Multi-axis linkage clamping and welding mechanism

Abstract

The application discloses a multi-axis linkage clamping and welding mechanism, which comprises a welding positioning module, a jacking and rotating module, a resistance welding and clamping module, an X-axis servo module, a Y-axis servo module, a Z-axis servo module and a connecting module; the welding positioning module is used for carrying and positioning a to-be-welded object, the welding positioning module is arranged on the jacking and rotating module, the jacking and rotating module controls the welding positioning module to ascend or rotate, the resistance welding and clamping module is arranged above the welding positioning module, and the to-be-welded object on the welding positioning module is welded by heat generated by discharge between electrodes; the X-axis servo module, the Y-axis servo module and the Z-axis servo module are connected with the resistance welding and clamping module through the connecting module, and the three-axis movement of the resistance welding and clamping module is controlled. The application can realize full-automatic welding of Y-type copper terminals, and improves the stability and compatibility of welding.

Description

Technical Field

[0001] This application relates to the field of welding technology, and in particular to a multi-axis linkage clamping welding mechanism. Background Technology

[0002] Copper terminals typically refer to female terminals made of highly conductive copper or copper alloys through stamping / machining. The components to be soldered can be copper wires, aluminum wires, PCB pads, power semiconductor leads, etc. Copper terminal soldering utilizes molten solder or solid-state bonding technology to combine the copper terminal with an external conductor at a metallurgical level, achieving a low-resistance, high-strength, high-temperature resistant, and vibration-resistant electrical connection. Specifically, copper terminal soldering firmly "welds" wires, component leads, or other metal conductors to copper terminals (posts, contacts, lugs), forming a connection that is both conductive and mechanically reliable.

[0003] The current ultrasonic welding positioning mechanism and welding device for copper terminals uses ultrasonic welding. For Y-type copper terminal products, the ultrasonic welding process has the following disadvantages:

[0004] First, a certain amount of pressure needs to be applied to the object being welded. The ultrasonic high-frequency vibration melts and presses the object into shape, which carries the risk of damaging the object being welded. Second, the joint type of ultrasonic welding systems is limited to lap joints and is restricted by the tool head. The workpiece can only be inserted within the size range allowed by the welding system, resulting in significant limitations on the joint type and size range. Utility Model Content

[0005] In view of the shortcomings of the prior art described above, the purpose of this application is to provide a multi-axis linkage clamping welding mechanism, including: a welding positioning module, a lifting and rotating module, a resistance welding clamping module, an X-axis servo module, a Y-axis servo module, a Z-axis servo module, and a connecting module; wherein, the welding positioning module is used to carry and position the workpiece to be welded, the welding positioning module is mounted on the lifting and rotating module, and the lifting and rotating module controls the lifting or rotating of the welding positioning module; the resistance welding clamping module is located above the welding positioning module, and welds the workpiece to be welded on the welding positioning module by the heat generated by the discharge between electrodes; the X-axis servo module, the Y-axis servo module, and the Z-axis servo module are connected to the resistance welding clamping module through the connecting module, and control the three-axis movement of the resistance welding clamping module.

[0006] In one embodiment of this application, the welding positioning module includes a support plate and a positioning module mounted on the support plate, the positioning module being structurally matched with the workpiece to be welded; the support plate is provided with at least one positioning hole.

[0007] In one embodiment of this application, the lifting and rotating module includes a rotary table, a support frame, a servo motor, and a lifting cylinder; the support frame is installed below the rotary table to support the rotary table; the servo motor is installed below the rotary table to control the rotation of the rotary table; and the lifting cylinder is installed below the rotary table to control the lifting and lowering of the rotary table.

[0008] In one embodiment of this application, a support plate is provided on the rotating platform, and a plurality of support blocks are provided on the support plate.

[0009] In one embodiment of this application, at least one positioning pin is also provided on the support plate.

[0010] In one embodiment of this application, the X-axis servo module, the Y-axis servo module, and the Z-axis servo module are supported and fixed by a fixed bracket.

[0011] In one embodiment of this application, the connecting module connects a connecting plate and a connecting seat; the connecting plate is mounted vertically on the fixed bracket, and the connecting plate is provided with a slide rail and a slider; the X-axis servo module is connected to the front surface of the connecting plate, the Z-axis servo module is fixed on the X-axis servo module, the Y-axis servo module is fixed on the fixed bracket, and the connecting seat is connected to the slider and the resistance welding clamping module respectively.

[0012] In one embodiment of this application, the X-axis servo module, the Y-axis servo module, and the Z-axis servo module are respectively connected to wiring grooves.

[0013] In one embodiment of this application, the connecting seat includes a connecting base plate, a connecting back plate, and a fixing plate; the connecting base plate is horizontally arranged and connected to the top end of the resistance welding clamping module; the connecting back plate is vertically arranged with the connecting base plate and connected to the slider; the fixing plate is connected between the connecting base plate and the connecting back plate and is used to fix and support the connecting back plate and the connecting base plate.

[0014] In one embodiment of this application, the connecting plate is provided with a plurality of hollow holes.

[0015] As described above, the multi-axis linkage clamping and welding mechanism of this application has the following beneficial effects:

[0016] The multi-axis linkage welding mechanism provided in this application achieves multi-axis linkage through a three-axis module and a bottom lifting and rotating structure. It generates heat through discharge between electrodes to melt the object being welded, thereby achieving the purpose of multi-axis linkage welding. This application can realize fully automatic welding of Y-type copper terminals and improve the stability and compatibility of welding. Attached Figure Description

[0017] Figure 1 The diagram shown is a schematic representation of the overall structure of the multi-axis linkage clamping and welding mechanism described in this application embodiment.

[0018] Figure 2 The diagram shown is a structural schematic of the welding positioning module in the multi-axis linkage clamping welding mechanism described in this application embodiment.

[0019] Figure 3 The diagram shown is a structural schematic of the lifting and rotating module in the multi-axis linkage clamping and welding mechanism described in this application embodiment.

[0020] Explanation of reference numerals in the attached figures

[0021] 100-axis linkage clamping and welding mechanism

[0022] 110 Welding Positioning Module

[0023] 111 Bearing plate

[0024] 112 Positioning Module

[0025] 113 Positioning Hole

[0026] 120 Lifting and Rotating Module

[0027] 121 Rotary Table

[0028] 122 Support frame

[0029] 123 Servo Motors

[0030] 124 Lifting Cylinder

[0031] 125 support block

[0032] 126 Positioning Pin

[0033] 130 Resistance Welding Clamping Module

[0034] 140X-axis servo module

[0035] 150Y-axis servo module

[0036] 160Z-axis servo module

[0037] 171 Connecting plate

[0038] 172 Connector

[0039] 180 Fixed bracket Detailed Implementation

[0040] The present application will be further described below with reference to the accompanying drawings, but the scope of protection of the present application is not limited to the following description.

[0041] The following specific examples illustrate the implementation of this application. Those skilled in the art can easily understand other advantages and effects of this application from the content disclosed in this specification. This application can also be implemented or applied through other different specific embodiments, and various details in this specification can also be modified or changed based on different viewpoints and applications without departing from the spirit of this application. It should be noted that, unless otherwise specified, the following embodiments and features in the embodiments can be combined with each other.

[0042] It should be noted that the illustrations provided in the following embodiments are only schematic representations of the basic concept of this application. Therefore, the drawings only show the components related to this application and are not drawn according to the actual number, shape and size of the components in the actual implementation. In the actual implementation, the form, quantity and proportion of each component can be arbitrarily changed, and the layout of the components may also be more complex.

[0043] The multi-axis linkage clamping welding mechanism provided in the following embodiments of this application is a multi-axis linkage clamping welding mechanism that solves the technical problems of easy damage to the welded object and large welding limitations caused by ultrasonic welding of copper terminals in the prior art.

[0044] like Figures 1 to 3 As shown, this application provides a multi-axis linkage clamping welding mechanism 100. Heat generated by the discharge between electrodes in the resistance welding clamping module 130 melts the object to be welded, thereby achieving the welding purpose and avoiding the risk of easily damaging the object during ultrasonic welding. The multi-axis linkage clamping welding mechanism 100 in this application achieves multi-axis linkage through a three-axis module and a bottom rotating platform, and can be applied to the welding of various types of Y-type copper terminals.

[0045] The following will combine Figures 1 to 3 This embodiment describes in detail the principle and implementation of a multi-axis linkage clamping and welding mechanism 100.

[0046] like Figure 1 As shown, this application embodiment provides a multi-axis linkage clamping welding mechanism 100, which includes a welding positioning module 110, a lifting and rotating module 120, a resistance welding clamping welding module 130, an X-axis servo module 140, a Y-axis servo module 150, a Z-axis servo module 160, and a connection module.

[0047] The welding positioning module 110 is used to support and position the workpiece to be welded, and it is mounted on the lifting and rotating module 120. The workpiece to be welded is fixed by the welding positioning module 110, and its vertical movement and horizontal rotation angle are controlled by the lifting and rotating module 120.

[0048] Figure 2The diagram shown is a structural schematic of the welding positioning module 110 in the multi-axis linkage clamping welding mechanism 100 described in this embodiment. Specifically, in this embodiment, as... Figure 2 As shown, the welding positioning module 110 includes a support plate 111 and a positioning module 112 mounted on the support plate 111. The positioning module 112 is structurally matched with the workpiece to be welded. At least one positioning hole 113 is provided on the support plate 111.

[0049] In this embodiment, the object to be welded is, for example, a Y-shaped copper terminal, and the positioning module 112 is a structure capable of fixing the Y-shaped copper terminal. The positioning module 112 includes a central positioning structure that matches the object to be welded and multiple positioning posts surrounding the positioning structure. The object to be welded is placed on the welding positioning module 110 manually or by a robotic arm. Then, the welding positioning module 110 is assembled onto the lifting and rotating module 120.

[0050] In this embodiment, the lifting and rotating module 120 controls the welding positioning module 110 to rise, fall, or rotate; the lifting and rotating module 120 drives the workpiece to be welded to rotate, and can switch between different shapes of Y-type copper terminals, and is compatible with the positioning of different types of copper terminals.

[0051] Figure 3 The diagram shown is a structural schematic of the lifting and rotating module 120 in the multi-axis linkage clamping and welding mechanism 100 described in this application embodiment. Figure 3 As shown, in this embodiment, the lifting and rotating module 120 includes a rotary table 121, a support frame 122, a servo motor 123, and a lifting cylinder 124.

[0052] The support frame 122 is installed below the rotary table 121 to support the rotary table 121; the servo motor 123 is installed below the rotary table 121 to control the rotation of the rotary table 121; and the lifting cylinder 124 is installed below the rotary table 121 to control the lifting of the rotary table 121.

[0053] In this embodiment, the rotary table 121 is a circular rotary table, and a support plate is provided on the rotary table 121 to support the welding positioning module 110. The size of the support plate is matched with the size of the bearing plate 111 on the welding positioning module 110.

[0054] In this embodiment, the support plate is provided with a plurality of support blocks 125, and the support plate is also provided with at least one positioning pin 126. The support blocks 125 are used to support the carrier plate 111 of the welding positioning module 110, and the positioning pin 126 is matched and connected with the positioning hole 113 on the welding positioning module 110 to realize the positioning connection of the welding positioning module 110.

[0055] In this embodiment, the support plate has a through hole in the middle for the lifting cylinder 124 to extend and lift the welding positioning module 110.

[0056] In this embodiment, the support frame 122 includes a support base plate, a support top plate, and a plurality of support rods that penetrate the support base plate and support the lower surface of the support top plate. The support base plate is provided with holes at the connection points with the servo motor 123 and the lifting cylinder 124, so that corresponding structures in the servo motor 123 and the lifting cylinder 124 can pass through.

[0057] In this embodiment, the servo motor 123 controls the rotation of the rotary table 121. The servo motor 123 includes a motor (stator, rotor, encoder) and a servo driver. The stator has fixed windings that generate a rotating magnetic field, typically supplied with three-phase AC or DC pulse voltage. The rotor uses a permanent magnet or induction coil structure and rotates with changes in the magnetic field. The encoder, via a sensor mounted on the motor shaft, detects the rotor's position, speed, and angle in real time, with a resolution of thousands or even tens of thousands of lines per revolution. The servo driver receives control signals, amplifies power, drives the motor, and simultaneously processes the data fed back from the encoder to achieve closed-loop regulation. The motor shaft is fixedly connected to the rotary table 121, and the rotation of the motor shaft drives the rotary table 121 to rotate.

[0058] In this embodiment, the lifting cylinder 124 directly drives the rotary table 121 to achieve precise lifting and lowering through the extension and retraction of the piston rod. Specifically, the lifting cylinder 124 includes a cylinder body and a piston rod connected to the cylinder body. The cylinder body is fixed to the bottom of the support frame 122 by a base, and the piston rod extends upward and protrudes from the rotary table 121 to contact the welding positioning module 110. When compressed air enters the cylinder chamber, it pushes the piston to perform linear reciprocating motion, thereby driving the entire welding positioning module 110 to rise or fall smoothly in the vertical direction.

[0059] In this embodiment, the resistance welding clamping module 130 is disposed above the welding positioning module 110, and the workpiece to be welded on the welding positioning module 110 is welded by the heat generated by the discharge between the electrodes.

[0060] For example, the resistance welding clamping module 130 includes a main frame, a transmission module, an electrode module, a power supply and control module, and an auxiliary sub-module.

[0061] For example, the main frame includes a rigid base, guide columns, and a crossbeam assembly. The rigid base uses high-strength cast iron or welded steel structure as the basic load-bearing platform to ensure overall stability. The guide columns adopt a double-column linear slide rail design, and the crossbeam assembly spans the tops of the two columns. The transmission module includes a precision ball screw pair, which achieves vertical motion control with the double-column linear slide rail. The transmission module also integrates a pneumatic / electric drive device, such as a servo motor 123 + gearbox, to drive the electrode module to move up and down.

[0062] Exemplarily, the electrode module includes a main electrode pair, an auxiliary clamp, and an insulating support. The main electrode pair has a tapered or planar contact head made of chromium-zirconium-copper alloy, with a tungsten-cobalt hard alloy layer plated on the surface to improve wear resistance and conductivity. A spiral cooling water channel is formed inside the electrode, connected to an external circulating cooler. The auxiliary clamp has an adjustable lateral clamping device (hydraulic or pneumatically driven) for fixing the workpiece to be welded to prevent displacement, and has a quick-locking mechanism to support rapid replacement of the workpiece. The insulating support uses ceramic insulating material to isolate the electrode from the machine body and can withstand peak voltages exceeding 1000VAC.

[0063] For example, the power supply and control module includes an inverter welding power supply, a PLC control unit, and a sensor feedback network. The inverter welding power supply, for example, employs a DC pulse generator with a modular IGBT design, offering an adjustable output current range of 5kA to 50kA and featuring waveform editing functions for both rising and falling edges. A built-in digital PID controller achieves constant current control accuracy ≤ ±1%. The PLC control unit is equipped with a touchscreen human-machine interface (HMI), pre-sets multiple welding recipe parameters (pressure, time, and current combinations), supports manual / automatic mode switching, and can integrate safety interlock logic circuitry, meeting ISO 12100 standard requirements. The sensor feedback network includes a pressure transmitter, a displacement encoder (0.01mm resolution), and a temperature monitoring module, forming the basic data acquisition layer of the closed-loop control system.

[0064] For example, the auxiliary submodule includes a forced air cooling unit and a fume purification unit; the forced air cooling unit includes a micro vortex fan working in conjunction with an air guide shroud to form a directional airflow field, accelerating post-weld heat dissipation and removing spatter; the fume purification unit uses a dual method of activated carbon filtration and centrifugal separation to treat welding fumes, with emission concentrations lower than the OSHA allowable limits.

[0065] The resistance welding clamping module 130 is positioned at the object to be welded via the X-axis servo module 140, the Y-axis servo module 150, and the Z-axis servo module 160.

[0066] 1) Pre-compression contact stage

[0067] According to preset program parameters, the drive mechanism lowers the upper electrode at a set speed until it lightly touches the surface of the workpiece to be welded (contact sensing torque trigger signal). At this point, the actual pressure value is collected in real time by the load cell and displayed on the HMI interface. The typical pre-pressure is set to 30% to 50% of the final welding pressure.

[0068] 2) Energy release phase

[0069] Upon receiving the start command, the welding power supply outputs current according to the preset waveform curve:

[0070] Preheating pulse (optional): Low-energy pre-pass breaks the surface oxide film;

[0071] Main welding pulse: The current rapidly rises to the target value and is maintained for a set duration (usually 0.1 to 2 seconds), generating resistance heat at the metal contact surface, causing the material to melt and form a weld nugget;

[0072] Hold pulse: Attenuating power supply consolidates the solidification process of the molten pool.

[0073] The entire process is sampled and monitored by a high-speed ADC module, which dynamically adjusts the PWM duty cycle to compensate for the impact of power grid fluctuations.

[0074] 3) Pressure holding and cooling stage

[0075] After welding is completed, the rated pressure is maintained for a period of time (the holding time depends on the thickness of the material to be welded) to ensure that the weld nugget is fully solidified and to avoid shrinkage defects. At this time, the cooling water continues to circulate to remove residual heat.

[0076] 4) Reset and unloading phase

[0077] The upper electrode returns to its initial position, and the auxiliary clamp is released.

[0078] This embodiment only illustrates the structure of the resistance welding clamp module 130. Those skilled in the art can use other structural forms of the resistance welding clamp module 130. This embodiment does not limit the specific structure of the resistance welding clamp module 130.

[0079] In this embodiment, the X-axis servo module 140, the Y-axis servo module 150, and the Z-axis servo module 160 are supported and fixed by a fixed bracket 180. To ensure that the resistance welding clamping module 130 is suspended above the welding positioning module 110, the fixed bracket 180 supports and fixes the X-axis servo module 140, the Y-axis servo module 150, the Z-axis servo module 160, and the connecting module at a certain height.

[0080] The X-axis servo module 140 controls the horizontal movement of the resistance welding clamping module 130 through the cooperation of a slide rail and a slider; the Y-axis servo module 150 adjusts the front-to-back positional relationship between the electrode of the resistance welding clamping module 130 and the workpiece to be welded; and the Z-axis servo module 160 controls the dynamic adjustment of the electrode pressing depth and welding pressure of the resistance welding clamping module 130. The X-axis servo module 140, the Y-axis servo module 150, and the Z-axis servo module 160 each have a built-in high-torque-density servo motor 123, preferably supporting speed / torque dual-mode switching with a response frequency of 1kHz or higher.

[0081] Furthermore, in this embodiment, the X-axis servo module 140, the Y-axis servo module 150, and the Z-axis servo module 160 are each connected to a wiring groove.

[0082] For example, the transmission method of the X-axis servo module 140, the Y-axis servo module 150, and the Z-axis servo module 160 is that each axis adopts a combination of high-precision ball screws and linear guides.

[0083] Specifically, in this embodiment, the X-axis servo module 140, the Y-axis servo module 150, and the Z-axis servo module 160 are connected to the resistance welding clamping module 130 via a connecting module, and control the three-axis movement of the resistance welding clamping module 130. The X-axis servo module 140, the Y-axis servo module 150, and the Z-axis servo module 160, through the connecting module, link the resistance welding clamping assembly to any position on the workpiece to be welded. The resistance welding clamping module 130 does not apply excessive pressure to the workpiece, avoiding the problem of damage to the workpiece that may occur during ultrasonic welding.

[0084] Specifically, in this embodiment, as Figure 1 As shown, the connecting module includes a connecting plate 171 and a connecting seat 172. The connecting plate 171 is mounted vertically on the fixed bracket 180, and a slide rail and a slider are provided on the connecting plate 171. The X-axis servo module 140 is connected to the front surface of the connecting plate 171, the Z-axis servo module 160 is fixed to the X-axis servo module 140, the Y-axis servo module 150 is fixed to the fixed bracket 180, and the connecting seat 172 is connected to the slider and the resistance welding clamping module 130, respectively.

[0085] In this embodiment, the connecting base 172 includes a connecting base plate, a connecting back plate, and a fixing plate; the connecting base plate is horizontally arranged and connected to the top of the resistance welding clamping module 130; the connecting back plate is vertically arranged with the connecting base plate and connected to the slider; the fixing plate is connected between the connecting base plate and the connecting back plate and is used to fix and support the connecting back plate and the connecting base plate.

[0086] In this embodiment, the connecting plate 171 is provided with a plurality of hollow holes to reduce the weight of the connecting plate 171.

[0087] The following describes the usage of the multi-axis linkage clamping and welding mechanism 100 in this embodiment:

[0088] In this embodiment, the Y-axis servo module 150 is fixed on the fixed bracket 180, the X-axis servo module 140 is fixed on the slider and connecting plate 171, the Z-axis servo module is fixed on the X-axis servo module 140, and the resistance welding clamping module 130 is fixed on the connecting seat 172 of the Z-axis servo module 160.

[0089] The object to be welded is mounted on the welding positioning module 110, and then the welding positioning module 110 is assembled on the support block 125 in the lifting and rotating module 120. The welding positioning module 110 is positioned by the positioning pin 126. Under the action of the lifting cylinder 124 and the servo motor 123, the welding positioning module 110 is raised, lowered and rotated, and the different postures of the object to be welded in the welding positioning module 110 are switched. The resistance welding clamping module 130 moves to the welding position to weld the object to be welded.

[0090] The X-axis servo module 140, the Y-axis servo module 150, and the Z-axis servo module 160 work together to move the resistance welding clamping module 130, controlling the resistance welding clamping module 130 to move to the position of the Y-type copper terminal in the welding positioning module 110, and melting and welding the Y-type copper terminal by discharging the electrode head on the resistance welding clamping module 130.

[0091] Subsequently, the lifting and rotating module 120 drives the Y-type copper terminal to rotate, switching between different shapes of Y-type copper terminals to achieve positioning and welding compatible with different Y-type copper terminal shapes.

[0092] In summary, the multi-axis linkage welding mechanism 100 provided in this application achieves multi-axis linkage through a three-axis module and a bottom lifting and rotating structure. It generates heat through discharge between electrodes to melt the object being welded, thereby achieving the purpose of multi-axis linkage welding. This application can realize fully automatic welding of Y-type copper terminals and improve the stability and compatibility of welding.

[0093] The above embodiments are merely illustrative of the principles and effects of this application and are not intended to limit this application. Any person skilled in the art can modify or alter the above embodiments without departing from the spirit and scope of this application. Therefore, all equivalent modifications or alterations made by those skilled in the art without departing from the spirit and technical concept disclosed in this application should still be covered by the claims of this application.

Claims

1. A multi-axis linkage clamping and welding mechanism, characterized in that, include: Welding positioning module, lifting and rotating module, resistance welding clamping module, X-axis servo module, Y-axis servo module, Z-axis servo module and connecting module; The welding positioning module is used to support and position the object to be welded. The welding positioning module is installed on the lifting and rotating module, and the lifting and rotating module controls the welding positioning module to rise, fall or rotate. The resistance welding clamping module is located above the welding positioning module, and the workpiece to be welded on the welding positioning module is welded by the heat generated by the discharge between the electrodes. The X-axis servo module, the Y-axis servo module, and the Z-axis servo module are connected to the resistance welding clamping module via a connection module, and control the three-axis movement of the resistance welding clamping module.

2. The multi-axis linkage clamping and welding mechanism according to claim 1, characterized in that, The welding positioning module includes a support plate and a positioning module mounted on the support plate. The positioning module is matched with the structure of the workpiece to be welded. The support plate is provided with at least one positioning hole.

3. The multi-axis linkage clamping and welding mechanism according to claim 1 or 2, characterized in that, The lifting and rotating module includes a rotating platform, a support frame, a servo motor, and a lifting cylinder; the support frame is installed below the rotating platform to support the rotating platform; the servo motor is installed below the rotating platform to control the rotation of the rotating platform; and the lifting cylinder is installed below the rotating platform to control the lifting and lowering of the rotating platform.

4. The multi-axis linkage clamping and welding mechanism according to claim 3, characterized in that, A support plate is provided on the rotating platform, and multiple support blocks are provided on the support plate.

5. The multi-axis linkage clamping and welding mechanism according to claim 4, characterized in that, It also includes at least one locating pin disposed on the support plate.

6. The multi-axis linkage clamping and welding mechanism according to claim 1, characterized in that, The X-axis servo module, the Y-axis servo module, and the Z-axis servo module are supported and fixed by a fixed bracket.

7. The multi-axis linkage clamping and welding mechanism according to claim 6, characterized in that, The connection module includes a connection plate and a connection seat; the connection plate is mounted vertically on the fixed bracket, and the connection plate is provided with a slide rail and a slider; the X-axis servo module is connected to the front surface of the connection plate, the Z-axis servo module is fixed on the X-axis servo module, the Y-axis servo module is fixed on the fixed bracket, and the connection seat is connected to the slider and the resistance welding clamping module respectively.

8. The multi-axis linkage clamping and welding mechanism according to claim 7, characterized in that, The X-axis servo module, the Y-axis servo module, and the Z-axis servo module are each connected to a wiring groove.

9. The multi-axis linkage clamping and welding mechanism according to claim 7, characterized in that, The connecting base includes a connecting base plate, a connecting back plate, and a fixing plate; the connecting base plate is horizontally arranged and connected to the top of the resistance welding clamping module; the connecting back plate is vertically arranged with the connecting base plate and connected to the slider; the fixing plate is connected between the connecting base plate and the connecting back plate and is used to fix and support the connecting back plate and the connecting base plate.

10. The multi-axis linkage clamping and welding mechanism according to claim 7, characterized in that, The connecting plate has multiple perforated holes.

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