Welding equipment and production lines

Abstract

This application provides a welding device and production line. The welding device includes: a base; at least two welding torches disposed on the base; wherein the base is capable of changing the position of the welding torches, such that at least one of the at least two welding torches is in a working position and at least one welding torch is in a maintenance position. This eliminates the need to wait for welding torch maintenance during welding operations, thereby improving production efficiency.

Description

Technical Field

[0001] This application relates to the field of industrial production line technology, specifically to a welding equipment and production line. Background Technology

[0002] In traditional production lines that include welding processes, welding torches located at welding stations typically weld workpieces on the conveyor line. After welding is completed, the workpieces are then conveyed to the next process.

[0003] Welding torches wear down after a certain number of uses, affecting their welding performance. Therefore, they require maintenance after a certain number of uses, such as grinding or replacing the electrode caps. Welding can only resume after maintenance is complete. This maintenance process takes up valuable time and impacts production efficiency. Utility Model Content

[0004] This specification provides a welding equipment and production line through several embodiments, which eliminates the need to wait for welding torch maintenance during welding operations, thereby improving production efficiency.

[0005] This specification provides a welding device according to one embodiment, including: a base; at least two welding torches disposed on the base; wherein the base is capable of changing the position of the welding torches so that at least one of the at least two welding torches is in a working position and at least one welding torch is in a maintenance position.

[0006] Optionally, the base includes a turntable and a base supporting the turntable, the turntable being driven to rotate relative to the base, thereby changing the position of the welding torch.

[0007] Optionally, the surface of the turntable facing away from the base is provided with multiple mounting positions, each mounting position for mounting at least one welding torch; the multiple mounting positions are evenly spaced around the rotation axis of the turntable.

[0008] Optionally, the number of mounting positions is two.

[0009] Optionally, a rotary drive assembly is provided between the turntable and the base; the rotary drive assembly includes a support frame fixedly connected to the base, a driven member pivotally coupled to the support frame, and a rotary drive motor for driving the driven member; the driven member is fixedly connected to the turntable.

[0010] Optionally, the welding equipment further includes a maintenance mechanism; the position of the maintenance mechanism can be matched with the maintenance position;

[0011] And / or, the welding equipment further includes a robotic arm; the robotic arm is mounted on the base; and the welding torch is mounted on the robotic arm.

[0012] Optionally, the welding torch is mounted on the base via a sliding assembly; the sliding assembly is used to enable the welding torch to slide relative to the base; or, the robotic arm is mounted on the base via a sliding assembly; the sliding assembly is used to enable the robotic arm to slide relative to the base.

[0013] Optionally, the sliding assembly includes a first sliding unit fixedly connected to the base, a second sliding unit coupled to the first sliding unit, and a third sliding unit coupled to the second sliding unit; the robotic arm is coupled to the third sliding unit; the first sliding unit is used to drive the robotic arm to move relative to the base in a first direction, the second sliding unit is used to drive the robotic arm to move relative to the base in a second direction, and the third sliding unit is used to drive the robotic arm to move relative to the base in a third direction; the first direction, the second direction, and the third direction are not co-directional.

[0014] Optionally, the first direction and the second direction are parallel to the base; any two of the first direction, the second direction, and the third direction are perpendicular to each other.

[0015] Optionally, the robotic arm is further provided with an independent drive unit; the welding torch on the robotic arm includes at least one independent welding torch; the independent drive unit is used to drive the independent welding torch to move relative to the robotic arm.

[0016] Another embodiment of this specification provides a production line that includes the welding equipment described in the foregoing embodiments.

[0017] The embodiments provided in this specification involve mounting at least two welding torches on the base of a welding equipment. The base can change the position of the welding torches, allowing at least one torch to be in a working position and at least one torch to be in a maintenance position. This way, when a welding torch requires maintenance, it can be moved to the maintenance position while other welding torches remain in the working position for welding work. This eliminates the need to wait for welding torch maintenance, speeds up the cycle time of the welding production line, and improves production efficiency. Attached Figure Description

[0018] Figure 1 This is a schematic diagram of the welding equipment provided for one embodiment of this specification.

[0019] Figure 2 for Figure 1 A schematic diagram of the structure of the central base.

[0020] Figure 3 for Figure 1A schematic diagram of the maintenance mechanism.

[0021] Figure 4 for Figure 1 A schematic diagram of the sliding component.

[0022] Figure 5 for Figure 4 A schematic diagram of the sliding component.

[0023] Figure 6 for Figure 1 A schematic diagram of the structure of the independent drive unit.

[0024] Figure 7 for Figure 6 An enlarged view of the relative positions of the drive slide and the linear guide rail in the independent drive unit.

[0025] Figure 8 for Figure 7 A schematic diagram of the cylinder structure in the independent drive unit.

[0026] Explanation of reference numerals in the attached figures

[0027] 100. Welding equipment; 110. Base; 120. Robotic arm; 121. Independent drive unit; 130. Sliding assembly; 131. First sliding unit; 132. Second sliding unit; 133. Third sliding unit; 140. Welding torch; 141. Independent welding torch; 111. Turntable; 112. Base; 113. Rotary drive assembly; 114. Support frame; 115. Follower; 116. Rotary drive motor; 117. Mounting position; 118. Rotation axis; 122. Drive slide; 123. Linear slide rail; 124. Cylinder; 134. Servo motor; 135. Lead screw; 136. Pulley pair; 150. Maintenance mechanism; 151. Grinding tool; aa. First direction; bb. Second direction; cc. Third direction. Specific Implementation

[0028] The technical solutions in the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments.

[0029] In this application specification, the drawings are not necessarily drawn to scale, and local features may be enlarged or reduced to more clearly show the details of the local features.

[0030] Unless otherwise stated, all technical and scientific terms used in this application specification have the same meaning as commonly understood by one of ordinary skill in the art. The terminology used in this application specification is for the purpose of describing particular embodiments only and is not intended to limit the scope of this specification. The term "and / or" as used in this application specification includes any and all combinations of one or more of the associated listed items. The singular forms "a," "the," and "the" as used in the embodiments of this application and the appended claims are also intended to include the plural forms unless the context clearly indicates otherwise.

[0031] In the description of this application, it should be understood that the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of indicated technical features. Therefore, features defined as "first" or "second" may explicitly or implicitly include one or more of the stated features. In the description of the embodiments of this application, "multiple" means two or more, unless otherwise explicitly specified.

[0032] In the description of this application, the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "height", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", and "counterclockwise" indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the purpose of simplifying the description of this application and do not indicate that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. In other words, they should not be construed as limitations on this application.

[0033] In the description of this application, unless otherwise expressly defined, the terms "installation," "connection," "linking," "fixing," "setting," etc., should be interpreted broadly. For example, "connection" can be a fixed connection, a detachable connection, or an integral part; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium; it can also refer to the internal communication of two components or the interaction between two components. Those skilled in the art can understand the specific meaning of the above terms in this application according to the specific circumstances.

[0034] In the description of this application, unless otherwise expressly defined, the terms "above," "over," "on top of," "below," "below," "under," or "below" can mean that the first and second features are in direct contact, or that they are in indirect contact through an intermediate medium. Furthermore, "above," "below," and "over" can mean that the first feature is directly above or diagonally above the second feature, or simply that the horizontal level of the first feature is higher than the horizontal level of the second feature. Similarly, "below," "below," and "below" can mean that the first feature is directly below or diagonally below the second feature, or simply that the horizontal level of the first feature is lower than the horizontal level of the second feature.

[0035] With the advancement of technology, industrial production lines are becoming increasingly automated. For example, in some welding production lines, welding equipment is used for welding work, such as three-axis robots or six-axis industrial robots that drive welding torches to weld workpieces. When the welding torch requires maintenance, it is moved to a designated maintenance location for services such as regrinding or replacement.

[0036] However, welding work cannot be performed simultaneously while the welding torch is being maintained. Welding can only continue after the welding torch maintenance is completed, which takes up a certain amount of production time and results in low production efficiency of the welding production line.

[0037] To address this problem, the inventors proposed a welding device with at least two welding torches mounted on its base. By changing the positions of the torches, at least one torch can be in a working position, and at least one torch can be in a maintenance position. Thus, while the torch requiring maintenance is in the maintenance position, other torches remain in the working position and can still perform welding work, eliminating the need to wait for torch maintenance, accelerating the cycle time of the welding production line, and improving production efficiency.

[0038] See Figures 1 to 8 The welding equipment 100 provided in one embodiment of this application specification includes a base 110, a welding torch 140, and a sliding assembly 130.

[0039] The base 110 serves as a support structure in the welding equipment 100, supporting the welding torch 140 and the sliding assembly 130.

[0040] At least two welding torches 140 are mounted on the base 110. The welding torches 140 serve as end effectors of the welding equipment 100, used to perform welding work in the working position. Specifically, the welding torches 140 can be of different types, such as MIG, TIG, or laser welding torches, and the appropriate type can be selected based on the requirements of the workpiece and production line.

[0041] The base 110 can change the position of the welding torch 140 so that at least one of the at least two welding torches 140 is in a working position and at least one is in a maintenance position. In this embodiment, the working position can be understood as the location of the welding torch 140 when the welding equipment 100 is performing a specific welding operation. It is understood that the working position may vary depending on the specific application scenario of the welding equipment 100. For example, in a welding production line, the working position may be the welding station corresponding to the position of the workpiece to be welded on the conveyor line. In this embodiment, the maintenance position can be understood as the location of the welding torch 140 when performing maintenance. For example, in a production line, the maintenance position may correspond to the location of the industrial robot repairing the welding torch. It is understood that the maintenance position and the working position of the welding torch 140 are not the same location in the same application scenario.

[0042] Because maintenance can be performed when the welding torch is in the maintenance position, such as replacing the welding torch or regrinding the electrode cap, it can be used as a spare after maintenance. When the welding torch 140 in the working position needs maintenance, its position can be changed to replace it with a welding torch that has already been maintained, so that there is still a welding torch performing welding work in the working position, saving the time required to wait for the welding torch 140 to be maintained, thereby improving the production efficiency of the welding production line.

[0043] Meanwhile, the welding torch 140 that is replaced can also be maintained at the maintenance position and can be used as a backup after maintenance is completed. This process can be repeated so that when the welding torch 140 at the working position needs maintenance, there is at least one backup welding torch that can replace it, achieving efficient connection.

[0044] Optionally, the number of welding torches 140 can be 3 or 4, or can be flexibly set according to the actual situation of the production line. This manual does not make specific limitations.

[0045] See Figure 1 and Figure 2 In this embodiment, the base 110 includes a turntable 111 and a base 112 supporting the turntable 111. The turntable 111 can be driven to rotate relative to the base 112, thereby changing the position of the welding torch 140.

[0046] The base 112 serves as the basic support structure for the welding equipment 100, ensuring the overall stability of the welding equipment 100 and enabling the welding torch 140 on the welding equipment 100 to be accurately positioned at the welding work position.

[0047] The welding torch 140 can be mounted on the turntable 111. The rotation of the turntable 111 drives the welding torch 140 to rotate, thereby changing the position of multiple welding torches 140. Specifically, the rotation of the turntable 111 can rotate at least one of at least two welding torches 140 to the working position, and at least one welding torch to the maintenance position.

[0048] It should be noted that the position of the welding torch 140 can also be changed by other means. For example, in another feasible embodiment, another industrial robot can be used to drive the base 110 to move, thereby changing the position of the welding torch 140 on the base 110. Furthermore, in another feasible embodiment, the position of the welding torch 140 can also be changed by flipping the base 110 or by setting a slide rail on the base 110; this specification does not specifically limit this method.

[0049] See Figure 2 In this embodiment, the turntable 111 can rotate relative to the base 112 to form a rotation axis 118; the surface of the turntable 111 facing away from the base 112 is provided with a plurality of mounting positions 117, each mounting position 117 being used to mount at least one welding torch 140; the plurality of mounting positions 117 are evenly spaced around the rotation axis 118 of the turntable 111.

[0050] The rotation axis 118 is the center line for the rotation of the turntable 111 relative to the base 112, and the turntable 111 and the welding torch 140 mounted on the turntable 111 rotate around it.

[0051] Multiple mounting positions 117 are arranged on the turntable 111 with the intersection of the rotation axis 118 and the plane of the turntable 111 as the center point, so as to achieve that the multiple mounting positions 117 are evenly spaced around the rotation axis 118. It can be understood that the distance between the center of each mounting position 117 and the center point is the same, and the distance between the centers of any two adjacent mounting positions 117 is the same.

[0052] By setting multiple mounting positions 117 at even intervals around the rotation axis 118 of the turntable 111, the welding gun in the working position can be rotated to the maintenance position and the welding gun in the maintenance position can be rotated to the working position each time the turntable 111 is driven to rotate a specific angle, which is simple and convenient.

[0053] At the same time, by arranging the welding torches 140 evenly at intervals along the rotation axis 118 on the turntable 111, the weight borne by the turntable 111 can be more balanced, resulting in higher structural stability.

[0054] See Figure 2In this embodiment, there are two mounting positions 117. The rotation axis 118 is located between the two mounting positions 117. It can be understood that in this arrangement, the two mounting positions 117 are centrally symmetrical about the intersection of the rotation axis 118 and the plane of the turntable 111. When the welding equipment 100 is in operation, at least one welding torch 140 on one mounting position 117 is in the working position, while at least one welding torch 140 on the other mounting position 117 is in the maintenance position.

[0055] When maintenance is required on the welding torch 140 in the working position, the turntable 111 can be rotated 180 degrees along the rotation axis 118 to switch to the maintained welding torch 140 in the maintenance position, achieving efficient connection between working positions. The welding torch 140 to be maintained can be maintained in the maintenance position and then kept as a backup after maintenance. When the welding torch 140 in the working position needs maintenance, it can be switched back. This process is repeated to maintain continuous operation in the working position and achieve efficient production.

[0056] It is understood that the number of mounting positions 117 on the turntable 111 is not limited to two. For example, in some embodiments, it may be set to three, four or more.

[0057] See Figure 2 In this embodiment, a rotary drive assembly 113 is provided between the turntable 111 and the base 112. The rotary drive assembly 113 includes a support frame 114 fixedly connected to the base 112, a driven member 115 pivotally coupled to the support frame 114, and a rotary drive motor 116 driving the driven member 115. The driven member 115 is fixedly connected to the turntable 111, so that the rotary drive motor 116 can drive the turntable 111 to rotate by driving the driven member 115 to rotate. When the driven member 115 is driven to rotate by the rotary drive motor 116, it causes the rotation axis 118 of the turntable 111 relative to the base 112 to be the rotation axis.

[0058] Specifically, in this embodiment, the driven member 115 is fixedly connected to the surface of the turntable 111 facing the base 112. It is understood that in other feasible embodiments, the driven member 115 may also be fixedly connected to other positions of the turntable 111, thereby driving the turntable 111 to rotate around the rotation axis 118.

[0059] It should be noted that, besides using a rotary drive assembly 113 between the turntable 111 and the base 112, other methods can be employed to drive the turntable 111 to rotate. For example, in some feasible embodiments, the motion of a drive source at other locations can be transmitted to the turntable 111 via a transmission assembly such as a gear transmission assembly, thereby causing the turntable 111 to rotate. Furthermore, in some embodiments, the turntable 111 can be controlled to rotate by an industrial robot at other locations. Additionally, in some embodiments, the turntable 111 can be driven to rotate manually.

[0060] In some embodiments, in addition to the rotary drive motor 116, the drive source for driving the driven follower 115 may also be a cylinder or a hydraulic device, etc.

[0061] See Figure 1 and Figure 3 In this embodiment, the welding equipment 100 further includes a maintenance mechanism 150; the position of the maintenance mechanism 150 can be matched with the maintenance position. When the welding torch 140 requiring maintenance is switched to the maintenance position, the nearby maintenance robot 150 can drive the regrinder 151 at its end to move spatially to match the maintenance position. Then, the regrinder 152 can dock with the welding torch 140, and perform maintenance operations after docking, such as regrinding or replacing the electrode cap.

[0062] In this embodiment, the welding equipment 100 further includes a robotic arm 120; the robotic arm 120 is disposed on the base 110; and the welding torch 140 is disposed on the robotic arm 120.

[0063] At least one welding torch 140 can be mounted on the robotic arm 120, and the welding torch 140 can be controlled to move within space, such as controlling the welding torch 140 to perform welding work during operation. Specifically, the welding torch 140 can be mounted on the end of the robotic arm 120. The number of welding torches 140 mounted on the robotic arm 120 can be one, three, four, etc., and can be flexibly set according to the actual situation.

[0064] The robotic arm 120 can be mounted on the mounting position 117 of the turntable 111. Specifically, one robotic arm 120 can be mounted on each mounting position 117. It should be noted that in some embodiments, the robotic arm 120 can also be mounted in other positions, such as a base, support frame, etc. The number of robotic arms 120 can be one, two, three, or more, and this specification does not limit this.

[0065] See Figure 1 and Figure 4In this embodiment, the robotic arm 120 is mounted on the base 110 via a sliding assembly 130; the sliding assembly 130 is used to enable the robotic arm 120 to slide relative to the base 110.

[0066] The robotic arm 120 can move within a preset spatial range via the sliding component 130. Specifically, the sliding component 130 can form a coordinate system for the movement space of the robotic arm 120, allowing the robotic arm 120 to be controlled to move to a preset coordinate position. For example, the sliding component 130 can consist of two slide rails perpendicular to each other in the x and y directions, allowing the robotic arm 120 to move within the spatial range defined by the x and y directions. This movement range can be understood as a planar range.

[0067] By setting the sliding component 130, the degree of freedom of movement of the robotic arm 120 in space can be increased, making the operation of the welding torch 140 on the robotic arm 120 more flexible to adapt to various complex working conditions.

[0068] See Figure 4 In this embodiment, the sliding assembly 130 includes a first sliding unit 131 fixedly connected to the base 110, a second sliding unit 132 coupled to the first sliding unit 131, and a third sliding unit 133 coupled to the second sliding unit 132; the robotic arm 120 is coupled to the third sliding unit 133; the first sliding unit 131 is used to drive the robotic arm 120 to move relative to the base 110 in a first direction aa, the second sliding unit 132 is used to drive the robotic arm 120 to move relative to the base 110 in a second direction bb, and the third sliding unit 133 is used to drive the robotic arm 120 to move relative to the base 110 in a third direction cc; the first direction, the second direction, and the third direction are not co-directional.

[0069] The sliding assembly 130 is composed of three sliding units in different sliding directions to realize the movement of the robotic arm 120, which can give the robotic arm 120 a high degree of freedom and improve the flexibility of the welding torch 140 on the robotic arm 120 to perform welding operations.

[0070] See Figure 5In this embodiment, the first sliding unit 131, the second sliding unit 132, and the third sliding unit 133 can each be composed of three sets of servo slides. The servo slide can include a servo motor 134, a lead screw 135, and a pulley pair 136. Specifically, the servo motor 134 drives the slide 122 to move by transmitting power to a pair of pulleys 136, which in turn drives the lead screw 135, thereby causing the robotic arm 120 to move. In this embodiment, the first direction aa and the second direction bb are parallel to the base 110; any two of the first direction aa, the second direction bb, and the third direction cc are perpendicular to each other.

[0071] The sliding directions of the three sliding units are perpendicular to each other, which allows the robotic arm 120 to reach any position in space within the stroke range of the sliding units. Compared with the case where they are not perpendicular to each other, the range of space that can be moved is larger, so that the welding torch 140 has greater flexibility in welding operations.

[0072] It is understood that, in another feasible embodiment, the welding torch can also be directly mounted to the base via a sliding assembly; the sliding assembly is used to enable the welding torch to slide relative to the base. The structure of the sliding assembly can be referred to... Figure 1 ,to Figure 5 No specific restrictions are made here.

[0073] See Figure 6 In this embodiment, the robotic arm 120 is also provided with an independent drive unit 121; the welding torch 140 on the robotic arm 120 includes at least one independent welding torch 141; the independent drive unit 121 is used to drive the independent welding torch 141 to move relative to the robotic arm 120.

[0074] By setting an independent drive unit 121 on the robotic arm 120, at least one independent welding torch 141 mounted on the independent drive unit 121 can move independently during welding operations to adapt to the needs of special welding positions and welding actions.

[0075] Furthermore, the presence of at least one independent welding torch 141 mounted on the independent drive unit 121 adds a degree of freedom, making the welding operation more flexible.

[0076] Specifically, such as Figure 7 and Figure 8 As shown, the independent drive unit 121 includes a drive slide 122. A pair of linear guide rails 123 are provided on the robotic arm 120. The drive slide 122 can be mounted on the linear guide rails 123 and driven by a cylinder 124. That is, under the drive of the cylinder 124, the drive slide can move along the linear guide rails 123, thereby driving the corresponding independent welding torch 141 to move.

[0077] Another embodiment of this specification provides a production line, including the welding equipment provided in this specification.

[0078] Of course, it is understandable that the production line may also include feeding equipment, unloading equipment, conveyor lines, monitoring equipment, maintenance equipment, etc., which can be set according to specific needs.

[0079] It is understood that in the various embodiments of this specification, the sequence number of each process does not imply the order of execution. The execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiments of this specification.

[0080] It is understood that the various embodiments described in this specification can be implemented individually or in combination, and the embodiments in this specification are not limited in this respect.

[0081] Those skilled in the art will understand that, for the sake of convenience and brevity, the specific working processes of the systems, devices, and units described above can be referred to the corresponding processes in the foregoing method embodiments, and will not be repeated here.

[0082] The above description is merely a specific embodiment of this specification, but the scope of protection of this application is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the scope of the technology disclosed in this specification should be included within the scope of protection of this specification. Therefore, the scope of protection of this application should be determined by the scope of the claims.

Claims

1. A welding device, characterized in that, include: Base; At least two welding torches are mounted on the base; The base is capable of changing the position of the welding torches so that at least one of the at least two welding torches is in a working position and at least one welding torch is in a maintenance position.

2. The welding equipment according to claim 1, characterized in that, The base includes a turntable and a base supporting the turntable. The turntable can be driven to rotate relative to the base, thereby changing the position of the welding torch.

3. The welding equipment according to claim 2, characterized in that, The surface of the turntable facing away from the base has multiple mounting positions, each for mounting at least one welding torch; the multiple mounting positions are evenly spaced around the rotation axis of the turntable.

4. The welding equipment according to claim 2, characterized in that, A rotary drive assembly is provided between the turntable and the base; the rotary drive assembly includes a support frame fixedly connected to the base, a driven member pivotally connected to the support frame, and a rotary drive motor that drives the driven member; the driven member is fixedly connected to the turntable.

5. The welding equipment according to any one of claims 1 to 4, characterized in that, The welding equipment also includes a maintenance mechanism; the position of the maintenance mechanism can be matched with the maintenance position. And / or, the welding equipment further includes a robotic arm; the robotic arm is mounted on the base; and the welding torch is mounted on the robotic arm.

6. The welding equipment according to claim 5, characterized in that, The welding torch is mounted on the base via a sliding assembly; the sliding assembly is used to enable the welding torch to slide relative to the base; or, the robotic arm is mounted on the base via a sliding assembly; the sliding assembly is used to enable the robotic arm to slide relative to the base.

7. The welding equipment according to claim 6, characterized in that, The sliding assembly includes a first sliding unit fixedly connected to the base, a second sliding unit coupled to the first sliding unit, and a third sliding unit coupled to the second sliding unit; the robotic arm is coupled to the third sliding unit; the first sliding unit is used to drive the robotic arm to move relative to the base in a first direction, the second sliding unit is used to drive the robotic arm to move relative to the base in a second direction, and the third sliding unit is used to drive the robotic arm to move relative to the base in a third direction; the first direction, the second direction, and the third direction are not co-directional.

8. The welding equipment according to claim 7, characterized in that, The first direction and the second direction are parallel to the base; any two of the first direction, the second direction and the third direction are perpendicular to each other.

9. The welding equipment according to claim 7, characterized in that, The robotic arm is also equipped with an independent drive unit; the welding torch on the robotic arm includes at least one independent welding torch; the independent drive unit is used to drive the independent welding torch to move relative to the robotic arm.

10. A production line, characterized in that, The production line includes the welding equipment as described in any one of claims 1 to 9.

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