阅读说明：本技术 一种拉杆翻转模与机器人联动控制方法 (Linkage control method for pull rod overturning die and robot ) 是由 何懿翔 孙朗基 马骏 唐明朗 荣立帅 张均保 梁东生 曾鹏 王宝 黄翊 贝晨 于 2021-09-01 设计创作，主要内容包括：本发明公开了一种拉杆翻转模与机器人联动控制方法,属于机器人联动控制技术领域,方法包括如,机器人开始焊接工件,焊接完该面焊缝后机器人回到安全点等待并向plc发送信号。plc收到信号后驱动电机转动从而使工件翻转,定位卡板感应到定位块后给plc发送信号。plc收到信号后停止控制输出从而使电机停止转动,同时给机器人信号让机器人开始下一步焊接。本发明提高工作效率,解放人工,造价低廉；维修保养方便,工人能够编程调试,同时不需要改变原有的机械手,也不需要相关机械手厂商提供编程调试接口,在原有的设备加上PLC控制器即可实现自动化焊接控制,具有非常好的实际应用价值。(The invention discloses a linkage control method of a pull rod turnover die and a robot, and belongs to the technical field of linkage control of robots. The plc receives the signal and then drives the motor to rotate, so that the workpiece is turned over, and the positioning clamping plate senses the positioning block and then sends a signal to the plc. The plc receives the signal and stops controlling the output to stop the motor from rotating, and simultaneously sends a signal to the robot to start the next welding. The invention improves the working efficiency, liberates manpower and has low manufacturing cost; the welding control system has the advantages that the maintenance is convenient, workers can program and debug, meanwhile, original mechanical arms do not need to be changed, programming and debugging interfaces do not need to be provided by related mechanical arm manufacturers, automatic welding control can be realized by adding the PLC to original equipment, and the welding control system has very good practical application value.)

1. A linkage control method for a pull rod overturning die and a robot is characterized by comprising the following steps: the method comprises the following steps of,

step 1: the robot starts to weld the workpiece, returns to a safety point to wait after welding the surface welding seam and sends a signal to the plc;

step 2: the plc drives the motor to rotate after receiving the signal, so that the workpiece is turned over, and the positioning clamping plate senses the positioning block and then sends a signal to the plc;

and step 3: the plc stops controlling output after receiving the signal so as to stop the motor from rotating, and simultaneously sends a signal to the robot so as to enable the robot to start the next welding step;

and 4, step 4: and (4) circulating the steps, and continuing the welding work of the two robots to return to the step 1 until the whole workpiece is welded.

2. The linkage control method of the pull rod overturning die and the robot as claimed in claim 1, wherein: and step 4, a jog turnover button is further arranged, after the whole workpiece is welded, the jog turnover button is manually pressed to check whether the welding surface of the workpiece is well welded, and if the workpiece is not welded, manual supplementary welding is performed.

3. The linkage control method of the pull rod overturning die and the robot as claimed in claim 2, wherein: the system for realizing the method comprises a plc control device and a welding device, wherein the plc control device is connected with the welding device and controls the action of the welding device according to a signal for detecting the welding device.

4. The linkage control method of the pull rod overturning die and the robot as claimed in claim 3, wherein the linkage control method comprises the following steps: welding set includes the lathe, V type gyro wheel positioning seat is installed to the top equidistance of lathe, the pull rod body is installed to the top equidistance of V type gyro wheel positioning seat, one side fixed mounting at lathe top has the location cardboard, one side fixed mounting of location cardboard has the locating pin fixing base, one side fixed mounting of the inside of lathe has transmission assembly, welding assembly is installed to the back equidistance of lathe.

5. The linkage control method of the pull rod overturning die and the robot as claimed in claim 4, wherein the linkage control method comprises the following steps: the utility model discloses a lathe, including lathe, lathe top, fixed mounting has the breast board, the inside equidistance of lathe installs the enhancement frame, one side fixed mounting at lathe top has the breast board, the top fixed mounting of lathe one side has the interface, and the surperficial equidistance of breast board is provided with to, one side fixed mounting of lathe inside has the motor cabinet.

6. The linkage control method of the pull rod overturning die and the robot as claimed in claim 5, wherein the linkage control method comprises the following steps: the utility model discloses a lathe, including lathe, lathe top, fixed mounting has the breast board, the inside equidistance of lathe installs the enhancement frame, one side fixed mounting at lathe top has the breast board, the top fixed mounting of lathe one side has the interface, and the surperficial equidistance of breast board is provided with to, one side fixed mounting of lathe inside has the motor cabinet.

7. The linkage control method of the pull rod overturning die and the robot as claimed in claim 6, wherein the linkage control method comprises the following steps: the welding assembly comprises a base, a distribution box is fixedly arranged at the top of the base, a mechanical arm is fixedly arranged at the top of one side of the distribution box, a rotary head is fixedly arranged at the top of the mechanical arm, a connecting rod is fixedly arranged on the surface of the rotary head, and a welding gun is fixedly arranged at one end of the connecting rod.

8. The linkage control method of the pull rod overturning die and the robot as claimed in claim 7, wherein: the top equidistance of V type gyro wheel positioning seat is provided with V type groove, and the both sides fixed mounting of V type inslot portion has the installation pole, and the top movable mounting of installation pole has the pulley, the both sides fixed mounting of V type gyro wheel positioning seat has the backup pad, the bottom fixed mounting of V type gyro wheel positioning seat both sides has the limiting plate, and the fixed screw hole that is provided with in bottom of limiting plate, the inside of screw hole cup joints and installs the threaded rod, and the top fixed mounting of threaded rod has the clamp plate, and the bottom fixed mounting of threaded rod has the runner.

9. The linkage control method of the pull rod overturning die and the robot as claimed in claim 8, wherein: one side fixed mounting on location cardboard surface has proximity switch, the surperficial equidistance of location cardboard is provided with the installing port, and the fixed locating hole that is provided with in top of installing port, drive assembly includes servo motor, and servo motor's the fixed pivot that is provided with of output, and first sprocket is installed to the surperficial equidistance of pivot, and the surface of first sprocket is cup jointed and is installed the chain, and the inside top of chain is cup jointed and is installed the second sprocket.

10. The linkage control method of the pull rod overturning die and the robot as claimed in claim 9, wherein: the fixed jack that is provided with in top of locating pin fixing base one side, the inside of jack cup joints and installs first locating pin, the opposite side fixed mounting of locating pin fixing base has the lug, the inside of locating pin fixing base cup joints and installs the transmission shaft, the top fixed mounting of locating pin fixing base one side has the angle scale, and the top of angle scale cup joints and installs the second locating pin, and the surface of second locating pin bottom cup joints and installs the otic placode, and one side of otic placode is fixed and is provided with fixed mouthful.

Technical Field

The invention relates to the technical field of robot linkage control, in particular to a linkage control method of a pull rod overturning die and a robot.

Background

Because the former electronic turnover mould manipulator has welded a face and needs the workman to manually press the turn-over button, and the manual start button that presses the robot after the turn-over, weld a set of weldment and need turn-over nearly 10 times, need the workman to look aside always. The purchase of a dedicated positioner is expensive and troublesome to maintain.

In order to better control the automatic welding of the manipulator, a control method needs to be designed to perform linkage control on the robot, so that the automatic welding is completely realized, and a linkage control method needs to be researched.

Disclosure of Invention

The invention aims to provide a linkage control method of a pull rod overturning die and a robot, and solves the technical problem of linkage between a manipulator and an electric overturning die.

In order to achieve the purpose, the technical scheme adopted by the invention is as follows:

a linkage control method of a pull rod overturning die and a robot comprises the following steps,

step 1: the robot starts to weld the workpiece, returns to a safety point to wait after welding the surface welding seam and sends a signal to the plc;

step 2: the plc drives the motor to rotate after receiving the signal, so that the workpiece is turned over, and the positioning clamping plate senses the positioning block and then sends a signal to the plc;

and step 3: the plc stops controlling output after receiving the signal so as to stop the motor from rotating, and simultaneously sends a signal to the robot so as to enable the robot to start the next welding step;

and 4, step 4: and (4) circulating the steps, and continuing the welding work of the two robots to return to the step 1 until the whole workpiece is welded.

Further, step 4 also includes setting a jog turnover button, after the welding of the whole workpiece is completed, manually pressing the jog turnover button to check whether the welding surface of the workpiece is well welded, and if not, manually supplementing welding.

Furthermore, the system for realizing the method comprises a plc control device and a welding device, wherein the plc control device is connected with the welding device and controls the action of the welding device according to a signal for detecting the welding device.

Further, welding set includes the lathe, V type gyro wheel positioning seat is installed to the top equidistance of lathe, the pull rod body is installed to the top equidistance of V type gyro wheel positioning seat, one side fixed mounting at lathe top has the location cardboard, one side fixed mounting of location cardboard has the locating pin fixing base, one side fixed mounting of inside of lathe has transmission assembly, the welding assembly is installed to the back equidistance of lathe.

Further, the reinforcing frame is installed to the inside equidistance of lathe, one side fixed mounting at lathe top has the breast board, the top fixed mounting of lathe one side has the breast board, and the surperficial equidistance of breast board is provided with to the interface, one side fixed mounting of lathe inside has the motor cabinet.

Further, the reinforcing frame is installed to the inside equidistance of lathe, one side fixed mounting at lathe top has the breast board, the top fixed mounting of lathe one side has the breast board, and the surperficial equidistance of breast board is provided with to the interface, one side fixed mounting of lathe inside has the motor cabinet.

Further, the welding subassembly includes the base, and the fixed block terminal that is provided with in top of base, the fixed arm that is provided with in top of block terminal one side, the fixed turn that is provided with in top of arm, the fixed surface of turn over is provided with the connecting rod, and the one end of connecting rod is fixed and is provided with welder.

Further, the top equidistance of V type gyro wheel positioning seat is provided with V type groove, and the both sides fixed mounting of V type inslot portion has the installation pole, and the top movable mounting of installation pole has the pulley, the both sides fixed mounting of V type gyro wheel positioning seat has the backup pad, the bottom fixed mounting of V type gyro wheel positioning seat both sides has the limiting plate, and the fixed screw hole that is provided with in bottom of limiting plate, the inside of screw hole cup joints and installs the threaded rod, and the top fixed mounting of threaded rod has the clamp plate, and the bottom fixed mounting of threaded rod has the runner.

Further, one side fixed mounting on location cardboard surface has proximity switch, the surperficial equidistance of location cardboard is provided with the installing port, and the fixed locating hole that is provided with in top of installing port, drive assembly includes servo motor, and servo motor's the fixed pivot that is provided with of output, and first sprocket is installed to the surface equidistance of pivot, and the surface of first sprocket is cup jointed and is installed the chain, and the inside top of chain is cup jointed and is installed the second sprocket.

Further, the fixed jack that is provided with in top of locating pin fixing base one side, the inside of jack cup joints and installs first locating pin, the opposite side fixed mounting of locating pin fixing base has the lug, the inside of locating pin fixing base cup joints and installs the transmission shaft, the top fixed mounting of locating pin fixing base one side has the angle scale, and the top of angle scale cup joints and installs the second locating pin, and the surface of second locating pin bottom cup joints and installs the otic placode, and one side of otic placode is fixed and is provided with the fixed mouthful.

Due to the adoption of the technical scheme, the invention has the following beneficial effects:

the invention improves the working efficiency, liberates manpower and has low manufacturing cost; the welding control system has the advantages that the maintenance is convenient, workers can program and debug, meanwhile, original mechanical arms do not need to be changed, programming and debugging interfaces do not need to be provided by related mechanical arm manufacturers, automatic welding control can be realized by adding the PLC to original equipment, and the welding control system has very good practical application value.

Drawings

FIG. 1 is a flow chart of the method of the present invention;

FIG. 2 is a schematic view of the welding apparatus of the present invention;

FIG. 3 is a schematic side view of a portion of the welding apparatus of the present invention;

FIG. 4 is a schematic view of a partial structure of a machine tool of the welding apparatus of the present invention;

FIG. 5 is a partial schematic view of a welding assembly of the welding apparatus of the present invention;

FIG. 6 is a side view of a partial structure of a V-shaped roller seat of the welding device according to the present invention;

FIG. 7 is a side view of a positioning card of the welding device of the present invention;

FIG. 8 is a side view of a partial structure of a transmission assembly of the welding apparatus of the present invention;

FIG. 9 is a side view of a positioning pin fixing seat of the welding device according to the present invention.

In the attached drawings, 1, a machine tool; 101. a reinforcing frame; 102. a machine position plate; 103. a breast board; 104. abutting the interface; 105. a motor base; 2. welding the assembly; 201. a welding gun; 202. a distribution box; 203. turning the head; 204. a connecting rod; 205. a mechanical arm; 206. a base; 3. a V-shaped roller positioning seat; 301. a V-shaped groove; 302. a support plate; 303. a limiting plate; 304. a rotating wheel; 305. mounting a rod; 306. a pulley; 307. pressing a plate; 308. a threaded hole; 309. a threaded rod; 4. a pull rod body; 5. positioning a clamping plate; 501. a proximity switch; 502. positioning holes; 503. an installation port; 6. a transmission assembly; 601. a chain; 602. a first sprocket; 603. a second sprocket; 604. a rotating shaft; 605. a servo motor; 7. a positioning pin fixing seat; 701. a jack; 702. a bump; 703. a drive shaft; 704. a first positioning pin; 705. a second positioning pin; 706. an ear plate; 707. a fixed port; 708. and (5) an angle scale.

Detailed Description

In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention will be described in further detail below with reference to the accompanying drawings by way of examples of preferred embodiments. It should be noted, however, that the numerous details set forth in the description are merely for the purpose of providing the reader with a thorough understanding of one or more aspects of the present invention, which may be practiced without these specific details.

As shown in fig. 1, a method for controlling the linkage of a drawbar turnover mould and a robot comprises the following steps,

step 1: the robot begins welding the workpiece, and after welding the face weld, the robot returns to the safe point to wait and sends a signal to the plc. The plc controls the on-off of the contactor through the relay so as to drive the motor to rotate, a plurality of relays (collectively called relays 2) are used between the plc and the robot to be connected and communicated in a relay isolation mode, and the communication is completed through the plc and a robot program.

Step 2: the plc receives the signal and then drives the motor to rotate, so that the workpiece is turned over, and the positioning clamping plate senses the positioning block and then sends a signal to the plc.

And step 3: the plc receives the signal and stops controlling the output to stop the motor from rotating, and simultaneously sends a signal to the robot to start the next welding.

And 4, step 4: and (4) circulating the steps, and continuing the welding work of the two robots to return to the step 1 until the whole workpiece is welded. And step 4, a jog turnover button is further arranged, after the whole workpiece is welded, the jog turnover button is manually pressed to check whether the welding surface of the workpiece is well welded, and if the workpiece is not welded, manual supplementary welding is performed.

After one surface is welded by the two robots respectively, the two robots send signals to the turnover die to turn over the turnover die automatically, the turnover die turns over and sends signals to the robots to start the next welding operation, and the operation is repeated until a complete weldment is welded, and the spot-moving turnover function is reserved for facilitating the repair welding of the parts which can not be welded by the robot.

The system for realizing the method comprises a plc control device and a welding device, wherein the plc control device is connected with the welding device and controls the action of the welding device according to a signal for detecting the welding device. The plc control device mainly realizes the effect of a control center, and then the welding device realizes that the plc control device is matched to carry out full-automatic accurate welding on a workpiece, so that the welding precision is more accurate.

As shown in fig. 2, the welding device includes a machine tool 1, a reinforcing frame 101 is installed inside the machine tool 1 at equal intervals, a position plate 102 is fixedly installed on one side of the top of the machine tool 1, a baffle plate 103 is fixedly installed on the top end of one side of the machine tool 1, abutting ports 104 are arranged on the surface of the baffle plate 103 at equal intervals, a motor base 105 is fixedly installed on one side inside the machine tool 1, the machine tool 1 and the reinforcing frame 101 are welded, the machine tool 1 and the reinforcing frame 101 are made of carbon steel, V-shaped roller positioning seats 3 are installed on the top of the machine tool 1 at equal intervals, V-shaped grooves 301 are arranged on the top of the V-shaped roller positioning seats 3 at equal intervals, mounting rods 305 are fixedly installed on both sides inside the V-shaped grooves 301, pulleys 306 are movably installed on the top ends of the mounting rods 305, supporting plates 302 are fixedly installed on both sides of the V-shaped roller positioning seats 3, limiting plates 303 are fixedly installed on the bottom ends of both sides of the V-shaped roller positioning seats 3, threaded holes 308 are fixedly installed on the bottom of the limiting plates 303, a threaded rod 309 is sleeved and mounted inside the threaded hole 308, a pressing plate 307 is fixedly mounted at the top end of the threaded rod 309, a rotating wheel 304 is fixedly mounted at the bottom end of the threaded rod 309, and pull rod bodies 4 are equidistantly mounted at the tops of the V-shaped roller positioning seats 3;

specifically, as shown in fig. 2, 4 and 6, when in use, the V-shaped roller positioning seat 3 equidistantly mounted on the top of the machine tool 1 and the pull rod body 4 equidistantly mounted on the top of the V-shaped roller positioning seat 3 are used, and the pull rod body 4 rolls inside the V-shaped groove 301 equidistantly arranged on the top of the V-shaped roller positioning seat 3, when the pull rod body 4 rolls inside the V-shaped groove 301, the pulley 306 movably mounted on the top of the mounting rod 305 rolls along with the turning of the pull rod body 4, so that the pull rod body 4 is prevented from being damaged during turning, the service life of the pull rod body 4 is prolonged, and the welding cost is reduced;

a positioning clamping plate 5 is fixedly arranged on one side of the top of the machine tool 1, a proximity switch 501 is fixedly arranged on one side of the surface of the positioning clamping plate 5, mounting holes 503 are equidistantly arranged on the surface of the positioning clamping plate 5, positioning holes 502 are fixedly arranged on the top of the mounting holes 503, a positioning pin fixing seat 7 is fixedly arranged on one side of the positioning clamping plate 5, a jack 701 is fixedly arranged on the top end of one side of the positioning pin fixing seat 7, a first positioning pin 704 is sleeved and arranged inside the jack 701, a lug 702 is fixedly arranged on the other side of the positioning pin fixing seat 7, a transmission shaft 703 is sleeved and arranged inside the positioning pin fixing seat 7, an angle scale 708 is fixedly arranged on the top of one side of the positioning pin fixing seat 7, a second positioning pin 705 is sleeved and arranged on the top of the angle scale 708, an ear plate 706 is sleeved and arranged on the surface of the bottom of the second positioning pin 705, a fixing hole 707 is fixedly arranged on one side of the ear plate 706, and a transmission assembly 6 is fixedly arranged on one side inside the machine tool 1, the transmission assembly 6 comprises a servo motor 605, the servo motor 605 is electrically connected with an external power supply through a wire, the type of the servo motor 605 can be an ACSMOGO motor, a rotating shaft 604 is fixedly arranged at the output end of the servo motor 605, a first chain wheel 602 is installed on the surface of the rotating shaft 604 at equal intervals, a chain 601 is installed on the surface of the first chain wheel 602 in a sleeved mode, and a second chain wheel 603 is installed on the top end of the inside of the chain 601 in a sleeved mode. The signal collected by the proximity switch 501 is transmitted to the PLC control device.

Specifically, as shown in fig. 2-8, in use, the positioning pin fixing seat 7 fixedly installed on one side of the positioning clamping plate 5 and the transmission assembly 6 fixedly installed on one side inside the machine tool 1 are used, the first positioning pin 704, the second positioning pin 705, the positioning clamping plate 5, the transmission shaft 703 and the angle scale 708 are fixed on the positioning pin fixing seat 7, the servo motor 605 drives the first sprocket 602 through the rotating shaft 604, the first sprocket 602 drives the chain 601, the chain 601 drives the second sprocket 603, the second sprocket 603 drives the transmission shaft 703, when the chain 601 is installed, in order to eliminate the angle difference between the pitches of the chain 601, the initial angles of the positioning pin fixing seats 7 are locked by the first positioning pins 704, the initial angles of the six positioning pin fixing seats 7 are all zero degrees, and the initial angle of the positioning pin fixing seat 7 is locked by the positioning clamping plate 5 after the chain 601 is installed. Then, the servo motor 605 drives the six transmission shafts 703 through the chain 601 simultaneously, so that the six pull rod bodies 4 are turned synchronously, and the positioning pin fixing seats 7 and the transmission assemblies 6 are utilized to ensure the stability and consistency of the welding seam quality and improve the welding effect;

the welding assemblies 2 are equidistantly mounted on the back of the machine tool 1, each welding assembly 2 comprises a base 206, a distribution box 202 is fixedly arranged at the top of each base 206, a mechanical arm 205 is fixedly arranged at the top of one side of each distribution box 202, a rotary head 203 is fixedly arranged at the top of each mechanical arm 205, a connecting rod 204 is fixedly arranged on the surface of each rotary head 203, and a welding gun 201 is fixedly arranged at one end of each connecting rod 204;

specifically, as shown in fig. 2-4, during the use, through the welding subassembly 2 of installing at the back equidistance of lathe 1, arm 205 can drive turn around 203 and remove, and the angle of welder 201 can be adjusted to turn around 203, and arm 205 can cooperate the upset of pull rod body 4 to weld, utilizes two welding subassemblies 2 of equidistance installation, need not the manual work and welds, and arm 205 can link with pull rod body 4 simultaneously, has improved welded efficiency, has reduced the cost of labor.

The working principle is as follows: during the use, at first, through the V type gyro wheel positioning seat 3 of top equidistance installation at lathe 1 and the pull rod body 4 of the top equidistance installation of V type gyro wheel positioning seat 3, pull rod body 4 rolls in the inside of the V type groove 301 that the top equidistance of V type gyro wheel positioning seat 3 set up, when pull rod body 4 rolls in the inside of V type groove 301, the top movable mounting's of installation pole 305 pulley 306 follows the upset of pull rod body 4 and rolls, prevent that pull rod body 4 from causing the damage when the upset, the life of pull rod body 4 has been improved, the welding cost is reduced.

Secondly, the positioning pin fixing seat 7 fixedly installed on one side of the positioning clamping plate 5 and the transmission assembly 6 fixedly installed on one side inside the machine tool 1 are fixed on the positioning pin fixing seat 7 through the positioning pin fixing seat 7, the first positioning pin 704, the second positioning pin 705, the positioning clamping plate 5, the transmission shaft 703 and the angle scale 708 are fixed on the positioning pin fixing seat 7, the servo motor 605 drives the first chain wheel 602 through the rotating shaft 604, the first chain wheel 602 drives the chain 601, the chain 601 drives the second chain wheel 603, and the second chain wheel 603 drives the transmission shaft 703. Then, the servo motor 605 drives the six transmission shafts 703 through the chain 601 simultaneously, so that the six pull rod bodies 4 are turned synchronously, and the positioning pin fixing seats 7 and the transmission assemblies 6 are utilized to ensure the stability and consistency of the welding seam quality and improve the welding effect;

finally, through the welding subassembly 2 of the back equidistance installation at lathe 1, arm 205 can drive and turn over 203 and remove, turns over 203 and can adjust welder 201's angle, and arm 205 can cooperate the upset of pull rod body 4 to weld, utilizes two welding subassemblies 2 of equidistance installation, need not the manual work and welds, and arm 205 can link with pull rod body 4 simultaneously, has improved welded efficiency, has reduced the cost of labor.

Through the pull rod body of the V type gyro wheel positioning seat of the equidistance installation in the top of lathe and the top equidistance installation of V type gyro wheel positioning seat, the pull rod body rolls in the inside in the V type groove that the top equidistance of V type gyro wheel positioning seat set up, when the pull rod body rolls in the inside in V type groove, the top movable mounting's of installation pole pulley follows the upset of pull rod body and rolls, prevents that the pull rod body from causing the damage when the upset, has improved the life of pull rod body, has reduced welding cost.

This automatic welding frock that overturns of pull rod that can link with manipulator, locating pin fixing base through one side fixed mounting at the location cardboard and the inside one side fixed mounting's of lathe transmission assembly, first locating pin, the second locating pin, the location cardboard, transmission shaft and angle scale are fixed on the locating pin fixing base, servo motor drives first sprocket through the pivot, first sprocket drives the chain, the chain drives the second sprocket, the second sprocket drives the transmission shaft, when the chain is installed, in order to eliminate the angular difference that brings between the chain pitch, the initial angle of locating pin fixing base is locked through first locating pin, guarantee that the initial angle of six locating pin fixing bases is the zero degree, and keep unanimous, after the chain installation is accomplished, the initial angle of dead locating pin fixing base is locked through the location cardboard. Then servo motor passes through the chain and drives six transmission shafts simultaneously, and then realizes the synchronous upset of six pull rod bodies, utilizes locating pin fixing base and drive assembly, has guaranteed stability and uniformity in the welding seam matter, has promoted welded effect.

This can with automatic upset welding frock of pull rod of manipulator linkage, through the welding subassembly at the back equidistance installation of lathe, the arm can drive the turn round and remove, and welder's angle can be adjusted to the turn round, and the arm can cooperate the upset of pull rod body to weld, utilizes two welding subassemblies of equidistance installation, need not the manual work and welds, and the arm can link with the pull rod body simultaneously, has improved welded efficiency, has reduced the cost of labor.

The foregoing is only a preferred embodiment of the present invention, and it should be noted that those skilled in the art can make various improvements and modifications without departing from the principle of the present invention, and these improvements and modifications should also be construed as the protection scope of the present invention.