Horizontal two-chuck laser pipe cutting machine

Abstract

The utility model discloses a horizontal two chuck laser pipe cutting machine relates to laser pipe cutting machine technical field. Its structure includes the cutting host computer of installation on the bed body, blanking closed cover, follow -up support structure and the semi -automatic feeding structure of installation on the one side of bed body, the blanking closed cover includes first fixed base, switch door, shade, first illuminating lamp, gas spring, and switch door is connected with first fixed base through hinge and gas spring, and the shade is installed on the one end of switch door away from hinged, and first illuminating lamp is installed in first fixed base. The utility model discloses through optimizing follow -up support structure and realizing the accurate positioning and stable support of tubular product, adopts semi -automatic feeding structure and promotes efficiency and safety, and the integrated weld seam identification mechanism improves cutting accuracy, and improves the design of blanking closed cover and guarantees operating environment, and optimizes improvement on the traditional equipment foundation.

Description

Technical Field

[0001] This utility model belongs to the field of laser tube cutting machine technology, and in particular relates to a horizontal two-chuck laser tube cutting machine. Background Technology

[0002] Traditional dual-chuck laser tube cutting machines rely primarily on fixed-height support devices for tube support and positioning during processing. This design often fails to provide optimal support when dealing with tubes of varying diameters, leading to minor vibrations or shifts in the tube during processing, thus affecting cutting accuracy. This problem is particularly pronounced when processing large-diameter or long tubes, severely hindering the improvement of processing quality.

[0003] Traditional laser tube cutting machines also have shortcomings in weld seam recognition. Due to the lack of an effective weld seam recognition mechanism, operators often need to perform tedious manual measurements and markings before cutting. This not only increases workload but may also lead to measurement errors due to human factors, thus affecting cutting accuracy. At the same time, if the weld seam position cannot be identified in real time during the cutting process, it is difficult to achieve high-precision continuous cutting operations.

[0004] Furthermore, the material unloading process of traditional equipment also has room for improvement. Some equipment lacks effective enclosure and protective measures during material unloading, causing dust and light pollution generated during processing to easily spread into the working environment, affecting the health of operators. At the same time, the lack of internal lighting design also makes it inconvenient for operators to observe the processing status.

[0005] In response to the above problems, there is an urgent need in the market for a laser tube cutting machine that can improve processing accuracy and efficiency, enhance equipment flexibility and adaptability, improve operational convenience and safety, and reduce maintenance costs and time.

[0006] The information disclosed in this background section is intended only to enhance the understanding of the general background of this utility model and should not be construed as an admission or in any way implying that the information constitutes prior art known to those skilled in the art. Utility Model Content

[0007] The purpose of this utility model is to provide a horizontal two-chuck laser tube cutting machine, which achieves precise positioning and stable support of tubes by optimizing the follow-up support structure, improves efficiency and safety by adopting a semi-automatic feeding structure, improves cutting accuracy by integrating a weld seam recognition mechanism, and improves the design of the unloading enclosure to ensure the operating environment.

[0008] To solve the above-mentioned technical problems, this utility model is achieved through the following technical solution:

[0009] This utility model relates to a horizontal two-chuck laser tube cutting machine, comprising a cutting host mounted on a bed, a material unloading enclosure, a follower support structure, and a semi-automatic feeding structure mounted on one side of the bed. The material unloading enclosure includes a first fixed base, a switch door, a light-blocking curtain, a first lighting lamp, and a gas spring. The switch door is connected to the first fixed base via a hinge and the gas spring. The light-blocking curtain is mounted on the switch door at the end away from the hinge. The first lighting lamp is installed inside the first fixed base. The follower support structure includes a second fixed base, a follower motor, a follower reducer, a lifting slide plate, support rollers, a first rack, a clamping cylinder, a sliding seat, a connecting rod, clamping rollers, a first lifting cylinder, and a clamping lifting slide plate. The second fixed base is fixed to the bed. The lifting slide is vertically installed on one side of the second fixed base via a linear slider and a linear guide mechanism. The follower motor and the follower reducer are assembled as one unit and installed on the other side of the second fixed base to drive the lifting slide to move up and down. The support roller is fixed to the upper end of the lifting slide. The semi-automatic feeding structure includes a feeding arm reduction motor, a chain, three single feeding assemblies, a feeding reduction motor, a feeding shaft, and a feeding arm shaft. The chain is installed on the single feeding assembly. The feeding arm reduction motor and the feeding reduction motor are installed on the middle single feeding assembly. The feeding reduction motor drives the feeding shaft to rotate, and the three drive chains move synchronously.

[0010] As a preferred technical solution of this utility model, in the follow-up support structure, the clamping lifting slide plate is vertically installed on the other side of the lifting slide plate via a linear slider and a linear guide rail mechanism. A first lifting cylinder is installed between the lifting slide plate and the clamping lifting slide plate. The sliding seat is vertically installed on the other side of the clamping lifting slide plate via a linear slider and a linear guide rail mechanism. The clamping cylinder is installed at the lower end of the clamping lifting slide plate. The telescopic end of the clamping cylinder is connected to the sliding seat. A pair of clamping rollers are horizontally installed on the outer side of the upper end of the sliding seat via a linear slider and a linear guide rail mechanism, and are connected to the sliding seat via a connecting rod.

[0011] As a preferred technical solution of this utility model, in the semi-automatic feeding structure, the single feeding assembly includes a third fixed base, a feeding cylinder, a second lifting cylinder, a lifting seat, a feeding arm, and a second lifting cylinder mounting base. The feeding arm is horizontally mounted on one side of the third fixed base via a linear slider and a linear guide mechanism. The second lifting cylinder mounting base is horizontally mounted on the outer side of the feeding arm via a linear slider and a linear guide mechanism. The telescopic end of the feeding cylinder is connected to the second lifting cylinder mounting base. The lifting seat is mounted on the telescopic end of the second lifting cylinder. The feeding arm reduction motor drives the feeding arm shaft to rotate. A second gear that meshes with the second rack below the feeding arm is mounted on the feeding arm shaft.

[0012] As a preferred technical solution of this utility model, it also includes a weld seam recognition mechanism installed on the bed. The weld seam recognition mechanism includes a dual-axis cylinder, a third fixed seat, a camera, a mounting base, a door-opening small cylinder, a flip-door small cylinder, a second lighting lamp, a flip-door, and a small opening door. The dual-axis cylinder is installed on the cutting host through the third fixed seat. The camera is installed on the telescopic end of the dual-axis cylinder through the mounting base. The door-opening small cylinder and the flip-door small cylinder respectively control the opening and closing of the small opening door and the flip-door. The second lighting lamp is installed on the mounting base.

[0013] As a preferred technical solution of this utility model, in the weld seam recognition mechanism, the dual-axis cylinder drives the overall mechanism to rise and fall. When the laser head cuts, the dual-axis cylinder retracts. When the weld seam is recognized, the dual-axis cylinder moves downward. The small door opening cylinder retracts to open the small door, and the small door flipping cylinder extends to expose the second lighting lamp for illumination. When the weld seam recognition ends, the small door opening cylinder extends to close the small door, and the small door flipping cylinder retracts to close the flipping door and block the second lighting lamp.

[0014] This utility model has the following beneficial effects:

[0015] 1. This utility model uses a follower motor and a follower reducer to drive a lifting slide plate, precisely adjusting the height of the support rollers to adapt to the processing requirements of different pipe diameters, ensuring the stability and precision of the pipes during processing. Simultaneously, the design of the clamping lifting slide plate avoids interference between the clamping mechanism and the rear chuck, further improving processing efficiency.

[0016] 2. This utility model's semi-automatic feeding structure adopts a combination of chain synchronous transmission and a feeding arm, realizing automatic feeding of pipes, reducing manual intervention, and improving production efficiency and safety. Meanwhile, the design of a single feeding assembly makes the feeding process more flexible and reliable. The unloading enclosure, with its light-shielding curtain and lighting, prevents light pollution and dust diffusion during processing, while also allowing operators to easily observe the internal processing status, improving the safety and comfort of the working environment.

[0017] 3. The main components of this utility model, such as the cutting host, the unloading enclosure, the follow-up support structure, and the semi-automatic feeding structure, all adopt a modular design, which facilitates the installation, debugging, and maintenance of the equipment. At the same time, this design also allows the equipment to be quickly configured and adjusted according to different processing requirements.

[0018] 4. This utility model utilizes a weld seam recognition mechanism integrated into the cutting host, driven by a dual-axis cylinder. This mechanism enables rapid descent for weld seam recognition when needed, improving recognition accuracy and efficiency. Simultaneously, the design of the door-opening cylinder and the door-flipping cylinder effectively protects the camera and lighting from damage by laser cutting slag, extending the equipment's lifespan.

[0019] 5. The opening and closing door of this utility model's material unloading enclosure adopts a gas spring-assisted design, making the opening and closing process easier and less strenuous, while ensuring the stability of the door in the open state, facilitating inspection and maintenance by operators. The blackout curtain effectively prevents internal dust and light leakage, protecting the operator's visual health; while the internal lighting design ensures that operators can clearly observe the internal processing status under any lighting conditions, improving operational safety and convenience.

[0020] Of course, any product implementing this utility model does not necessarily need to achieve all of the advantages described above at the same time. Attached Figure Description

[0021] To more clearly illustrate the technical solutions of the embodiments of this utility model, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this utility model. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0022] Figure 1 This is a schematic diagram of the structure of the horizontal two-chuck laser tube cutting machine of this utility model.

[0023] Figure 2 This is a schematic diagram of the material unloading enclosure.

[0024] Figure 3 This is a structural schematic diagram of the material unloading enclosure from another perspective.

[0025] Figure 4 This is a schematic diagram of the follow-up support structure.

[0026] Figure 5 This is a schematic diagram of the following support structure from another perspective.

[0027] Figure 6 This is a schematic diagram of a semi-automatic feeding structure.

[0028] Figure 7 This is a schematic diagram of the semi-automatic feeding structure from another perspective.

[0029] Figure 8 This is a schematic diagram of a single feeding assembly.

[0030] Figure 9 This is a front view of a single feeding assembly.

[0031] Figure 10 This is a schematic diagram of the cutting host and the weld seam recognition mechanism.

[0032] Figure 11 for Figure 10 A structural schematic diagram of a partial enlarged view at point A in the middle.

[0033] Figure 12 This is a structural schematic diagram of the cutting host and weld recognition mechanism from another perspective.

[0034] The attached diagram lists the components represented by each number as follows:

[0035] 1-Cutting main unit, 2-Unloading enclosure, 21-First fixed base, 22-Opening and closing door, 23-Blackout curtain, 24-First lighting lamp, 25-Gas spring, 3-Follow-up support structure, 31-Second fixed base, 32-Follow-up motor, 33-Follow-up reducer, 34-Lifting slide plate, 35-Supporting roller, 36-First rack, 37-Clamping cylinder, 38-Sliding seat, 39-Connecting rod, 310-Clamping roller, 311-First lifting cylinder, 312-Clamping lifting slide plate, 4-Semi-automatic feeding structure, 41-Feeding arm reducer Machine, 42-Chain, 43-Single feeding assembly, 431-Third fixed base, 432-Feeding cylinder, 433-Second lifting cylinder, 434-Lifting seat, 435-Feeding arm, 436-Second lifting cylinder mounting base, 44-Feeding reduction motor, 45-Feeding shaft, 46-Feeding arm shaft, 5-Weld seam recognition mechanism, 51-Dual-axis cylinder, 52-Third fixed base, 53-Camera, 54-Mounting base, 55-Door opening cylinder, 56-Flipping door cylinder, 57-Second lighting lamp, 58-Flipping door, 59-Small opening door. Detailed Implementation

[0036] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the scope of protection of the present utility model. Specific Implementation Example 1:

[0038] Please see Figure 1-12 As shown, this utility model is a horizontal two-chuck laser tube cutting machine, including a cutting host 1, a feeding enclosure 2, and a follow-up support structure 3 mounted on the bed, as well as a semi-automatic feeding structure 4 mounted on one side of the bed.

[0039] The unloading enclosure 2 includes a first fixed base 21, a switch door 22, a light-blocking curtain 23, a first lighting lamp 24, and a gas spring 25. The first fixed base 21 provides overall stability, with feet supporting its lower end, and rests on the machine bed. The switch door 22 is connected to the first fixed base 21 via hinges and gas springs 25, and at least two switch doors 22 are installed on the first fixed base 21. The light-blocking curtain 23 is installed on the switch door 22 at the end away from the hinge. The light-blocking curtain 23 primarily prevents internal dust and light leakage. When maintenance is required, the switch door 22 is opened, and the gas spring 25 supports the opening of the switch door 22 structure, maintaining a stable open state under the force of the gas spring 25. Multiple first lighting lamps 24 are installed inside the first fixed base 21, and all internal first lighting lamps 24 are turned on for easy observation of the internal processing status.

[0040] The follower support structure 3 includes a second fixed base 31, a follower motor 32, a follower reducer 33, a lifting slide plate 34, a support roller 35, a first rack 36, a clamping cylinder 37, a sliding seat 38, a connecting rod 39, a clamping roller 310, a first lifting cylinder 311, and a clamping lifting slide plate 312. The second fixed base 31 is fixed to the bed. The lifting slide plate 34 is vertically mounted on one side of the second fixed base 31 via two sets of first linear sliders and a linear guide mechanism, and the first rack 36 is mounted on the side of the lifting slide plate 34 opposite to the second fixed base 31. The follower motor 32 and the follower reducer 33 are assembled as one unit and mounted on the opposite side of the second fixed base 31. A gear for driving the first rack 36 to move up and down is mounted on the output shaft of the follower reducer 33. The follower motor 32 and the follower reducer 33 indirectly drive the lifting slide plate 34 to move up and down. The support roller 35 is fixed to the upper end of the lifting slide plate 34 and mainly supports the tubing.

[0041] The clamping lifting slide plate 312 is vertically mounted on the other side of the lifting slide plate 34 via two sets of second linear sliders and linear guide rail mechanism. A first lifting cylinder 311 is installed between the lifting slide plate 34 and the clamping lifting slide plate 312 to raise or lower the entire clamping mechanism, avoiding interference during the movement of the rear chuck.

[0042] The sliding seat 38 is vertically mounted on the other side of the clamping lifting slide plate 312 via a set of third linear sliders and a linear guide mechanism. The clamping cylinder 37 is mounted on the lower end of the clamping lifting slide plate 312. The telescopic end of the clamping cylinder 37 is connected to the sliding seat 38.

[0043] A pair of clamping rollers 310 are horizontally mounted on the outer side of the upper end of the sliding seat 38 via a set of fourth linear sliders and a linear guide mechanism. Each pair of clamping rollers 310 is connected to the sliding seat 38 via a connecting rod 39. When the clamping cylinder 37 retracts, it causes the sliding seat 38 to move downward, which in turn causes the connecting rod 39 to move, thereby causing the pair of clamping rollers 310 to center and clamp the pipe.

[0044] The semi-automatic feeding structure 4 includes a feeding arm reduction motor 41, a chain 42, three single feeding assemblies 43, a feeding reduction motor 44, a feeding shaft 45, and a feeding arm shaft 46. Each single feeding assembly 43 is equipped with a chain 42. The three parallel single feeding assemblies 43 are connected as one unit by profiles. Both the feeding arm reduction motor 41 and the feeding reduction motor 44 are mounted on the middle single feeding assembly 43. The feeding reduction motor 44 drives the feeding shaft 45 to rotate. Three sprockets are mounted on the feeding shaft 45, each driving the chains 42 mounted on the three single feeding assemblies 43 to move synchronously.

[0045] The single-unit feeding assembly 43 includes a third fixed base 431, a feeding cylinder 432, a second lifting cylinder 433, a lifting seat 434, a feeding arm 435, and a second lifting cylinder mounting base 436. The feeding arm 435 is horizontally mounted on one side of the third fixed base 431 via a set of fifth linear sliders and a linear guide mechanism. A second rack is mounted below the feeding arm 435. The second lifting cylinder mounting base 436 is horizontally mounted on the outer side of the feeding arm 435 via a set of fifth linear sliders and a linear guide mechanism. The feeding cylinder 432 is mounted on the outer side of the feeding arm 435, and its extension / retraction end is connected to the second lifting cylinder mounting base 436. The lifting seat 434 is mounted on the extension / retraction end of the second lifting cylinder 433, which is a linearly guided cylinder. The feeding arm reduction motor 41 drives the feeding arm shaft 46 to rotate. Three second gears, each engaging with a second rack, are mounted on the feeding arm shaft 46.

[0046] The pipes are placed on the chain. During feeding, the feeding reduction motor 44 drives the feeding shaft 45 to rotate, which in turn moves the three sets of single feeding components 43 synchronously. The feeding shaft 45 drives the sprocket and chain 42 to rotate, feeding the material forward. When it reaches the front, multiple cylinders deliver the material to the feeding arm 435. The feeding arm reduction motor 41 drives the feeding arm 435 to move, feeding the material forward.

[0047] When the chain transports the material, the second lifting cylinder 433 drives the lifting seat 434 to rise, and then the feeding cylinder 432 pushes the second lifting cylinder mounting base 436 and the lifting seat 434 supporting the pipe to move forward. Then the second lifting cylinder 433 descends, dropping the pipe onto the feeding arm 435. Then the feeding arm reduction motor 41 drives the second gear rack to transport the feeding arm 435 and the pipe on it forward.

[0048] It also includes a weld seam recognition mechanism 5 installed on the bed; the weld seam recognition mechanism 5 includes a dual-axis cylinder 51, a third fixed seat 52, a camera 53, a mounting seat 54, a door opening cylinder 55, a flip door cylinder 56, a second lighting lamp 57, a flip door 58, and a small opening door 59.

[0049] A dual-axis cylinder 51 is mounted on the cutting host 1 via a third fixed base 52. A camera 53 is mounted on the telescopic end of the dual-axis cylinder 51 via a mounting base 54. A small door 59 is horizontally guided and inserted into the lower end of the mounting base 54. A small door-opening cylinder 55 is mounted on one side of the mounting base 54 via a fixed cylinder bracket, and the telescopic end of the small door-opening cylinder 55 is connected to the small door 59. A flip-up door 58 is hinged to one side of the mounting base 54 via a hinge seat. A small flip-up door cylinder 56 is installed between the mounting base 54 and the flip-up door 58 to perform the flipping action of the flip-up door 58. A second lighting lamp 57 is mounted on the mounting base 54.

[0050] The dual-axis cylinder 51 drives the entire mechanism to rise and fall. When the laser head cuts, the dual-axis cylinder 51 retracts, lifting the entire mechanism upwards. Before cutting, when weld seam recognition is required, the dual-axis cylinder moves downwards, and the weld seam recognition begins. During weld seam recognition, the door-opening cylinder 55 retracts, opening the small door 59, and the flip-door cylinder 56 extends, exposing the second lighting lamp 57 for illumination. When weld seam recognition is complete, the door-opening cylinder 55 extends, closing the small door 59. The flip-door cylinder 56 retracts, closing the flip-door 58 and blocking the second lighting lamp 57 to prevent cutting debris from damaging the camera 53 and the second lighting lamp 57 during laser cutting.

[0051] In the description of this specification, references to terms such as "an embodiment," "example," "specific example," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of the present invention. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples.

[0052] The preferred embodiments of this utility model disclosed above are merely illustrative of the present utility model. These preferred embodiments do not exhaustively describe all details, nor do they limit the utility model to the specific implementations described. Clearly, many modifications and variations can be made based on the content of this specification. This specification selects and specifically describes these embodiments to better explain the principles and practical applications of this utility model, thereby enabling those skilled in the art to better understand and utilize it. This utility model is limited only by the claims and their full scope and equivalents.

Claims

1. A horizontal two-chuck laser tube cutting machine, characterized in that: It includes a cutting host (1) installed on the bed, a feeding enclosure (2), a follow-up support structure (3), and a semi-automatic feeding structure (4) installed on one side of the bed. The unloading enclosure (2) includes a first fixed base (21), a switch door (22), a light-blocking curtain (23), a first lighting lamp (24), and a gas spring (25). The switch door (22) is connected to the first fixed base (21) through a hinge and the gas spring (25). The light-blocking curtain (23) is installed on the switch door (22) away from the hinge. The first lighting lamp (24) is installed inside the first fixed base (21). The follower support structure (3) includes a second fixed base (31), a follower motor (32), a follower reducer (33), a lifting slide plate (34), a support roller (35), a first rack (36), a clamping cylinder (37), a sliding seat (38), a connecting rod (39), a clamping roller (310), a first lifting cylinder (311), and a clamping lifting slide plate (312). The second fixed base (31) is fixed on the bed. The lifting slide plate (34) is vertically installed on one side of the second fixed base (31) through a linear slider and a linear guide rail mechanism. The follower motor (32) and the follower reducer (33) are assembled into one unit and installed on the other side of the second fixed base (31) to drive the lifting slide plate (34) to move up and down. The support roller (35) is fixed on the upper end of the lifting slide plate (34). The semi-automatic feeding structure (4) includes a feeding arm reduction motor (41), a chain (42), three single feeding assemblies (43), a feeding reduction motor (44), a feeding shaft (45), and a feeding arm shaft (46). The chain (42) is installed on the single feeding assembly (43). The feeding arm reduction motor (41) and the feeding reduction motor (44) are installed on the middle single feeding assembly (43). The feeding reduction motor (44) drives the feeding shaft (45) to rotate, and the three driving chains (42) move synchronously.

2. The horizontal two-chuck laser tube cutting machine according to claim 1, characterized in that, In the follow-up support structure (3), the clamping lifting slide plate (312) is vertically installed on the other side of the lifting slide plate (34) through a linear slider and a linear guide mechanism. The first lifting cylinder (311) is installed between the lifting slide plate (34) and the clamping lifting slide plate (312). The sliding seat (38) is vertically installed on the other side of the clamping lifting slide plate (312) through a linear slider and a linear guide mechanism. The clamping cylinder (37) is installed at the lower end of the clamping lifting slide plate (312). The telescopic end of the clamping cylinder (37) is connected to the sliding seat (38). A pair of clamping rollers (310) are horizontally installed on the outer side of the upper end of the sliding seat (38) through a linear slider and a linear guide mechanism, and are connected to the sliding seat (38) through the connecting rod (39).

3. The horizontal two-chuck laser tube cutting machine according to claim 1, characterized in that, In the semi-automatic feeding structure (4), the single feeding assembly (43) includes a third fixed base (431), a feeding cylinder (432), a second lifting cylinder (433), a lifting seat (434), a feeding arm (435), and a second lifting cylinder mounting base (436). The feeding arm (435) is horizontally mounted on one side of the third fixed base (431) via a linear slider and a linear guide mechanism. The second lifting cylinder mounting base (436) is horizontally mounted on the outer side of the feeding arm (435) via a linear slider and a linear guide mechanism. The extension end of the feeding cylinder (432) is connected to the second lifting cylinder mounting base (436). The lifting seat (434) is mounted on the extension end of the second lifting cylinder (433). The feeding arm reduction motor (41) drives the feeding arm shaft (46) to rotate. A second gear that engages with the second rack below the feeding arm (435) is mounted on the feeding arm shaft (46).

4. The horizontal two-chuck laser tube cutting machine according to claim 1, characterized in that, It also includes a weld seam recognition mechanism (5) installed on the bed. The weld seam recognition mechanism (5) includes a dual-axis cylinder (51), a third fixed seat (52), a camera (53), a mounting seat (54), a door-opening cylinder (55), a flip-door cylinder (56), a second lighting lamp (57), a flip-door (58), and a small opening door (59). The dual-axis cylinder (51) is installed on the cutting host (1) through the third fixed seat (52). The camera (53) is installed on the telescopic end of the dual-axis cylinder (51) through the mounting seat (54). The door-opening cylinder (55) and the flip-door cylinder (56) control the opening and closing of the small opening door (59) and the flip-door (58) respectively. The second lighting lamp (57) is installed on the mounting seat (54).

5. The horizontal two-chuck laser tube cutting machine according to claim 4, characterized in that, In the weld seam recognition mechanism (5), the dual-axis cylinder (51) drives the overall mechanism to rise and fall. When the laser head cuts, the dual-axis cylinder (51) retracts. When the weld seam is recognized, the dual-axis cylinder (51) moves downward. The door-opening cylinder (55) retracts to open the small door (59). The flip-door cylinder (56) extends to expose the second lighting lamp (57) for illumination. When the weld seam recognition ends, the door-opening cylinder (55) extends to close the small door (59). The flip-door cylinder (56) retracts to close the flip-door (58) and cover the second lighting lamp (57).

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