Laser welding follow-up pressing device

Abstract

The utility model discloses a laser welding follow-up pressing device, which is driven by a portal frame to move and weld plates, and comprises a mounting plate, a laser, a rotating mechanism and a pressing unit which are fixed on the portal frame, the rotating mechanism comprises a rotating fixing plate, a driving mechanism and a second transmission gear; the rotary fixing plate is fixed to the mounting plate, the driving mechanism is fixed to the rotary fixing plate, a hole is formed in the rotary fixing plate, the second transmission gear is arranged below the rotary fixing plate and comprises a bearing and an outer ring gear, the inner ring of the bearing is fixed to the edge of the hole, the outer ring gear is fixedly arranged on the outer ring of the bearing in a sleeving mode, and the outer ring gear is driven by the driving mechanism; the upper end of the laser is fixed on the mounting plate; the lower end of the laser penetrates through the rotary fixing plate and the bearing inner ring; the pressing unit is fixed to the lower end face of the outer ring gear and comprises an end pressing mechanism fixed to the front end of the advancing direction of the device and two sets of lateral pressing mechanisms symmetrically arranged on the two sides of the laser. The device can press the plate in real time along with movement of laser.

Description

Technical Field

[0001] This utility model relates to the field of laser welding technology, and in particular to a laser welding follow-up clamping device. Background Technology

[0002] Laser welding technology, as a high-precision welding method, has been widely used in industrial manufacturing due to its advantages such as narrow weld width, high aspect ratio, small heat-affected zone, minimal thermal deformation, high speed, and high precision in weld flatness and positioning. Laser welding uses a high-energy laser beam to heat the welding area, melting the material to form a specific molten pool, thereby achieving the welding purpose.

[0003] Overlap welding is a common laser welding method for thin sheet materials. It requires the sheets to be stacked together, and the overlapping area is irradiated to create a molten pool, achieving the welding effect. However, in practice, welding heat can cause material deformation or unevenness, creating gaps between the materials. These gaps allow molten metal to flow into the gaps, resulting in incomplete welds or pinholes, severely impacting weld quality.

[0004] The existing clamping mechanism requires repeated adjustments to its position during clamping to accommodate different welding trajectories, reducing production efficiency. Furthermore, when adjacent weld dimensions are small, the clamping mechanism can interfere, making it difficult to guarantee weld quality.

[0005] To address the problems of existing technologies, this invention achieves automatic adjustment of the clamping force and can precisely control the gap between the control panel and the core to meet the requirements of laser welding processes. This invention can clamp the plate to be welded in real time as the laser moves. This invention has a compact structure, is easy to operate, can be used for welding various sandwich structures, and will not interfere with other mechanisms. Utility Model Content

[0006] The purpose of this invention is to address the shortcomings of existing technologies by providing a laser welding follow-up clamping device. This device can clamp the plate to be welded in real time as the laser moves, which can effectively improve the quality, efficiency and adaptability of laser welding, so as to meet the needs of modern industrial manufacturing for high-precision welding processes.

[0007] The specific details of this utility model are as follows:

[0008] A laser welding follow-up clamping device, which is driven by a gantry frame to move and weld the plate to be welded, characterized in that the device includes: a mounting plate fixed on the gantry frame, a laser, a rotating mechanism, and a clamping unit;

[0009] The rotating mechanism includes: a rotating fixed plate, a driving mechanism, and a second transmission gear; the rotating fixed plate is fixed to the mounting plate, the driving mechanism is fixed to the rotating fixed plate, the rotating fixed plate has an opening, the second transmission gear is located below the rotating fixed plate, the second transmission gear includes a bearing and an outer ring gear, the inner ring of the bearing is fixed to the edge of the opening, the outer ring gear is sleeved on the outer ring of the bearing and fixed, the outer ring gear is driven by the driving mechanism to change the position of the pressing unit, so that the pressing unit can match the welding travel direction;

[0010] The upper end of the laser is fixed to the mounting plate, and the lower end of the laser, i.e. the emitting end, passes through the opening of the rotating fixed plate and the inner ring of the bearing, so as to weld the plate to be welded;

[0011] The clamping unit is fixed to the lower end face of the outer ring gear, specifically including an end clamping mechanism fixed to the front end of the device in the direction of travel and two sets of lateral clamping mechanisms symmetrically arranged on both sides of the laser beam, so as to clamp the plate at the welding position and thus achieve a better welding effect.

[0012] Furthermore, the device also includes a lifting mechanism disposed between the gantry and the mounting plate, specifically including: an outer mounting plate of the lifting mechanism and a lifting mechanism servo motor, a lifting mechanism servo motor linear guide, a lifting mechanism reducer, a lead screw, and a transmission component disposed thereon;

[0013] The outer mounting plate of the lifting mechanism is fixedly connected to the gantry frame;

[0014] The output end of the servo motor of the lifting mechanism is vertically downward;

[0015] The lifting mechanism reducer is installed at the output end;

[0016] The lead screw is set vertically, with one end connected to the reducer of the lifting mechanism;

[0017] The transmission component is sleeved on the lead screw, and the two are threadedly connected.

[0018] The servo motor linear guide of the lifting mechanism includes: a guide rail parallel to the lead screw and disposed on both sides of the lead screw, and a slider that can slide along the guide rail;

[0019] The mounting plate is fixed to the transmission component and the slider, enabling the vertical movement of the mounting plate. This movement drives the mechanism fixed to the mounting plate to move vertically, facilitating the placement of the plate to be welded and the removal of the plate after welding.

[0020] Furthermore, the drive mechanism includes: a rotary mechanism servo motor, a rotary mechanism reducer, and a first transmission gear;

[0021] The output end of the servo motor of the rotating mechanism is mounted vertically downward on the mounting plate.

[0022] The rotary mechanism reducer is connected to the output end of the rotary mechanism servo motor;

[0023] The first transmission gear is fixed to the output shaft of the rotary mechanism reducer;

[0024] After the servo motor of the rotating mechanism rotates, it drives the reducer of the rotating mechanism to rotate, thereby causing the first transmission gear to rotate, and finally driving the outer ring gear meshing with it to rotate.

[0025] Furthermore, the device also includes a weld inspection mechanism, specifically comprising a line-scanning laser fixing block and a line-scanning laser fixed thereon, wherein the line-scanning laser fixing block is fixed to the outer ring gear; the line-scanning laser is fixed to the line-scanning laser fixing block, and the scanning area of ​​the line-scanning laser is adjusted to face the welding area to achieve weld quality inspection after welding.

[0026] Furthermore, the lateral clamping mechanism includes: a cylinder fixing block, a cylinder, and a cylinder clamping block;

[0027] The cylinder fixing block is fixed to the outer ring gear;

[0028] The cylinder is fixed to the cylinder fixing block, with the cylinder extension end pointing vertically downwards.

[0029] The cylinder clamping block is fixed to the cylinder protrusion end and is used to clamp the plate to be welded.

[0030] Furthermore, the end clamping mechanism includes: a servo cylinder fixing block, a servo cylinder, and a servo cylinder end clamping head;

[0031] The servo electric cylinder fixing block is fixed to the outer ring gear;

[0032] The servo electric cylinder is fixed to the servo electric cylinder fixing block;

[0033] The end clamping head of the servo electric cylinder is installed at the output end of the servo electric cylinder; by adjusting the orientation of the output end of the servo electric cylinder, the position of the end clamping head of the servo electric cylinder is adjusted so that the end clamping head of the servo electric cylinder is close to the welding point for clamping the plate to be welded.

[0034] Furthermore, the end clamping head of the servo electric cylinder is made of tungsten steel.

[0035] The beneficial effects of this utility model are:

[0036] 1. The device has a compact design, is easy to install and use, and can adapt to workpieces of different heights, increasing the applicability of the device. Furthermore, due to its compact structure, the clamping mechanism will not interfere with each other.

[0037] 2. By pressing the workpiece with constant pressure through the clamping unit, the gap between the welded parts during overlapping welding can be effectively eliminated, effectively avoiding defects such as penetration, burn-through, weak welding or non-sealing of the plates to be welded, and reducing the impact of welding thermal deformation on welding, improving the operating efficiency of the device and improving the welding quality.

[0038] 3. It can replace cylinder clamping blocks of different shapes and sizes, and the rotating mechanism can drive the clamping unit to rotate, enabling it to weld workpieces of various sizes and configurations, making it more flexible to use.

[0039] 4. When a non-linear weld seam is formed during welding, the servo motor of the rotating mechanism rotates, causing the outer ring gear to rotate, thereby ensuring that the trajectory of the clamping head at the end of the servo electric cylinder is always consistent with the formed weld seam, thus ensuring welding quality. Attached Figure Description

[0040] Figure 1 This is a schematic diagram of a laser welding follow-up clamping device according to the present invention.

[0041] Figure 2 This is a schematic diagram of the lifting mechanism of a laser welding follow-up clamping device according to the present invention.

[0042] Figure 3 This is a schematic diagram of the rotating mechanism of a laser welding follow-up clamping device according to the present invention.

[0043] Figure 4 This is a schematic diagram of the lateral clamping mechanism of a laser welding follow-up clamping device according to the present invention.

[0044] Figure 5 This is a schematic diagram of the end clamping mechanism of a laser welding follow-up clamping device according to the present invention;

[0045] Figure 6 This is a schematic diagram of the weld seam inspection mechanism of a laser welding follow-up clamping device according to the present invention;

[0046] Figure 7 This is another schematic diagram of a laser welding follow-up clamping device according to the present invention;

[0047] In the diagram: 1. Lifting mechanism; 2. Laser; 3. Rotating mechanism; 4. Lateral clamping mechanism; 5. End clamping mechanism; 6. Weld inspection mechanism; 7. Lifting mechanism servo motor; 8. Lifting mechanism servo motor linear guide; 9. Lifting mechanism reducer; 10. Lifting mechanism outer mounting plate; 11. Rotating mechanism servo motor; 12. Rotating mechanism reducer; 13. First transmission gear; 14. Second transmission gear; 15. Rotating fixing plate; 16. Mounting plate; 17. Cylinder; 18. Cylinder clamping block; 19. Servo electric cylinder; 20. Servo electric cylinder end clamping head; 21. Line scan laser; 22. Line scan laser fixing block; 23. Lead screw; 24. Transmission component; 25. Outer ring gear fixing plate. Detailed Implementation

[0048] To make the objectives, technical solutions, and advantages of the embodiments of this utility model clearer, the technical solutions of the embodiments of this utility model will be clearly explained and described below with reference to the accompanying drawings. However, the following embodiments are only preferred embodiments of this utility model, and not all embodiments. Based on the embodiments in the implementation methods, other embodiments obtained by those skilled in the art without creative effort are all within the protection scope of this utility model.

[0049] In this utility model, unless otherwise explicitly specified and limited, the terms "installation," "connection," "joining," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection, an electrical connection, or a connection that allows communication between them; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components, unless otherwise explicitly limited. Those skilled in the art can understand the specific meaning of the above terms in this utility model according to the specific circumstances.

[0050] A laser welding follow-up clamping device realizes real-time clamping of the plate to be welded as the laser moves.

[0051] This utility model has a compact structure, is easy to operate, and can be used for welding and manufacturing of various sandwich structures.

[0052] Based on the above requirements, this utility model provides the following technical solution:

[0053] A laser welding follow-up clamping device is driven by a gantry frame to move the device and weld the plate to be welded. The device includes: a mounting plate 16 fixed on the gantry frame, a laser 2, a rotating mechanism 3, and a clamping unit.

[0054] The rotating mechanism 3 includes: a rotating fixed plate 15, a driving mechanism, and a second transmission gear 14; the rotating fixed plate 15 is fixed to the mounting plate 16, the driving mechanism is fixed on the rotating fixed plate 15, the rotating fixed plate 15 has an opening, the second transmission gear 14 is located below the rotating fixed plate 15, the second transmission gear 14 includes a bearing and an outer ring gear, the inner ring of the bearing is fixed to the edge of the opening, the outer ring gear is sleeved on the outer ring of the bearing and fixed, and the outer ring gear is driven by the driving mechanism;

[0055] The upper end of the laser 2 is fixed to the mounting plate 16, and the lower end of the laser 2, i.e. the emitting end, passes through the opening of the rotating fixing plate 15 and the inner ring of the bearing.

[0056] The clamping unit is fixed to the lower end face of the outer ring gear, specifically including an end clamping mechanism 5 fixed to the front end of the device in the direction of travel and two sets of lateral clamping mechanisms 4 symmetrically arranged on both sides of the laser beam 2, so as to clamp the plate at the position to be welded.

[0057] Example 1:

[0058] like Figure 1 This embodiment provides a laser welding follow-up clamping device, which is moved by a gantry frame to perform welding. The device includes: a lifting mechanism 1 fixed on the gantry frame, a mounting plate 16, a laser 2, a rotating mechanism 3, a clamping unit and a weld detection mechanism 6.

[0059] like Figure 2 The lifting mechanism 1 includes: an outer mounting plate 10 of the lifting mechanism and a lifting mechanism servo motor 7, a lifting mechanism servo motor linear guide 8, a lifting mechanism reducer 9, a lead screw 23 and a transmission component 24 mounted thereon;

[0060] The outer mounting plate 10 of the lifting mechanism is fixedly connected to the gantry frame;

[0061] The output end of the servo motor 7 of the lifting mechanism is vertically downward;

[0062] The lifting mechanism reducer 9 is installed at the output end;

[0063] The lead screw 23 is vertically arranged, and one end is connected to the reducer 9 of the lifting mechanism;

[0064] The transmission component 24 is sleeved on the lead screw 23, and the two are threadedly connected;

[0065] The servo motor linear guide 8 of the lifting mechanism includes: a guide rail parallel to the lead screw 23 and disposed on both sides of the lead screw 23, and a corresponding slider that can slide along the guide rail;

[0066] The mounting plate 16 is fixed to the transmission component 24 and the slider. The servo motor 7 of the lifting mechanism drives the lead screw 23 to rotate, thereby making the transmission component 24 vertically rise and fall, and finally realizing the vertical movement of the mounting plate 16 and the mechanism on it. By adjusting the height of the device, it is easy for the device to adapt to welding under different working conditions. Moreover, when placing the plate, the device can be raised to avoid interference with the plate.

[0067] like Figure 3 The rotating mechanism 3 includes: a rotating fixed plate 15, a driving mechanism, a second transmission gear 14, and an outer ring gear fixed plate 25;

[0068] The rotating fixing plate 15 is fixed on the mounting plate 16;

[0069] The drive mechanism includes: a rotary mechanism servo motor 11, a rotary mechanism reducer 12, and a first transmission gear 13;

[0070] The output end of the servo motor 11 of the rotating mechanism is vertically downward and installed through the rotating fixed plate 15;

[0071] The rotary mechanism reducer 12 is connected to the output end of the rotary mechanism servo motor 11;

[0072] The first transmission gear 13 is disposed on the output shaft of the rotary mechanism reducer 12;

[0073] The rotating fixed plate 15 has an opening, and the second transmission gear 14 is located below the rotating fixed plate 15. The second transmission gear 14 includes a bearing and an outer ring gear. The inner ring of the bearing is fixed to the edge of the opening, specifically by screws passing through the screw holes on the opening of the rotating fixed plate 15 and fixing to the screw holes on the upper surface of the inner ring of the bearing. The outer ring gear is sleeved on the outer ring of the bearing and fixed. The outer ring gear is driven by the driving mechanism. The upper end of the laser 2 is fixed to the mounting plate 16, and the lower end of the laser 2, i.e. the emitting end, passes through the opening of the rotating fixed plate 15 and the inner ring of the bearing, thereby performing laser welding on the plates to be welded.

[0074] After the servo motor 11 of the rotating mechanism rotates, it drives the reducer 12 of the rotating mechanism to rotate, thereby causing the first transmission gear 13 to rotate, and finally driving the outer ring gear meshing with it to rotate.

[0075] like Figure 7 The upper end face of the outer ring gear fixing plate 25 is fixed to the lower end face of the outer ring gear, and the clamping unit is fixed to the lower surface of the outer ring gear fixing plate 25. Specifically, it includes two sets of lateral clamping mechanisms 4 symmetrically arranged on both sides of the laser beam 2 and an end clamping mechanism 5 arranged at the front end of the device in the direction of travel, so as to realize the clamping of the plate to be welded.

[0076] like Figure 6 The weld inspection mechanism 6 specifically includes: a line-scanning laser fixing block 22 and a line-scanning laser 21 fixed thereon. The line-scanning laser fixing block 22 is fixed to the outer ring gear fixing plate 25; the line-scanning laser 21 is fixed to the line-scanning laser fixing block 22. The line-scanning laser fixing block 22 is divided into a first L-shaped plate and a first movable plate. The first L-shaped plate has two arc-shaped grooves. The first movable plate is hinged to the first L-shaped plate. The line-scanning laser 21 is fixed to the first movable plate and has two holes. Before fixing, the scanning area of ​​the line-scanning laser 21 is adjusted to face the welding area. After determining the orientation, the fastening screws are screwed into the holes of the movable plate from the arc-shaped grooves to fix the orientation of the line-scanning laser. The scanning area is... Figure 6 The rectangular area at the bottom is used to inspect the quality of the weld after welding, and to determine whether the appearance meets the requirements by inspecting its appearance.

[0077] like Figure 4 The lateral clamping mechanism 4 includes: a cylinder fixing block, a cylinder 17, and a cylinder clamping block 18;

[0078] The cylinder fixing block is fixed to the outer ring gear fixing plate 25;

[0079] The cylinder 17 is fixed to the cylinder fixing block, and the extended end of the cylinder 17 is vertically downward.

[0080] The cylinder clamping block 18 is fixed to the extended end of the cylinder 17. The cylinder clamping block 18 is easy to disassemble and replace to adapt to different clamping conditions.

[0081] like Figure 5 The end clamping mechanism 5 includes: a servo cylinder fixing block, a servo cylinder 19, and a servo cylinder end clamping head 20;

[0082] The servo cylinder fixing block is fixed on the outer ring gear fixing plate 25. The servo cylinder fixing block is divided into a second L-shaped plate and a second movable plate. The second L-shaped plate has two arc-shaped grooves. The second movable plate is hinged to the second L-shaped plate and has two holes. The servo cylinder 19 is fixed on the second movable plate.

[0083] The servo electric cylinder 19 is fixed to the servo electric cylinder fixing block;

[0084] The servo cylinder end clamping head 20 is located at the output end of the servo cylinder 19. Adjusting the orientation of the output end of the servo cylinder 19 adjusts the position of the servo cylinder end clamping head 20, bringing it close to the welding point. Then, screws are screwed into the holes of the second movable plate through the arc-shaped groove to fix the orientation. The clamping force is then precisely controlled by the servo cylinder 19 to ensure the materials reach the optimal welding relative position during welding. The servo cylinder end clamping head 20 is made of tungsten steel, which is heat-resistant and minimizes the impact of strong laser welding on the servo cylinder end clamping head 20.

[0085] The laser 2 used in this embodiment is also equipped with an optical galvanometer, a field lens, and a laser controller.

[0086] Example 2:

[0087] This embodiment is based on the device of Embodiment 1, and provides a method for operating the device:

[0088] 1) First, lift the device using lifting mechanism 1, and then place the plate to be welded on it;

[0089] 2) After placement, the lifting mechanism 1 lowers the device to the required working height. Then, according to the welding position, the direction of the line scan laser 21 and the servo cylinder 19 is adjusted and fixed to prevent loosening during operation. The gantry frame moves the device to begin welding according to the programmed welding trajectory. During welding, the cylinder clamping blocks 18 on both sides of the laser 2 extend through the cylinder 17, pressing the plate to be welded. At the same time, the clamping head 20 at the end of the servo cylinder at the front of the laser 2 extends through the servo cylinder, providing a preset clamping force so that the plate to be welded reaches the optimal welding relative position. The laser 2 is turned on for welding, and welding is performed simultaneously. The gantry-driven device moves along the welding trajectory. When it reaches a bend, the servo motor 11 of the rotating mechanism rotates, which in turn drives the reducer 12 of the rotating mechanism to rotate, thereby causing the first transmission gear 13 to rotate. This ultimately drives the outer ring gear meshing with it to rotate at a certain angle, thus ensuring that the trajectory of the end clamping head 20 of the servo electric cylinder is always consistent with the formed weld. The lateral clamping mechanisms 4 on both sides are always located on both sides of the welding trajectory to provide clamping force. The weld inspection mechanism 6 is always in the optimal weld quality observation position. During the welding process, the line-scanning laser 21 continuously scans and inspects the weld at the rear end of the laser 2, i.e., after the welding is completed, to detect whether the weld meets the requirements.

[0090] 3) After welding is completed, the lifting mechanism 1 raises the device to facilitate the removal of the welded plates.

[0091] This utility model's follow-up clamping mechanism can automatically adjust the clamping force, adapting to different materials and welding conditions. Its simple structure allows it to accommodate workpieces of varying heights. Utilizing a servo electric cylinder for precise and rapid control effectively eliminates gaps between welded parts during overlapping welding, reducing the impact of welding thermal deformation and significantly improving the welding pass rate while maintaining consistent welding stability. The design of the follow-up clamping mechanism considers structural compactness, practicality, and precise and rapid control capabilities to accommodate workpieces of different sizes and shapes.

[0092] In summary, the follow-up clamping mechanism of this invention can effectively improve the quality, efficiency, and adaptability of laser welding, thereby meeting the demands of modern industrial manufacturing for high-precision welding processes.

[0093] The embodiments described above are merely preferred solutions of this utility model and are not intended to limit this utility model in any way. Other changes or modifications may be made without departing from the technical solutions described in the claims.

Claims

1. A laser welding follow-up clamping device, wherein the device is moved by a gantry frame and welds the plates to be welded, characterized in that, The device includes: a mounting plate (16) fixed on the gantry frame, a laser (2), a rotating mechanism (3), and a clamping unit; The rotating mechanism (3) includes: a rotating fixed plate (15), a driving mechanism, and a second transmission gear (14); the rotating fixed plate (15) is fixed to the mounting plate (16), the driving mechanism is fixed on the rotating fixed plate (15), the rotating fixed plate (15) has an opening, the second transmission gear (14) is located below the rotating fixed plate (15), the second transmission gear (14) includes a bearing and an outer ring gear, the inner ring of the bearing is fixed to the edge of the opening, the outer ring gear is sleeved on the outer ring of the bearing and fixed, and the outer ring gear is driven by the driving mechanism; The upper end of the laser (2) is fixed to the mounting plate (16), and the lower end of the laser (2), i.e. the emitting end, passes through the opening of the rotating fixing plate (15) and the inner ring of the bearing. The clamping unit is fixed to the lower end face of the outer ring gear, specifically including an end clamping mechanism (5) fixed to the front end of the device in the direction of travel and two sets of lateral clamping mechanisms (4) symmetrically arranged on both sides of the laser beam (2) to achieve clamping of the plate to be welded.

2. The follow-up clamping device according to claim 1, characterized in that, The device also includes a lifting mechanism (1) disposed between the gantry and the mounting plate (16), specifically including: an outer mounting plate (10) of the lifting mechanism and a lifting mechanism servo motor (7), a lifting mechanism servo motor linear guide (8), a lifting mechanism reducer (9), a lead screw (23) and a transmission component (24) disposed thereon; The outer mounting plate (10) of the lifting mechanism is fixedly connected to the gantry frame; The output end of the servo motor (7) of the lifting mechanism is vertically downward; The lifting mechanism reducer (9) is installed at the output end; The lead screw (23) is set vertically, and one end is connected to the reducer (9) of the lifting mechanism; The transmission component (24) is sleeved on the lead screw (23), and the two are threaded together; The servo motor linear guide (8) of the lifting mechanism includes: a guide rail parallel to the lead screw (23) and disposed on both sides of the lead screw (23) and a slider that can slide along the guide rail; The mounting plate (16) is fixed to the transmission component (24) and the slider, thereby enabling the vertical movement of the mounting plate (16).

3. The follow-up clamping device according to claim 1, characterized in that, The drive mechanism includes: a rotary mechanism servo motor (11), a rotary mechanism reducer (12), and a first transmission gear (13); The output end of the servo motor (11) of the rotating mechanism is mounted vertically downward on the mounting plate (16); The rotary mechanism reducer (12) is connected to the output end of the rotary mechanism servo motor (11); The first transmission gear (13) is fixed on the output shaft of the rotary mechanism reducer (12); After the servo motor (11) of the rotating mechanism rotates, it drives the reducer (12) of the rotating mechanism to rotate, thereby causing the first transmission gear (13) to rotate, and finally driving the outer ring gear meshing with it to rotate.

4. The follow-up clamping device according to claim 1, characterized in that, The device further includes a weld inspection mechanism (6), specifically including a line-scanning laser fixing block (22) and a line-scanning laser (21) fixed thereon. The line-scanning laser fixing block (22) is fixed on the outer ring gear. The line-scanning laser (21) is fixed on the line-scanning laser fixing block (22). The scanning area of ​​the line-scanning laser (21) is adjusted to face the welding area to realize the quality inspection of the weld after welding.

5. The follow-up clamping device according to claim 1, characterized in that, The lateral clamping mechanism (4) includes: a cylinder fixing block, a cylinder (17) and a cylinder clamping block (18); The cylinder fixing block is fixed to the outer ring gear; The cylinder (17) is fixed on the cylinder fixing block, and the extended end of the cylinder (17) is vertically downward; The cylinder clamping block (18) is fixed to the extended end of the cylinder (17).

6. The follow-up clamping device according to claim 1, characterized in that, The end clamping mechanism (5) includes: a servo cylinder fixing block, a servo cylinder (19), and a servo cylinder end clamping head (20); The servo electric cylinder fixing block is fixed to the outer ring gear; The servo electric cylinder (19) is fixed on the servo electric cylinder fixing block; The end clamping head (20) of the servo electric cylinder is installed at the output end of the servo electric cylinder (19); the orientation of the output end of the servo electric cylinder (19) is adjusted to adjust the position of the end clamping head (20) of the servo electric cylinder, so that the end clamping head (20) of the servo electric cylinder is close to the welding point.

7. The follow-up clamping device according to claim 6, characterized in that, The end clamping head (20) of the servo electric cylinder is made of tungsten steel.

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