Tower foot welding device based on six-axis welding robot

Abstract

The utility model relates to the technical field of welding, in particular to a tower foot welding device based on a six-axis welding robot, which comprises a welding platform, and the six-axis welding robot, a positioner, a gun cleaning station, a barreled welding wire bracket, a circuit cover plate, a control cabinet and a distribution box are respectively arranged on the welding platform. The six-axis welding robot, the positioner, the gun cleaning station, the barreled welding wire support, the circuit cover plate, the control cabinet and the distribution box are integrated to the welding platform in a unified mode, linkage control over equipment on the welding platform is achieved through the control cabinet, full-automatic welding is achieved, and the welding quality is improved and stabilized.

Description

Technical Field

[0001] The present invention relates to the field of welding technology, and in particular to a tower foot welding device based on a six-axis welding robot. Background Art

[0002] With the continuous development of intelligent welding technology, the application of welding robots has become more and more common. However, due to the variety of welded parts, different shapes and diverse sizes, the application of welding robots requires manual assistance to complete. Currently, the status quo of existing similar tower foot welding centers on the market is as follows: 1. The tower feet have similar shapes, but there are many varieties and small batches, and the welding programming of six-axis welding robots is cumbersome and the learning cost is high; 2. The welding quality requirements for tower feet are strict. At present, most of them are manually welded, the welding quality is unstable, the working environment is harsh, and the labor intensity of workers is high; 3. The robot and the positioner are not on the same platform and need to be fixed separately, occupying a large area and the on-site debugging is cumbersome; 4. The positioner is small and the load-bearing capacity is limited, and it cannot meet all tower foot models.

[0003] In the prior art, the tower foot welding by welding robots has not completely separated from manual operation, resulting in a low level of intelligence in the welding process and unstable welding quality. Summary of the Invention

[0004] Therefore, the present invention provides a tower foot welding device based on a six-axis welding robot. By integrating the six-axis welding robot, positioner, gun cleaning station, barrel-shaped wire feeder support, line cover plate, control cabinet and distribution box onto the welding platform and through the linkage control of the equipment on the welding platform by the control cabinet, it is used to solve the problems of low intelligence level in the welding process and unstable welding quality in the prior art.

[0005] To achieve the above object, the present invention provides a tower foot welding device based on a six-axis welding robot. The device includes a welding platform, on which a six-axis welding robot, a positioner, a gun cleaning station, a barrel-shaped wire feeder support, a line cover plate, a control cabinet and a distribution box are respectively arranged. Among them,

[0006] The six-axis welding robot is arranged at one end of the welding platform and is fixedly connected to the welding platform by bolts for welding the tower foot to be welded; the positioner is arranged below the six-axis welding robot for fixing the tower foot to be welded and adjusting the position of the tower foot to be welded when the six-axis welding robot is welding; the gun cleaning station is arranged adjacent to the six-axis welding robot for cleaning the welding gun of the six-axis welding robot; the barrel-shaped wire feeder support is arranged above the welding platform for conveying welding wire to the welding robot after being connected to a wire feeder; the line cover plate is arranged inside the welding platform for covering the internal lines;

[0007] The control cabinet is arranged on the welding platform and is respectively connected with the six-axis welding robot, the positioner, the gun cleaning station and the wire feeder to control the movement of the six-axis welding robot, the positioner, the gun cleaning station and the wire feeder and to adjust the rotation angle of the rotary chuck on the positioner in the horizontal direction according to the positional relationship between the welding gun and the tower foot to be welded;

[0008] The distribution box is connected to the six-axis welding robot, the positioner, the gun cleaning station, the wire feeder, and the control cabinet to distribute electric energy to electrical equipment according to power demand.

[0009] Furthermore, the six-axis welding robot includes a robot fixed seat, a turntable, a large arm, a middle arm, a small arm, a swing arm, a welding gun, a first axis, a second axis, a third axis, a fourth axis, a fifth axis and a sixth axis, wherein the turntable is rotatably connected to the robot fixed seat through the first axis, the large arm is rotatably connected to the turntable through the second axis, the middle arm is rotatably connected to the large arm through the third axis, the small arm is rotatably connected to the middle arm through the fourth axis, the swing arm is rotatably connected to the small arm through the fifth axis, and the welding gun is rotatably connected to the swing arm through the sixth axis; a wire feeder connecting plate is provided above the connection between the middle arm and the third axis, for feeding the welding gun after being connected to the wire feeder feeding welding wire; a laser fixing wire clamp is arranged at the end of the connection between the swing arm and the sixth axis to fix the connecting wire of the laser; the six-axis welding robot also includes a wire harness, which is sequentially passed through the turntable, the upper arm, the middle arm, the lower arm and the swing arm from the robot fixing seat and is connected to the welding gun, and the wire harness is provided with a movable margin; the robot fixing seat is a cylindrical metal cylinder, a base welding plate is arranged at the bottom of the robot fixing seat, a plurality of metal ribs are arranged at the connection between the base welding plate and the metal cylinder, a positioning reference hole is arranged on the base welding plate at the middle position of the two metal ribs, and the hexagon socket bolt passes through the positioning reference hole and is fixedly connected to the position corresponding to the welding platform.

[0010] Furthermore, the positioner includes an active support, an intermediate support and a passive support, wherein the active support and the passive support are fixedly connected to the ground via a ground fixing plate, respectively; a support plate is fixedly connected between the active support and the passive support to form a fixed seat; the base of the intermediate support is arranged below the fixed seat; a rotary chuck for driving the tower foot to be welded to move synchronously is arranged above the fixed seat and is connected to the base of the intermediate support via a rotating shaft; the rotary chuck includes a support seat, and a plurality of first plug bolts are inserted into the support seat. The first plug bolt passes through the support seat and is threadedly connected to the end of the rotating shaft away from the fixed seat, and the first plug bolt is completely located in the support seat and the fixed seat; the rotary chuck also includes a plurality of connecting plates, which extend outward from the support seat, and the rotary chuck is provided with a fixing mechanism for fixing the tower foot to be welded, and the fixing mechanism includes a tower foot clamp, and the tower foot clamp is arranged at one end extending along the length direction of the connecting plate, and the tower foot clamp includes a first limit member and a second limit member, the first limit member is used to limit the tower foot to be welded in the horizontal direction, and the second limit member is used to limit the tower foot to be welded in the vertical direction.

[0011] Furthermore, the active bracket of the positioner is connected to the first drive motor, and the first drive motor is used to drive the active bracket of the positioner to move in the vertical direction, and the active bracket of the positioner drives the passive bracket of the positioner to move in the vertical direction; the intermediate bracket of the positioner is connected to the second drive motor, and is used to drive the rotary chuck to rotate in the horizontal direction.

[0012] Furthermore, the control cabinet adjusts the movement direction of the active bracket and the passive bracket of the positioner and the height of the active bracket and the passive bracket of the positioner in the vertical direction according to the height of the tower foot to be welded; the control cabinet controls the movement of the six-axis welding robot according to the positional relationship between the welding position of the tower foot to be welded and the welding gun, and jointly adjusts the horizontal rotation angle of the rotary chuck on the middle bracket of the positioner.

[0013] Further, the gun cleaning station includes a base, which is bolted to the welding platform. Above the base, a box body is provided. Inside the box body, an oil mist spraying device is arranged, and the oil mist spraying device is connected to an oil mist separator. Below the oil mist spraying device, an air filtering device is provided, and the air filtering device is bolted to the box body. Above one side wall opposite to the box body and the oil mist spraying device, a wire cutting device is provided, and below the wire cutting device, a collector is provided for collecting welding wire waste. Inside the box body, a reamer driving device is fixedly installed, and below the reamer driving device, a motor lifting device is fixedly installed, and the motor lifting device is bolted to the inside of the box body. Below the inside of the box body, a control valve assembly is provided. On one side wall inside the box body, a nozzle clamping device is provided, and the nozzle clamping device is bolted to the box body.

[0014] Further, above the welding platform, a drum welding wire support is provided for installing drum welding wire, and the drum welding wire support conveys welding wire to the welding torch after being connected to a wire feeder.

[0015] Further, the circuit cover plate includes a first circuit cover plate and a second circuit cover plate. The first circuit cover plate is fixedly connected to the welding platform, and the second circuit cover plate is movably connected to the welding platform through spring washers. Below the circuit cover plate, a circuit groove is provided for collecting the internal circuits.

[0016] Further, a number of anchor fixing plates are equidistantly arranged around the welding platform, and below each anchor fixing plate, an anchor backing plate is provided for the welding platform to be bolted to the ground through stainless steel socket head cap screws, the anchor fixing plates, and the anchor backing plates.

[0017] Further, a heat dissipation device is arranged inside the distribution box for dissipating heat inside the distribution box.

[0018] Compared with the prior art, the beneficial effects of the present invention are as follows: by integrating a six-axis welding robot, a positioner, a gun cleaning station, a drum welding wire support, a circuit cover plate, a control cabinet, and a distribution box onto the welding platform, full-automatic welding is achieved without manual operation, improving the production capacity of the enterprise, improving the working environment of workers, and reducing the labor intensity of workers; by arranging the control cabinet on the welding platform and connecting it to the six-axis welding robot, the positioner, the gun cleaning station, and the wire feeder respectively, one-key startup of the equipment is realized to perform all-round welding on the tower foot; according to the positional relationship between the welding robot and the tower foot to be welded, the positioner adjusts the height of the tower foot to be welded in the vertical direction and rotates and adjusts the angle in the horizontal direction to realize precise welding of the welding part by the welding robot, improving and stabilizing the welding quality and improving the consistency of product quality. Description of the Drawings

[0019] Figure 1 The front view of the general assembly drawing of the tower foot welding device based on a six-axis welding robot provided by an embodiment of the present invention;

[0020] Figure 2 The left view of the general assembly drawing of the tower foot welding device based on a six-axis welding robot provided by an embodiment of the present invention;

[0021] Figure 3 The front view of the welding platform of the tower foot welding device based on a six-axis welding robot provided by an embodiment of the present invention;

[0022] Figure 4 The left view of the welding platform of the tower foot welding device based on a six-axis welding robot provided by an embodiment of the present invention;

[0023] Figure 5 The assembly drawing of the six-axis welding robot of the tower foot welding device based on a six-axis welding robot provided by an embodiment of the present invention;

[0024] Figure 6 The front view of the turntable of the tower foot welding device based on a six-axis welding robot provided by an embodiment of the present invention;

[0025] Figure 7 The left view of the turntable of the tower foot welding device based on a six-axis welding robot provided by an embodiment of the present invention;

[0026] Figure 8 The assembly drawing of the gun cleaning station of the tower foot welding device based on a six-axis welding robot provided by an embodiment of the present invention;

[0027] Reference numerals: 1, welding platform; 2, six-axis welding robot; 3, turntable; 4, gun cleaning station; 5, barrel wire support; 6, line cover plate; 7, control cabinet; 8, distribution box; 101, floor fixing plate; 102, floor backing plate; 103, hexagon socket head cap screw; 201, fixing seat; 202, turntable; 203, large arm; 204, middle arm; 205, small arm; 206, swing arm; 207, welding torch; 208, first axis; 209, second axis; 210, third axis; 211, fourth axis; 212, fifth axis; 213, sixth axis; 214, wire feeder connecting plate; 215, laser fixing wire clamp; 216, wire harness; 217, base welding plate; 218, fin; 301, turntable driving support; 302, turntable intermediate support; 303, turntable driven support; 304, fixing seat; 305, rotary chuck; 306, support seat; 307, first plug bolt; 308, connecting plate; 309, tower foot fixture; 401, base; 402, box body; 403, collector; 601, first line cover plate; 602, second line cover plate. Detailed implementation manners

[0028] In order to make the objectives and advantages of the present invention more clear and understandable, the present invention will be further described below in conjunction with embodiments; it should be understood that the specific embodiments described herein are only used to explain the present invention and are not used to limit the present invention.

[0029] The preferred embodiments of the present invention will be described below with reference to the accompanying drawings. Those skilled in the art should understand that these embodiments are only used to explain the technical principles of the present invention and do not limit the protection scope of the present invention.

[0030] It should be noted that in the description of the present invention, the terms indicating directions or positional relationships such as "upper", "lower", "left", "right", "inner", "outer", etc. are based on the directions or positional relationships shown in the drawings. This is only for convenience of description and does not indicate or imply that the device or element must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of the present invention.

[0031] In addition, it should also be noted that in the description of the present invention, unless otherwise clearly specified and limited, the terms "installation", "connection", and "connection" should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be directly connected or indirectly connected through an intermediate medium, and it can be the communication inside two elements. For those skilled in the art, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0032] For the tower foot welding device based on a six-axis welding robot, please refer to Figure 1-8 as shown, and it can be implemented in the following manner:

[0033] As Figure 1-2 shown, the device includes a welding platform 1, on which a six-axis welding robot 2, a positioner 3, a gun cleaning station 4, a barrel wire feeder support 5, a line cover plate 6, a control cabinet 7, and a distribution box 8 are respectively arranged. Among them,

[0034] The six-axis welding robot is arranged at one end of the welding platform and is fixedly connected to the welding platform by bolts for welding the tower foot to be welded; the positioner is arranged below the six-axis welding robot for fixing the tower foot to be welded and adjusting the position of the tower foot to be welded during the welding of the six-axis welding robot; the gun cleaning station is arranged adjacent to the six-axis welding robot for cleaning the welding gun of the six-axis welding robot; the barrel wire feeder support is arranged above the welding platform for conveying wire to the welding robot after being connected to a wire feeder; the line cover plate is arranged inside the welding platform for covering the internal lines;

[0035] The control cabinet is arranged on the welding platform and is respectively connected with the six-axis welding robot, the positioner, the gun cleaning station and the wire feeder to control the movement of the six-axis welding robot, the positioner, the gun cleaning station and the wire feeder and to adjust the rotation angle of the rotary chuck on the positioner in the horizontal direction according to the positional relationship between the welding gun and the tower foot to be welded;

[0036] The distribution box is connected to the six-axis welding robot, positioner, gun cleaning station, wire feeder, and control cabinet to distribute electrical energy to electrical equipment according to power demand.

[0037] Specifically, the measuring equipment measures the tower foot to be welded to obtain the robot welding parameters, and then hoist the tower foot to be welded onto the positioner. The automatic clamping tool firmly fixes the tower foot to be welded. It is set on the welding platform through the control cabinet and connected to the six-axis welding robot, positioner, gun cleaning station, and wire feeder respectively. After inputting the measurement parameters into the robot, the equipment can be started for welding with one click.

[0038] By integrating the six-axis welding robot, positioner, gun cleaning station, barreled welding wire holder, line cover, control cabinet and distribution box into the welding platform, fully automated welding is achieved without the need for manual operation.

[0039] like Figure 5 As shown, specifically, the six-axis welding robot includes a robot fixed seat 201, a turntable 202, a large arm 203, a middle arm 204, a small arm 205, a swing arm 206, a welding gun 207, a first axis 208, a second axis 209, a third axis 210, a fourth axis 211, a fifth axis 212 and a sixth axis 213, wherein the turntable is rotatably connected to the robot fixed seat through the first axis, the large arm is rotatably connected to the turntable through the second axis, the middle arm is rotatably connected to the large arm through the third axis, the small arm is rotatably connected to the middle arm through the fourth axis, the swing arm is rotatably connected to the small arm through the fifth axis, and the welding gun is rotatably connected to the swing arm through the sixth axis; a wire feeder connecting plate 214 is provided above the connection between the middle arm and the third axis for After connecting with the wire feeder, the welding wire is fed to the welding gun; a laser fixing wire clamp 215 is arranged at the end of the connection between the swing arm and the sixth axis to fix the connecting wire of the laser; the six-axis welding robot also includes a wire harness 216, which is successively passed through the turntable, the upper arm, the middle arm, the lower arm and the swing arm from the robot fixing seat and is connected to the welding gun, and the wire harness is provided with a movable margin; the robot fixing seat is a cylindrical metal cylinder, a base welding plate 217 is arranged at the bottom of the robot fixing seat, a plurality of metal ribs 218 are arranged at the connection between the base welding plate and the metal cylinder, a positioning reference hole is arranged on the base welding plate in the middle of the two metal ribs, and the hexagon socket bolt passes through the positioning reference hole and is fixedly connected to the position corresponding to the welding platform.

[0040] like Figures 6-7As shown, specifically, the positioner includes an active support 301, an intermediate support 302 and a passive support 303, wherein the active support and the passive support are fixedly connected to the ground through a ground fixing plate, respectively, a support plate is fixedly connected between the active support and the passive support to form a fixed seat 304, the base of the intermediate support is arranged below the fixed seat, a rotary chuck 305 for driving the tower foot to be welded to move synchronously is arranged above the fixed seat and is connected to the base of the intermediate support of the positioner through a rotating shaft, the rotary chuck includes a support seat 306, and a plurality of The first plug-in bolt 307, after passing through the support seat, is threadedly connected to the end of the rotating shaft away from the fixed seat, and the first plug-in bolt is completely located in the support seat and the fixed seat; the rotary chuck also includes a plurality of connecting plates 308, and the connecting plates extend outward from the support seat. The rotary chuck is provided with a fixing mechanism for fixing the tower foot to be welded, and the fixing mechanism includes a tower foot clamp 309, and the tower foot clamp is arranged at one end extending along the length direction of the connecting plate. The tower foot clamp includes a first limit member and a second limit member, and the first limit member is used to limit the tower foot to be welded in the horizontal direction, and the second limit member is used to limit the tower foot to be welded in the vertical direction.

[0041] Specifically, the active bracket of the positioner is connected to the first drive motor, which is used to drive the active bracket of the positioner to move in the vertical direction, and the active bracket of the positioner drives the passive bracket of the positioner to move in the vertical direction; the middle bracket of the positioner is connected to the second drive motor to drive the rotary chuck to rotate in the horizontal direction.

[0042] Specifically, the control cabinet adjusts the movement direction of the active bracket and the passive bracket of the positioner and the height of the active bracket and the passive bracket of the positioner in the vertical direction according to the height of the tower foot to be welded; the control cabinet controls the movement of the six-axis welding robot according to the position relationship between the welding position of the tower foot to be welded and the welding gun, and adjusts the horizontal rotation angle of the rotary chuck on the middle bracket of the positioner in a linked manner.

[0043] According to the positional relationship between the welding robot and the tower foot to be welded, the positioner adjusts the height of the tower foot to be welded in the vertical direction and rotates and adjusts the angle in the horizontal direction, so as to realize the precise welding of the welding part by the welding robot, improve and stabilize the welding quality, and improve the consistency of product quality.

[0044] like Figure 8As shown in the figure, specifically, the gun cleaning station includes a base 401, which is bolted to the welding platform. Above the base, a box body 402 is provided. Inside the box body, an oil mist spraying device is arranged. The oil mist spraying device is connected to an oil mist separator. Below the oil mist spraying device, an air filtering device is arranged, and the air filtering device is bolted to the box body. Above one side wall opposite to the box body and the oil mist spraying device, a wire cutting device is arranged. Below the wire cutting device, a collector 403 is provided for collecting welding wire waste. Inside the box body, a reamer driving device is fixedly installed. Below the reamer driving device, a motor lifting device is fixedly installed, and the motor lifting device is bolted to the inside of the box body. Below the inside of the box body, a control valve assembly is arranged. On one side wall inside the box body, a nozzle clamping device is arranged, and the nozzle clamping device is bolted to the box body.

[0045] Specifically, above the welding platform, a barrel-shaped welding wire support is arranged for installing the barrel-shaped welding wire. The barrel-shaped welding wire support conveys the welding wire to the welding torch after being connected to the wire feeder.

[0046] Specifically, as Figure 3 shown, the circuit cover plate includes a first circuit cover plate 601 and a second circuit cover plate 602. Among them, the first circuit cover plate is fixedly connected to the welding platform, and the second circuit cover plate is movably connected to the welding platform through a spring washer. Below the circuit cover plate, a circuit groove is arranged for collecting internal circuits.

[0047] Specifically, as Figure 4 shown, several floor fixing plates 101 are equidistantly arranged around the welding platform. Below each floor fixing plate, a floor backing plate 102 is arranged, so that the welding platform is bolted to the ground through stainless steel socket head cap screws 103, floor fixing plates, and floor backing plates.

[0048] Specifically, a heat dissipation device is arranged inside the distribution box for dissipating heat inside the distribution box.

[0049] So far, the technical solution of the present invention has been described in conjunction with the preferred embodiments shown in the accompanying drawings. However, it is easy for those skilled in the art to understand that the protection scope of the present invention is obviously not limited to these specific embodiments. Without departing from the principle of the present invention, those skilled in the art can make equivalent changes or substitutions to the relevant technical features, and the technical solutions after these changes or substitutions will all fall within the protection scope of the present invention.

[0050] The above are only the preferred embodiments of the present invention and are not used to limit the present invention. For those skilled in the art, the present invention can have various changes and modifications. Any modification, equivalent substitution, improvement, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. A tower foot welding device based on a six-axis welding robot, characterized in that: It includes a welding platform, on which a six-axis welding robot, a positioner, a gun cleaning station, a barreled welding wire support, a circuit cover, a control cabinet and a distribution box are respectively arranged. The six-axis welding robot is arranged at one end of the welding platform and is fixedly connected to the welding platform by bolts, so as to weld the tower foot to be welded; the positioner is arranged below the six-axis welding robot, so as to fix the tower foot to be welded and adjust the position of the tower foot to be welded when the six-axis welding robot is welding; the gun cleaning station is arranged adjacent to the six-axis welding robot, so as to clean the welding gun for the six-axis welding robot; the barreled welding wire holder is arranged above the welding platform, so as to feed the welding wire to the welding robot after being connected with the wire feeder; the circuit cover is arranged on the inner side of the welding platform, so as to cover the internal circuit; The control cabinet is arranged on the welding platform and is respectively connected with the six-axis welding robot, the positioner, the gun cleaning station and the wire feeder to control the movement of the six-axis welding robot, the positioner, the gun cleaning station and the wire feeder and to adjust the rotation angle of the rotary chuck on the positioner in the horizontal direction according to the positional relationship between the welding gun and the tower foot to be welded; The distribution box is connected to the six-axis welding robot, the positioner, the gun cleaning station, the wire feeder, and the control cabinet to distribute electric energy to electrical equipment according to power demand.

2. The tower foot welding device based on a six-axis welding robot according to claim 1 is characterized in that: The six-axis welding robot includes a robot fixed seat, a turntable, a large arm, a middle arm, a small arm, a swing arm, a welding gun, a first axis, a second axis, a third axis, a fourth axis, a fifth axis and a sixth axis, wherein the turntable is rotatably connected to the robot fixed seat through the first axis, the large arm is rotatably connected to the turntable through the second axis, the middle arm is rotatably connected to the large arm through the third axis, the small arm is rotatably connected to the middle arm through the fourth axis, the swing arm is rotatably connected to the small arm through the fifth axis, and the welding gun is rotatably connected to the swing arm through the sixth axis; a wire feeder connecting plate is provided above the connection between the middle arm and the third axis, which is used to transport welding wire to the welding gun after being connected to the wire feeder. ; A laser fixing wire clamp is provided at the end of the connection between the swing arm and the sixth axis to fix the connecting wire of the laser; the six-axis welding robot also includes a wire harness, which is sequentially passed through the turntable, the upper arm, the middle arm, the lower arm and the swing arm from the robot fixing seat and is connected to the welding gun, and the wire harness is provided with a movable margin; the robot fixing seat is a cylindrical metal cylinder, a base welding plate is provided at the bottom of the robot fixing seat, a plurality of metal ribs are provided at the connection between the base welding plate and the metal cylinder, a positioning reference hole is provided on the base welding plate in the middle of the two metal ribs, and the hexagon socket bolt passes through the positioning reference hole and is fixedly connected to the position corresponding to the welding platform.

3. The tower foot welding device based on a six-axis welding robot according to claim 2 is characterized in that: The positioner includes an active support, an intermediate support and a passive support, wherein the active support and the passive support are fixedly connected to the ground via a ground fixing plate, respectively; a support plate is fixedly connected between the active support and the passive support to form a fixed seat; the base of the intermediate support is arranged below the fixed seat; a rotary chuck for driving the tower foot to be welded to move synchronously is arranged above the fixed seat and is connected to the base of the intermediate support via a rotating shaft; the rotary chuck includes a support seat, and a plurality of first plug bolts are inserted into the support seat; The first plug bolt passes through the support seat and is threadedly connected to the end of the rotating shaft away from the fixed seat, and the first plug bolt is completely located in the support seat and the fixed seat; the rotary chuck also includes a plurality of connecting plates, which extend outward from the support seat, and the rotary chuck is provided with a fixing mechanism for fixing the tower foot to be welded, and the fixing mechanism includes a tower foot clamp, and the tower foot clamp is arranged at one end extending along the length direction of the connecting plate, and the tower foot clamp includes a first limit member and a second limit member, the first limit member is used to limit the tower foot to be welded in the horizontal direction, and the second limit member is used to limit the tower foot to be welded in the vertical direction.

4. The tower foot welding device based on a six-axis welding robot according to claim 3 is characterized in that: The active support of the positioner is connected to the first drive motor, and the first drive motor is used to drive the active support of the positioner to move in the vertical direction. The active support of the positioner drives the passive support of the positioner to move in the vertical direction; the intermediate support of the positioner is connected to the second drive motor, and is used to drive the rotary chuck to rotate in the horizontal direction.

5. The tower foot welding device based on a six-axis welding robot according to claim 4 is characterized in that: The control cabinet adjusts the movement direction of the active support and the passive support of the positioner and the height of the active support and the passive support of the positioner in the vertical direction according to the height of the tower foot to be welded; The control cabinet controls the movement of the six-axis welding robot according to the position relationship between the welding position of the tower foot to be welded and the welding gun, and jointly adjusts the horizontal rotation angle of the rotary chuck on the intermediate bracket of the positioner.

6. The tower foot welding device based on a six-axis welding robot according to claim 5 is characterized in that: The gun cleaning station includes a base, which is bolted to the welding platform, a box is arranged above the base, an oil spray mist device is arranged inside the box, the oil spray mist device is connected to the oil mist device, an air filter device is arranged below the oil spray mist device, the air filter device is connected to the box by bolts, a wire cutting device is arranged above the side wall opposite to the box and the oil spray mist device, a collector is arranged below the wire cutting device for collecting welding wire waste; a reamer driving device is fixedly installed inside the box, a motor lifting device is fixedly installed below the reamer driving device, the motor lifting device is connected to the inside of the box by bolts, and a control valve assembly is arranged below the inside of the box; a nozzle clamping device is arranged on a side wall inside the box, and the nozzle clamping device is connected to the box by bolts.

7. The tower foot welding device based on a six-axis welding robot according to claim 6 is characterized in that: A barreled welding wire holder is arranged above the welding platform for installing the barreled welding wire. The barreled welding wire holder is connected to a wire feeder to convey the welding wire to the welding gun.

8. The tower foot welding device based on a six-axis welding robot according to claim 7 is characterized in that: The circuit cover plate comprises a first circuit cover plate and a second circuit cover plate, wherein the first circuit cover plate is fixedly connected to the welding platform, and the second circuit cover plate is movably connected to the welding platform via a spring washer; A circuit groove is arranged below the circuit cover plate to collect the internal circuits.

9. The tower foot welding device based on a six-axis welding robot according to claim 8, characterized in that: A plurality of anchor plates are arranged at equal distances around the welding platform, and an anchor pad is arranged under each anchor plate, so that the welding platform is connected to the ground bolts through stainless steel hexagon socket head bolts, the anchor plates, and the anchor pads.

10. The tower foot welding device based on a six-axis welding robot according to claim 9, characterized in that: A heat dissipation device is arranged in the distribution box to dissipate heat inside the distribution box.

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