High-precision mutual inductor shell intelligent welding system and processing method thereof

Abstract

This application discloses a high-precision intelligent welding system for current transformer housings and its processing method, relating to the technical field of current transformer manufacturing equipment. It includes a conveying mechanism, a welding mechanism, and a dust collection mechanism. The conveying mechanism includes a frame and an electric roller; the welding mechanism includes a first robotic arm and a welding torch; and the dust collection mechanism includes a second robotic arm and a dust collection assembly. The second robotic arm grasps the dust collection assembly and extends it into the inside of the workpiece, with its end close to the weld seam. The dust collection assembly includes a housing, a mounting frame, and a fan. A filter cartridge is mounted on the mounting frame, and the fan creates negative pressure inside the filter cartridge. This application uses the second robotic arm to extend the dust collection assembly into the current transformer housing, simultaneously sucking in and collecting fumes and welding slag during welding. This achieves simultaneous welding and cleaning, avoiding the problem of difficult-to-clean welding slag after it cools and solidifies on the inner wall of the housing, ensuring the cleanliness of the housing interior, and preventing the potential for insulation failure caused by residual welding slag.

Description

Technical Field

[0001] This application relates to the field of instrument transformer manufacturing equipment technology, specifically to a high-precision intelligent welding system for instrument transformer housings and its processing method. Background Technology

[0002] Instrument transformers are core devices in power systems used for measuring current, voltage, and energy. The quality of their housing welding directly affects the product's sealing performance, insulation performance, and long-term operational reliability. In the manufacturing process of high-precision instrument transformers, the housing welding process is crucial—the interior of the housing must be kept clean and dry; any residue can affect the performance of the insulating medium and the overall accuracy of the equipment.

[0003] During the welding process of the transformer housing, a large amount of welding fumes and spatter will be generated inside the housing due to the welding heat. Since the transformer housing is mostly a sealed or semi-enclosed structure, the waste gas and welding slag generated during welding must be specially removed before it can enter the subsequent assembly and lubrication process.

[0004] However, due to the limited internal space of the shell, it is difficult to clean the welding slag after it cools and solidifies. At this time, manual cleaning with a vacuum cleaner or compressed air will result in poor cleaning effect, and the residual welding slag may fall off during subsequent use, becoming a hidden danger of insulation failure. Therefore, how to provide a welding system and its processing method that can simultaneously or instantly remove internal exhaust gas and welding slag during the welding process has become a technical problem that urgently needs to be solved by those skilled in the art. Summary of the Invention

[0005] To overcome the problems existing in the prior art, this application provides a high-precision intelligent welding system for current transformer housings, which is implemented using the following technical solution: A high-precision intelligent welding system for current transformer housings includes: The conveying mechanism includes a frame and a plurality of electric rollers mounted on the frame, wherein the plurality of electric rollers drive the workpiece to be welded to be conveyed in a horizontal direction. A welding mechanism, comprising a first robotic arm and a welding torch, wherein the first robotic arm is disposed on one side of the frame and is used to grasp the welding torch and weld the workpiece; A dust collection mechanism includes a second robotic arm and a dust collection component. The second robotic arm is located on the other side of the frame and is used to grasp the dust collection component. One end of the dust collection component is connected to the second robotic arm, and the other end of the dust collection component extends to the inside of the workpiece and is close to the weld.

[0006] Optionally, the first robotic arm and the second robotic arm are symmetrically arranged on both sides of the frame, with the first robotic arm and the second robotic arm located in the middle of the frame, and the workpiece passes between the first robotic arm and the second robotic arm under the conveying of the electric roller.

[0007] Optionally, the dust collection assembly includes a housing, a mounting bracket, and a fan. The housing is a square tube with both ends connected. One end of the housing is provided with a baffle that is adapted to the opening of the workpiece. An air inlet is provided in the middle of the baffle. The mounting bracket is installed inside the housing, and a filter cartridge is provided on the mounting bracket. The bottom of the filter cartridge is closed and the top is connected to the fan. The fan is used to create negative pressure inside the filter cartridge. A cover plate is movably connected to the other end of the housing, and the other end of the housing is a drain outlet. The cover plate is used to seal the drain outlet.

[0008] Optionally, an airbag is provided on the outer wall of the baffle, the width of the airbag gradually increases from the direction away from the axis, the inner wall of the airbag is connected to the baffle, and the outer wall of the airbag fits against the opening of the workpiece.

[0009] Optionally, the mounting bracket includes a scraping part, a pushing and pulling part, and a connecting part. The scraping part is square-shaped, and the outer wall of the scraping part is in contact with the inner wall of the housing. The scraping part is located at the end of the housing closer to the workpiece, and the push-pull part is located at the end of the housing away from the workpiece. The scraping part and the push-pull part are connected by a connecting part, and the filter cartridge is fitted inside the connecting part.

[0010] Optionally, the scraping part, the pushing and pulling part, and the connecting part are integrally formed. The connecting part is provided with a pair of sealing plates. The sealing plates are used to seal the top and bottom of the filter cartridge. The air inlet of the fan passes through either of the sealing plates and communicates with the interior of the filter cartridge. The push-pull part is used to pick up and put in the filter cartridge and the scraping part, and the scraping part is used to scrape the inner wall of the housing.

[0011] Optionally, a gas supply pipe is provided through the baffle plate. One end of the gas supply pipe is connected to a gas source through a corrugated pipe, and the other end of the gas supply pipe is inserted into the inside of the workpiece. The gas source is used to supply protective gas into the workpiece.

[0012] Optionally, a movable frame is provided on the outer wall of the housing, and the movable frame is connected to the gas supply pipe by a connecting rod. A bearing seat is provided at both ends of the outer wall of the housing, and a lead screw is passed between a pair of bearing seats. The lead screw is driven by a motor, and the lower part of the movable frame is connected to the lead screw by a thread. The gas supply pipe and the baffle are in a sliding fit.

[0013] Optionally, the movable frame is provided with a notch, which is located on the same side of the housing as the fan, and the notch is used for the fan to pass through.

[0014] This application also provides a method for processing a high-precision current transformer housing, which is achieved using the following technical solution: A high-precision instrument transformer housing processing method, applied to a high-precision instrument transformer housing intelligent welding system, includes the following steps: S1. Place the workpiece to be welded on the electric roller, and the electric roller drives the workpiece to move between the first robot and the second robot. S2. The first robotic arm drives the welding torch to move to the outside of the weld seam on the shell and prepares to weld; S3. The second robotic arm drives the housing to move to the opening of the housing, and the airbag inflates, so that the outer wall of the airbag fits into the opening of the housing. S4. The welding torch starts welding, the fan starts, and the fan draws the exhaust gas and slag generated during the welding process into the casing. S5. During welding, the electric motor drives the end of the gas supply pipe to approach the weld and delivers protective gas to the weld. S6. After welding is completed, the gas source increases the flow rate to the gas supply pipe. At the same time, the motor drives the end of the gas supply pipe away from the weld. The slag is removed by blowing through the gas supply pipe. S7. Depress the airbag, the first robotic arm drives the welding torch away from the workpiece, the second robotic arm drives the housing away from the workpiece, and the electric roller drives the workpiece to the next station. End.

[0015] Compared with the prior art, this application has the following advantages: 1. The second robotic arm grips the dust collection component and extends it into the inside of the workpiece. The end of the dust collection component is close to the weld. The fan creates negative pressure inside the filter cartridge. While welding is in progress, the welding fumes and spatter are sucked in and collected in the filter cartridge in a timely manner. This achieves simultaneous welding and cleaning operations and avoids the problem of cleaning the welding slag after it cools and solidifies on the inner wall of the shell.

[0016] 2. During the welding process, the gas supply pipe delivers protective gas to the weld to prevent oxidation of the welding area and ensure weld quality. After welding, the gas source increases the supply flow rate, and at the same time, the motor drives the end of the gas supply pipe away from the weld and moves along the inner wall of the shell. The high-pressure airflow is used to purge the inner wall of the shell, blowing away the fine welding slag and dust attached to the inner wall and sucking them away with the negative pressure airflow. The same gas supply pipe simultaneously performs the dual functions of welding protection and post-weld purging.

[0017] 3. The mounting bracket includes a scraping section, a pushing and pulling section, and a connecting section. The outer wall of the scraping section fits snugly against the inner wall of the housing. When cleaning the housing or replacing the filter cartridge is required, the operator pulls the entire mounting bracket out of the housing using the pushing and pulling section. During the pulling process, the scraping section scrapes the inner wall of the housing, removing dust and welding slag adhering to the inner wall. The filter cartridge is secured in the connecting section and can be removed for replacement or cleaning, making maintenance convenient. Attached Figure Description

[0018] Figure 1 This is an illustrative three-dimensional representation of the present application. Figure 1 ; Figure 2 This is an illustrative three-dimensional representation of the present application. Figure 2 ; Figure 3 This is a reference for the explosion state of the vacuum cleaner component. Figure 1 ; Figure 4 Reference for the explosion state of the vacuum cleaner component Figure 2 ; Figure 5 This is a reference diagram showing the state of the second robotic arm holding the vacuuming component; Figure 6 This is a reference diagram showing the fit between the dust collection component and the workpiece; Figure 7 This is a cross-sectional view of the internal structure of the shell; Figure 8 This is a schematic diagram of the internal structure of the housing with the cover open; In the diagram: 1. Conveying mechanism; 11. Frame; 12. Electric roller; 2. Workpiece; 3. Welding mechanism; 31. First robotic arm; 32. Welding torch; 4. Vacuuming mechanism; 40. Second robotic arm; 5. Dust collection assembly; 51. Housing; 52. Mounting bracket; 521. Scraper; 522. Push-pull part; 523. Connecting part; 53. Fan; 54. Baffle; 541. Air inlet; 542. Airbag; 55. Filter cartridge; 550. Sealing plate; 56. Cover plate; 57. Air supply pipe; 570. Corrugated pipe; 58. Moving frame; 581. Connecting rod; 582. Bearing seat; 583. Lead screw; 584. Motor; 585. Notch. Detailed Implementation

[0019] The present application will now be further described in conjunction with the accompanying drawings and specific embodiments. It should be noted that, without conflict, the various embodiments or technical features described below can be arbitrarily combined to form new embodiments.

[0020] Figure 1 This is an illustrative three-dimensional representation of the present application. Figure 1, Figure 2 This is an illustrative three-dimensional representation of the present application. Figure 2 See also Figure 1 and Figure 2 This embodiment provides a high-precision intelligent welding system for transformer housings, including a conveying mechanism 1, a welding mechanism 3, and a dust extraction mechanism 4.

[0021] The conveying mechanism 1 includes a frame 11 and several electric rollers 12 mounted on the frame 11. The electric rollers 12 drive the workpiece 2 to be welded to be conveyed horizontally. The welding mechanism 3 includes a first robotic arm 31 and a welding torch 32. The first robotic arm 31 is located on one side of the frame 11 and is used to hold the welding torch 32 and weld the workpiece 2. The dust collection mechanism 4 includes a second robotic arm 40 and a dust collection assembly 5. The second robotic arm 40 is located on the other side of the frame 11 and is used to hold the dust collection assembly 5. One end of the dust collection assembly 5 is connected to the second robotic arm 40, and the other end of the dust collection assembly 5 extends to the inside of the workpiece 2 and is close to the weld seam.

[0022] During welding, the electric roller 12 transports the workpiece 2 to the welding station between the first robot arm 31 and the second robot arm 40. The first robot arm 31 holds the welding torch 32 and moves it to the weld position on the outer wall of the housing 51 to begin welding. The second robot arm 40 holds the dust collection assembly 5 and extends it into the housing 51 from the opening, so that the suction port of the dust collection assembly 5 is close to the inner side of the weld. The fumes and spatter generated during welding are immediately sucked in and collected by the dust collection assembly 5 after being generated under the heat of welding, and do not cool and solidify on the inner wall of the housing 51.

[0023] The first robotic arm 31 and the second robotic arm 40 are symmetrically arranged on both sides of the frame 11, with the first robotic arm 31 and the second robotic arm 40 located in the middle of the frame 11. The workpiece 2 passes between the first robotic arm 31 and the second robotic arm 40 under the conveying of the electric roller 12. The symmetrical arrangement allows the welding torch 32 and the dust collection assembly 5 to approach the weld position simultaneously from the outside and inside of the housing 51, respectively. Welding and dust collection do not interfere with each other, resulting in high efficiency of synchronous operation.

[0024] Figure 3 Reference for the explosion state of the vacuum cleaner component Figure 1 , Figure 4 Reference for the explosion state of the vacuum cleaner component Figure 2 See also Figure 3 and Figure 4The dust collection assembly 5 includes a housing 51, a mounting bracket 52, and a fan 53. The housing 51 is a square tube with both ends connected. One end of the housing 51 is provided with a baffle 54, which is adapted to the opening of the workpiece 2. An air inlet 541 is provided in the middle of the baffle 54. The mounting bracket 52 is located inside the housing 51 and is provided with a filter cartridge 55. The bottom of the filter cartridge 55 is closed, and the top is connected to the fan 53. The fan 53 is used to create negative pressure inside the filter cartridge 55. A cover plate 56 is movably connected to the other end of the housing 51. The other end of the housing 51 is a drain outlet, and the cover plate 56 is used to cover the drain outlet.

[0025] After the blower 53 starts, a negative pressure is formed inside the casing 51 and the workpiece 2. Welding fumes and slag enter the casing 51 through the air inlet 541 in the middle of the baffle 54. After being filtered by the filter cartridge 55, the fumes and slag are trapped on the outside of the filter cartridge 55, and clean air is discharged from the blower 53. After opening the cover plate 56, the collected welding slag can be discharged from the drain port.

[0026] Figure 5 This is a reference diagram showing the state of the second robotic arm holding the vacuuming component. Figure 6 This is a reference diagram showing the mating state of the dust collection component and the workpiece. (See also...) Figure 5 and Figure 6 An airbag 542 is provided on the outer wall of the baffle 54. The width of the airbag 542 gradually increases from the direction away from the axis. The inner wall of the airbag 542 is connected to the baffle 54, and the outer wall of the airbag 542 fits against the opening of the workpiece 2. After the second robot arm 40 pushes the dust collection component 5 into the opening of the housing 51, it inflates the airbag 542. After the airbag 542 expands, its outer wall fits tightly against the inner wall of the opening of the workpiece 2, forming a seal. This prevents external air from entering the workpiece 2 from the opening and interfering with the negative pressure dust collection effect, and also prevents welding fumes from leaking from the opening.

[0027] Figure 7 This is a cross-sectional view of the internal structure of the shell. Figure 8 This is a schematic diagram of the internal structure of the housing with the cover open. See also... Figure 7 and Figure 8 The mounting bracket 52 includes a scraping part 521, a pushing and pulling part 522, and a connecting part 523. The scraping part 521 is square-shaped, and its outer wall is in contact with the inner wall of the housing 51. The scraping part 521 is located at the end of the housing 51 closer to the workpiece 2, and the pushing and pulling part 522 is located at the end of the housing 51 away from the workpiece 2. The scraping part 521 and the pushing and pulling part 522 are connected by the connecting part 523, and the filter cartridge 55 is locked inside the connecting part 523. When it is necessary to clean the inside of the housing 51, the operator first opens the cover plate 56 and then pulls the mounting bracket 52 out of the housing 51 through the pushing and pulling part 522. During the movement, the scraping part 521 scrapes away the dust and welding slag adhering to the inner wall of the housing 51, keeping the inner wall of the housing 51 clean.

[0028] See Figure 7The scraping part 521, the push-pull part 522, and the connecting part 523 are integrally formed. The connecting part 523 has a pair of sealing plates 550, which seal the top and bottom of the filter cartridge 55. The air inlet of the blower 53 passes through either sealing plate 550 and communicates with the interior of the filter cartridge 55. The push-pull part 522 is used to pick up and put away the filter cartridge 55 and the scraping part 521, while the scraping part 521 scrapes the inner wall of the housing 51. The integrally formed structure ensures the overall rigidity of the mounting bracket 52, and the sealing plates 550 ensure the airflow path is sealed, ensuring that all the negative pressure generated by the blower 53 acts on the interior of the filter cartridge 55.

[0029] See Figure 6 A gas supply pipe 57 is installed on the baffle 54. One end of the gas supply pipe 57 is connected to a gas source via a corrugated pipe 570, and the other end of the gas supply pipe 57 extends into the inside of the workpiece 2. The gas source is used to supply protective gas into the workpiece 2. During welding, the gas supply pipe 57 supplies inert protective gas (such as argon) to the inside of the weld to prevent oxidation of the weld pool and ensure weld quality. The corrugated pipe 570 provides flexible compensation for the movement of the gas supply pipe 57 with the dust collection assembly 5.

[0030] See Figure 5 and Figure 6 A movable frame 58 is provided on the outer wall of the housing 51. The movable frame 58 is connected to the gas supply pipe 57 via a connecting rod 581. A bearing seat 582 is provided at both ends of the outer wall of the housing 51. A lead screw 583 passes between a pair of bearing seats 582. The lead screw 583 is driven by a motor 584. The lower part of the movable frame 58 is threadedly connected to the lead screw 583. The gas supply pipe 57 and the baffle 54 are in a sliding fit. When the motor 584 drives the lead screw 583 to rotate, the movable frame 58 moves axially along the lead screw 583. Through the connecting rod 581, the gas supply pipe 57 moves back and forth under the sliding fit of the baffle 54, achieving precise control of the end position of the gas supply pipe 57. That is, during welding, the protective gas is delivered close to the weld seam; during purging, the purging range is expanded away from the weld seam to remove weld slag. The movable frame 58 is provided with a notch 585, which is located on the same side of the housing 51 as the blower 53. The notch 585 allows the blower 53 to pass through. The notch 585 provides installation and clearance space for the fan 53, preventing interference between the moving frame 58 and the fan 53 when the frame moves.

[0031] This embodiment also provides a method for processing a high-precision instrument transformer housing.

[0032] A high-precision instrument transformer housing processing method, applied to a high-precision instrument transformer housing intelligent welding system, includes the following steps: S1. Place the workpiece 2 to be welded on the electric roller 12, and drive the workpiece 2 to move between the first robot 31 and the second robot 40. S2. The first robotic arm 31 drives the welding torch 32 to move to the outside of the weld seam of the housing 51 and prepares to weld. S3. The second robotic arm 40 drives the housing 51 to move to the opening of the housing 51, and the airbag 542 inflates, so that the outer wall of the airbag 542 fits against the opening of the housing 51. S4. Welding torch 32 starts welding, and fan 53 starts. Fan 53 draws the waste gas and waste residue generated by welding torch 32 into housing 51. S5. During welding, the electric motor 584 drives the end of the gas pipe 57 to approach the weld and delivers protective gas to the weld. S6. After welding is completed, the gas source increases the flow rate to the gas supply pipe 57. At the same time, the motor 584 drives the end of the gas supply pipe 57 away from the weld. The slag is removed by blowing through the gas supply pipe 57. S7, the airbag 542 deflates, the first robot arm 31 drives the welding torch 32 away from the workpiece 2, the second robot arm 40 drives the housing 51 away from the workpiece 2, the electric roller 12 drives the workpiece 2 to move to the next station, and the process is complete.

[0033] The above embodiments are merely preferred embodiments of this application and should not be construed as limiting the scope of protection of this application. Any non-substantial changes and substitutions made by those skilled in the art based on this application shall fall within the scope of protection claimed by this application.

Claims

1. A high-precision intelligent welding system for current transformer housings, characterized in that, include: The conveying mechanism (1) includes a frame (11) and a plurality of electric rollers (12) mounted on the frame (11). The plurality of electric rollers (12) drive the workpiece (2) to be welded to be conveyed in the horizontal direction. Welding mechanism (3), the welding mechanism (3) includes a first manipulator (31) and a welding torch (32), the first manipulator (31) is located on one side of the frame (11), the first manipulator (31) is used to hold the welding torch (32) and weld the workpiece (2); The dust collection mechanism (4) includes a second robotic arm (40) and a dust collection component (5). The second robotic arm (40) is located on the other side of the frame (11) and is used to grip the dust collection component (5). One end of the dust collection component (5) is connected to the second robotic arm (40), and the other end of the dust collection component (5) extends to the inside of the workpiece (2). The other end of the dust collection component (5) is close to the weld.

2. The high-precision intelligent welding system for current transformer housing according to claim 1, characterized in that, The first robotic arm (31) and the second robotic arm (40) are symmetrically arranged on both sides of the frame (11), and the first robotic arm (31) and the second robotic arm (40) are located in the middle of the frame (11). The workpiece (2) passes between the first robotic arm (31) and the second robotic arm (40) under the conveying of the electric roller (12).

3. The high-precision intelligent welding system for current transformer housing according to claim 1, characterized in that, The dust collection assembly (5) includes a housing (51), a mounting bracket (52) and a fan (53). The housing (51) is a square tube with both ends connected. One end of the housing (51) is provided with a baffle (54). The baffle (54) is adapted to the opening of the workpiece (2). The middle part of the baffle (54) is provided with an air inlet (541). The mounting bracket (52) is located inside the housing (51). The mounting bracket (52) is provided with a filter cartridge (55). The bottom of the filter cartridge (55) is closed and the top is connected to the fan (53). The fan (53) is used to create negative pressure inside the filter cartridge (55). The other end of the housing (51) is movably connected to a cover plate (56), and the other end of the housing (51) is a drain outlet. The cover plate (56) is used to cover the drain outlet.

4. The high-precision intelligent welding system for current transformer housing according to claim 3, characterized in that, An airbag (542) is provided on the outer wall of the baffle (54). The width of the airbag (542) gradually increases from the direction away from the axis. The inner wall of the airbag (542) is connected to the baffle (54), and the outer wall of the airbag (542) fits against the opening of the workpiece (2).

5. The high-precision intelligent welding system for current transformer housing according to claim 3, characterized in that, The mounting bracket (52) includes a scraping part (521), a push-pull part (522) and a connecting part (523). The scraping part (521) is square-shaped, and the outer wall of the scraping part (521) is attached to the inner wall of the housing (51). The scraping part (521) is located at one end of the housing (51) near the workpiece (2), and the push-pull part (522) is located at one end of the housing (51) away from the workpiece (2). The scraping part (521) and the push-pull part (522) are connected by a connecting part (523), and the filter cartridge (55) is fitted inside the connecting part (523).

6. The high-precision intelligent welding system for current transformer housing according to claim 5, characterized in that, The scraping part (521), the push-pull part (522) and the connecting part (523) are integrally formed. The connecting part (523) is provided with a pair of sealing plates (550). The sealing plates (550) are used to seal the top and bottom of the filter cartridge (55). The air inlet of the fan (53) passes through either of the sealing plates (550) and communicates with the interior of the filter cartridge (55). The push-pull part (522) is used to pick up and put in the filter cartridge (55) and the scraping part (521), and the scraping part (521) is used to scrape the inner wall of the housing (51).

7. The high-precision intelligent welding system for current transformer housing according to claim 5, characterized in that, A gas supply pipe (57) is provided on the baffle (54). One end of the gas supply pipe (57) is connected to the gas source through a corrugated pipe (570), and the other end of the gas supply pipe (57) is inserted into the inside of the workpiece (2). The gas source is used to supply protective gas into the workpiece (2).

8. The high-precision intelligent welding system for current transformer housing according to claim 7, characterized in that, A movable frame (58) is provided on the outer wall of the housing (51). The movable frame (58) is connected to the gas pipe (57) by a connecting rod (581). A bearing seat (582) is provided at both ends of the outer wall of the housing (51). A lead screw (583) is passed between a pair of bearing seats (582). The lead screw (583) is driven by a motor (584). The lower part of the movable frame (58) is connected to the lead screw (583) by a thread. The gas supply pipe (57) and the baffle (54) are in a sliding fit.

9. A high-precision intelligent welding system for current transformer housing according to claim 7, characterized in that, The movable frame (58) is provided with a notch (585), the notch (585) and the fan (53) are located on the same side of the housing (51), and the notch (585) is used for the fan (53) to pass through.

10. A method for processing a high-precision instrument transformer housing, applied to the intelligent welding system for a high-precision instrument transformer housing as described in claim 8, characterized in that, Includes the following steps: S1. Place the workpiece (2) to be welded on the electric roller (12), and the electric roller (12) drives the workpiece (2) to move between the first robot (31) and the second robot (40); S2. The first robotic arm (31) drives the welding torch (32) to move to the outside of the weld seam of the housing (51) and prepares to weld; S3. The second robotic arm (40) drives the housing (51) to move to the opening of the housing (51), and the airbag (542) is inflated, so that the outer wall of the airbag (542) fits against the opening of the housing (51). S4. Welding torch (32) starts welding, fan (53) starts, fan (53) sucks the waste gas and waste residue generated by welding torch (32) into housing (51) during welding; S5. During welding, the electric motor (584) drives the end of the gas pipe (57) to approach the weld and deliver protective gas to the weld. S6. After welding is completed, the gas source increases the flow rate to the gas supply pipe (57). At the same time, the motor (584) drives the end of the gas supply pipe (57) away from the weld. The slag is removed by blowing through the gas supply pipe (57). S7. The airbag (542) is deflated. The first robot (31) drives the welding gun (32) away from the workpiece (2). The second robot (40) drives the housing (51) away from the workpiece (2). The electric roller (12) drives the workpiece (2) to move to the next station. The process is complete.

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