driving member that spans the sliding groove. The first driving member includes a rack that meshes with the gear and an extension block that spans the sliding groove. The width of the extension block is adapted to the width of the sliding groove, and the width of the rack is greater than the width of the sliding groove. The extension block constitutes the first output end.

[0012] Furthermore, the second moving mechanism includes a crossbeam, on which a threaded rod and a limiting rod arranged parallel to and spaced apart are rotatably mounted. The second moving mechanism also includes a slider that passes through the threaded rod and the limiting rod, the slider constituting a second output end. The slider slides in cooperation with the limiting rod, and the slider has a threaded hole that is threaded in cooperation with the threaded rod. The second moving mechanism also includes a second motor that drives the threaded rod to rotate.

[0013] Furthermore, the second moving mechanism also includes an encapsulation shell encapsulated outside the threaded rod and the limiting rod. The bottom of the encapsulation shell is provided with a clearance groove to allow the slider to move. A smoke purification device is provided at the clearance groove.

[0014] Furthermore, horizontally extending guide grooves are provided on the upright plates on both sides of the portal frame, and the two ends of the crossbeam are respectively inserted into the guide grooves.

[0015] The beneficial effects of the automatic weld seam tracking and adjustment device in this invention are as follows: The portal frame facilitates the installation of the entire device and allows for easy placement of the workpiece to be welded at its center, thus facilitating welding. The movable component enables the welding head to move laterally and longitudinally on the horizontal plane; controlling only lateral and longitudinal movement without a height-direction moving mechanism reduces cost and weight, and also simplifies control. The welding head base facilitates fixing the welding head, and a weld seam recognition structure is provided on the base, allowing the welding head to move around the weld seam and purposefully identify the surrounding area. The abutment portion ensures that the welding head maintains a distance from the workpiece after contact. Furthermore, the welding head base is located at the second output end. The welding head base and the second output end are connected by a connecting hole and a connecting rod, allowing the welding head to move up and down relative to the second output end. A pre-compressed elastic element is provided between the welding head base and the second output end, with its abutting end abutting against the upper surface of the workpiece. When the workpiece surface moves up and down, the welding head base will naturally move up and down under the guidance of the connecting rod and the connecting hole. Due to the setting of the elastic element, the abutting end and the workpiece are always in contact, thus making the distance between the welding head and the workpiece almost constant. That is, only the lateral and longitudinal movement of the welding head on the horizontal plane is controlled, while the movement in the height direction is adaptively adjusted by the welding head base, thereby ensuring welding quality and solving the problems of high cost, complex control, and potential delay in the height direction of the existing automatic weld tracking device.

[0016] Furthermore, the arrangement of the abutment block and mounting plate facilitates the staggering of the welding head from the abutment block, and also avoids direct contact between the abutment block and the weld.

[0017] Furthermore, the mounting plate is L-shaped to facilitate the connection and installation of welding heads.

[0018] Furthermore, the placement plate allows for easy adjustment of the height of the workpiece to be welded, thereby facilitating a reduction in the adjustment distance of the connecting rod.

[0019] Furthermore, the guide plate facilitates the placement of workpieces onto the placement plate.

[0020] Furthermore, by installing casters at the bottom of the welding head base, the frictional force of the contact part relative to the workpiece during movement can be reduced.

[0021] Furthermore, by setting gears and racks, the movement of the output end of the first moving mechanism can be easily realized, and by setting sliding grooves, the guiding movement of the first output end and the fixing of the first output end can be easily realized.

[0022] Furthermore, by setting a crossbeam threaded rod and a limit rod, the movement of the second output end can be easily realized.

[0023] Furthermore, by installing a fume purification device, the welding environment can be easily purified, reducing the possibility of blockage of the threaded structure at the threaded rod.

[0024] Furthermore, by setting guide grooves, it is convenient to move the crossbeam along its defined trajectory. Attached Figure Description

[0025] To more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings used in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0026] Figure 1 This is a schematic diagram of an embodiment of the automatic weld seam tracking and adjustment device of the present invention; Figure 2 This is a schematic diagram of the structure of the second moving mechanism and the welding head base in an embodiment of the automatic weld seam tracking and adjustment device of the present invention; Figure 3 This is a schematic diagram of the weld head base of an embodiment of the automatic weld seam tracking and adjustment device of the present invention; Figure 4 This is a schematic diagram of an embodiment of the automatic weld seam tracking and adjustment device of the present invention (some parts are hidden and the remaining parts are exploded).

[0027] The labels in the diagram represent the following: 1. Portal frame; 2. Encapsulation shell; 3. Second motor; 4. Threaded rod; 5. Limiting rod; 6. Slider; 7. Extension connecting rod; 8. Spring; 9. Abutment block; 10. Mounting plate; 11. Laser vision sensor; 12. Welding head; 13. Motor bracket; 14. First motor; 15. Gear; 16. Rack; 17. Welding head mounting hole; 18. Limiting block; 19. Guide groove; 20. Guide block; 21. Hydraulic rod; 22. Placement plate; 23. Guide plate; 24. Smoke purification device; 25. PLC controller; 26. Extension block; 27. Sliding groove. Detailed Implementation

[0028] To make the objectives, technical solutions, and advantages of this invention clearer, the invention is described below with reference to specific embodiments shown in the accompanying drawings. However, it should be understood that these descriptions are merely exemplary and not intended to limit the scope of the invention. Furthermore, descriptions of well-known structures and technologies are omitted in the following description to avoid unnecessarily obscuring the concept of the invention.

[0029] The terminology used in this disclosure is for the purpose of describing particular embodiments only and is not intended to be limiting of the disclosure. The singular forms “a,” “the,” and “the” as used in this disclosure and the appended claims are also intended to include the plural forms unless the context clearly indicates otherwise. It should also be understood that the term “and / or” as used herein refers to and includes any and all possible combinations of one or more of the associated listed items.

[0030] It should be understood that although the terms first, second, third, etc., may be used in this disclosure to describe various information, such information should not be limited to these terms and should not be construed as indicating or implying relative importance. These terms are used only to distinguish information of the same type from one another. For example, without departing from the scope of this disclosure, first information may also be referred to as second information, and similarly, second information may also be referred to as first information. Depending on the context, the word "if" as used herein may be interpreted as "when," "when," or "in response to determination."

[0031] In the description of this invention, it should be understood that the terms "longitudinal", "lateral", "up", "down", "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 limitations on this invention.

[0032] In the description of this invention, unless otherwise specified and limited, it should be noted that the terms "installation", "connection" and "linking" should be interpreted broadly. For example, they can refer to mechanical or electrical connections, or internal connections between two components. They can be direct connections or indirect connections through an intermediate medium. Those skilled in the art can understand the specific meaning of the above terms according to the specific circumstances.

[0033] In the following description, suffixes such as "module," "part," or "unit" used to denote elements are used only for the convenience of the description of the invention and have no specific meaning in themselves. Therefore, "module" and "part" can be used interchangeably.

[0034] To better understand the technical solution of the present invention, the present invention will be described in detail below with reference to the accompanying drawings.

[0035] In Embodiment 1 of the automatic weld seam tracking and adjustment device of the present invention: In this invention, the automatic weld tracking and adjustment device only has a moving structure that can control the lateral and longitudinal movement of the welding head in the horizontal plane, and no longer has a moving mechanism for controlling the height direction. In the height direction, a connecting rod and a connecting hole are used in combination with an elastic element to achieve adaptive adjustment of the welding head in the height direction.

[0036] Specifically, such as Figure 1 As shown, the automatic weld seam tracking and adjustment device in this embodiment includes a portal frame 1. The portal frame 1 has vertically arranged upright plates on both sides and a horizontal plate above the upright plates. Of course, a base plate can also be set below the upright plates on both sides. The base plate makes the portal frame 1 stronger and facilitates the placement of parts to be processed. In order to realize the movement of the welding head 12 during welding, a first moving mechanism is also provided on the portal frame 1. A second moving mechanism is also provided at the output end of the first moving mechanism. A welding head 12 base is provided on the second moving mechanism. A welding head 12 and a weld seam recognition mechanism arranged at intervals with the welding head 12 are provided on the welding head 12 base. In this embodiment, the weld seam recognition mechanism is a laser vision sensor 11. During the movement of the welding head 12, the weld seam recognition mechanism will also move accordingly. The welding head 12 will move to the weld seam for welding, and the laser vision sensor 11 will also move around the weld seam accordingly, thereby obtaining the best position for observing and recognizing the weld seam, which facilitates subsequent path planning.

[0037] like Figure 1 and Figure 4 As shown, the first moving mechanism includes a motor bracket 13 mounted on a horizontal plate. The motor bracket 13 is L-shaped, with one side perpendicular to the horizontal plate and the other side extending horizontally away from the horizontal plate. A first motor 14 is mounted on the motor bracket 13, and the output shaft of the first motor 14 extends vertically downward. A gear 15 is also fixedly connected to the output shaft of the first motor 14. A sliding groove 27 is also provided on the horizontal plate of the portal frame 1. The first moving mechanism also includes a first driving member that spans the horizontal plate. The first driving member includes a rack 16 located above the horizontal plate and meshing with the gear 15, and an extension block 26 that spans the width of the horizontal plate, extending from the top to the bottom of the horizontal plate. The extension block 26 constitutes the first output end. To reduce manufacturing costs, the rack 16 has teeth only on one side, with the other side flush. The width of the extension block 26 is adapted to the width of the sliding groove 27, which can limit the movement of the rack 16. The width of the rack 16 is greater than the width of the sliding groove 27 to prevent it from dislodging. For ease of installation, the first drive component can be configured as a split structure, meaning the extension block 26 and the rack 16 can be detachably mounted together. It is worth noting that, to reduce friction during mechanism movement, a small gap is maintained between the lower surface of the gear 15 and the upper surface of the cross plate. This gap is less than half the height of the rack 16, achieving good transmission while preventing direct contact between the end face of the gear 15 and the cross plate.

[0038] like Figure 1 and Figure 2 As shown, the extension block 26 serves as the first output end. A crossbeam is also provided at the lower end of the extension block 26, acting as the main body of the second moving mechanism. The crossbeam has a U-shaped structure, including a horizontally extending portion and downwardly extending portions at both ends. A threaded rod 4 is rotatably mounted on the downwardly extending folded plate of the crossbeam, and limiting rods 5 are arranged parallel to and spaced apart from the axis of the threaded rod 4 on the folded plate. A second motor 3 is provided at one end of the threaded rod 4, driving the threaded rod 4 to rotate. The second moving mechanism also includes a slider 6, which has threaded holes adapted to the threads on the threaded rod 4 and open holes adapted to the limiting rods 5. This ensures that the movement of the slider 6 simultaneously satisfies the limitations of both the limiting rods 5 and the threaded rod 4. Therefore, when the second motor 3 controls the rotation of the threaded rod 4, the slider 6 can only slide relative to the limiting rods 5, performing linear motion. It is worth noting that the extension block 26 needs to be fixedly connected to the crossbeam. In this embodiment, the extension block 26 and the crossbeam are integrated as a single unit. Of course, in other embodiments, the two parts can also be made detachable.

[0039] The second moving mechanism can perform translational movement under the drive of the first output end. However, the second moving mechanism is relatively large in size and weight. Therefore, to ensure the smooth operation of the second moving mechanism, horizontally extending guide grooves 19 are provided on the upright plates on both sides of the portal frame 1. The two ends of the crossbeam are inserted into the guide grooves 19, or inserts can be provided at both ends of the crossbeam to facilitate insertion into the guide grooves 19. In addition, metal dust will be generated during the welding process, and the entry of metal dust into the threaded drive will shorten its life. Therefore, in this embodiment, an encapsulation shell 2 is provided on the outside of the crossbeam, which is encapsulated outside the threaded rod 4 and the limiting rod 5. The bottom of the encapsulation shell 2 is provided with a clearance groove to allow the slider 6 to move. A fume purification device 24 is provided at the clearance groove. The encapsulation shell 2 and the fume purification device 24 reduce the amount of dust entering the threads of the threaded rod 4 and extend its service life.

[0040] The slider 6 on the second moving mechanism constitutes the output end of the second moving mechanism. In this embodiment, the moving direction of the output end of the first moving mechanism is parallel to the surface of the upright plate of the portal frame 1, and the moving direction of the output end of the second moving mechanism is perpendicular to the surface of the upright plate of the portal frame 1. The first moving mechanism is called the longitudinal moving mechanism, and the second moving mechanism is called the transverse moving mechanism. Of course, in other embodiments, the longitudinal moving mechanism can be called the second moving mechanism, and the transverse moving mechanism can be called the first moving mechanism. Alternatively, in other embodiments, other types of first and second moving mechanisms with different motion forms can be provided, but the moving directions of the output ends of the first and second moving mechanisms must remain perpendicular.

[0041] like Figure 3 As shown, a welding head 12 base is also provided on the slider 6 for mounting the welding head 12. The welding head 12 base includes a connecting rod and an abutment block 9 located at the end of the connecting rod. A connecting hole is provided at the bottom end of the slider 6, and the connecting rod is inserted into the connecting hole. The welding head 12 can move up and down relative to the slider 6 along the position defined by the connecting rod and the connecting hole. To prevent the welding head 12 base from disengaging from the slider 6, a limiting structure, such as a locking tongue, is provided on the connecting rod to prevent it from disengaging from the connecting hole. In addition, a pre-compressed spring 8 is provided between the abutment block 9 and the slider 6. Since the position of the slider 6 is fixed by the first and second moving mechanisms and cannot move upward, the abutment block 9 has a tendency to move downward. Therefore, during welding, the abutment block 9 can be pressed towards the workpiece, so that the bottom surface of the abutment block 9 is close to the workpiece. Since the welding head 12 needs to move during welding, a caster wheel is provided at the bottom end of the abutment block 9 to reduce the frictional force when the abutment block 9 moves relative to the workpiece.

[0042] To facilitate the installation of the welding head 12, an L-shaped mounting plate 10 is provided on the side of the abutment block 9. One side of the mounting plate 10 is attached and fixed to the abutment block 9, while the other side extends horizontally outward. The bottom surface of the horizontally extending side forms the mounting surface. The laser vision sensor 11 is mounted on the mounting surface with its probe facing downward. A welding head mounting hole 17 is also provided on the panel containing the mounting surface for installing the welding head 12. The axis of the welding head mounting hole 17 is perpendicular to the horizontal plane. To facilitate the installation of the welding head 12, a limiting block 18 is provided on the welding head 12, which is installed within the welding head mounting hole 17. The limiting block 18 and the welding head mounting hole 17 can be connected by interference fit, adhesive bonding, or threaded connection. It is worth noting that the bottom end of the welding head 12 is located above and to the side of the bottom end of the caster wheel, and the bottom end of the laser vision sensor 11 is also located above and to the side of the bottom end of the welding head 12. This ensures that a specific gap is always maintained between the welding head 12 and the workpiece, and the large amount of heat generated by the welding head 12 during welding is kept as far away as possible from the laser vision sensor 11, thus providing a certain degree of protection for the laser vision sensor 11. In addition, the mounting plate 10 located on one side of the abutment block 9 also allows the welding head 12 and the caster wheel to be vertically offset, so that the abutment block 9 can be offset from the weld seam. This ensures that the caster wheel on the abutment block 9 is always in contact with a relatively flat surface of the workpiece, which helps to maintain a specific distance between the welding head 12 and the weld seam.

[0043] Since the welding head 12 needs to be pressed against the surface of the workpiece during operation, and the thickness of the workpiece may vary considerably, in this embodiment, a placement plate 22 for placing the workpiece is also provided on the base plate of the portal frame 1. A hydraulic rod 21 is provided between the placement plate 22 and the base plate, thereby allowing the height of the placement plate 22 to be adjusted to accommodate the workpiece. When the workpiece is thin, the height of the placement plate 22 can be raised by the hydraulic rod 21, thereby raising the workpiece and ensuring that the upper surface of the workpiece and the abutment block 9 fit tightly together. To facilitate material supply, a downwardly inclined guide plate 23 is provided on the side of the placement plate 22 for material supply, which facilitates the transfer of the workpiece onto the placement plate 22.

[0044] For automatic control, a PLC controller 25 is also installed on the portal frame 1. The PLC controller 25 can receive the signal from the laser vision sensor 11, and then analyze it to obtain the position of the weld. Then, it controls the first motor 14 and the second motor 3 to move the welding head 12 directly above the weld. Then, under the action of the spring 8, the abutment block 9 can press against the workpiece to be welded, thereby performing welding.

[0045] Specifically, before use, the hydraulic rod 21 is adjusted according to the size of the workpiece to change the height of the placement plate 22. Then the workpiece is transferred to the placement plate 22. At this time, the universal wheel on the abutment block 9 abuts against the upper surface of the workpiece, the connecting rod is pushed upward, and the spring 8 is further compressed. Since the welding head 12 is located on the side above the abutment end, it will always maintain a specific distance from the surface of the workpiece to maintain the welding quality. Thus, the adaptive adjustment of the welding head 12 and the weld height is achieved under the premise of simplifying the structure.

[0046] It should be understood that the described embodiments are merely some, not all, of the embodiments of the present invention. All other embodiments obtained by those skilled in the art based on the embodiments of the present invention without inventive effort are within the scope of protection of the present invention.

Claims

1. An automatic weld seam tracking and adjustment device, characterized in that: The device includes a portal frame on which a moving assembly is mounted to control the movement of a welding head on a horizontal plane. The moving assembly includes a lateral moving mechanism with its output end capable of lateral movement and a longitudinal moving mechanism with its output end capable of longitudinal movement. The adjusting device also includes a welding head base, on which welding heads and weld identification mechanisms for identifying weld positions are spaced apart. The welding head base has an abutment portion for contacting the workpiece to be welded, with the welding head positioned slightly above and to the side of the abutment portion to maintain a specific distance between the welding head and the workpiece. One of the lateral and longitudinal moving mechanisms is used to mount the welding head base, denoted as the second moving mechanism. The mechanism is referred to as the first moving mechanism; the output end corresponding to the first moving mechanism is referred to as the first output end, and the output end corresponding to the second moving mechanism is referred to as the second output end. The welding head base is mounted on the second output end, and the second moving mechanism is set on the first output end. The second output end is provided with a connecting hole opened in the vertical direction, and the welding head base is provided with a connecting rod located in the connecting hole. A pre-compressed elastic element is provided between the welding head base and the second output end, so that the welding head base and the second output end tend to move away from each other under the action of the elastic element, and the welding head base moves upward under the action of external force by compressing the elastic element.

2. The automatic weld seam tracking and adjustment device according to claim 1, characterized in that: The welding head base includes an abutment block for contacting the workpiece to be welded and a mounting plate fixedly mounted on the abutment block. The abutment block is fixedly connected to a connecting rod. The mounting plate is located on the side of the abutment block and has a horizontally arranged mounting surface. The welding head and weld seam identification mechanism are provided on the mounting surface.

3. The automatic weld seam tracking and adjustment device according to claim 2, characterized in that: The mounting plate has an L-shaped cross-section, with one side fixedly connected to the abutment block and the other side having the mounting surface. The mounting plate is also provided with welding head mounting holes for welding head installation.

4. The automatic weld seam tracking and adjustment device according to any one of claims 1-3, characterized in that: The bottom of the portal frame is also provided with a placement plate for placing the workpiece to be welded, and the bottom of the placement plate is provided with a hydraulic rod to control the lifting and lowering of the placement plate.

5. The automatic weld seam tracking and adjustment device according to claim 4, characterized in that: The placement plate has an inclined guide plate on its side for receiving materials.

6. The automatic weld seam tracking and adjustment device according to any one of claims 1-3, characterized in that: The bottom end of the welding head base is provided with casters, which constitute the abutment part.

7. The automatic weld seam tracking and adjustment device according to any one of claims 1-3, characterized in that: The top of the portal frame is provided with a sliding groove extending in a straight line. The first moving mechanism includes a first motor and a gear connected to the output end of the first motor and located on the upper side of the portal frame, as well as a first driving member that spans the sliding groove. The first driving member includes a rack that meshes with the gear and an extension block that spans the sliding groove. The width of the extension block is adapted to the width of the sliding groove, and the width of the rack is greater than the width of the sliding groove. The extension block constitutes the first output end.

8. The automatic weld seam tracking and adjustment device according to claim 7, characterized in that: The second moving mechanism includes a crossbeam, on which a threaded rod and a limiting rod arranged parallel to and spaced apart are rotatably mounted. The second moving mechanism also includes a slider that passes through the threaded rod and the limiting rod, and the slider constitutes a second output end. The slider is slidably engaged with the limiting rod, and the slider is provided with a threaded hole that is threadedly engaged with the threaded rod. The second moving mechanism also includes a second motor that drives the threaded rod to rotate.

9. The automatic weld seam tracking and adjustment device according to claim 8, characterized in that: The second moving mechanism also includes an encapsulation shell encapsulated outside the threaded rod and the limiting rod. The bottom of the encapsulation shell is provided with a clearance groove to allow the slider to move. A smoke purification device is provided at the clearance groove.

10. The automatic weld seam tracking and adjustment device according to claim 8, characterized in that: The portal frame has horizontally extending guide grooves on both sides of the upright plate, and the two ends of the crossbeam are inserted into the guide grooves respectively.

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