CN111409267A - Automatic continuous welding system for capsule and welding method thereof - Google Patents

Abstract

The invention provides an automatic continuous welding system for a capsule and a welding method thereof. The automatic capsule continuous welding system comprises a capsule flap conveying mechanism, an automatic alignment mechanism, a welding mechanical arm mechanism and a digital display control system which are sequentially arranged and electrically connected; the capsule conveying mechanism is used for conveying the capsule to be welded to the automatic alignment mechanism; the automatic alignment mechanism is used for aligning and positioning the welding position of the capsular flap; the welding mechanical arm mechanism is used for heating and cooling the welding position of the capsule. Compared with the prior art, the large-scale capsule stably enters the welding machine by introducing the capsule conveying mechanism to replace manual movement; the synchronous automatic alignment device and the welding mechanical arm are used for ensuring the steady and orderly welding of the capsule materials; the welding quality dynamic state is automatically regulated and controlled by developing a digital display monitoring system, and the automation and the programming of capsule welding production are realized, so that the capsule production speed and the production quality are obviously improved.

Description

Automatic continuous welding system for capsule and welding method thereof

Technical Field

The invention relates to the technical field of aerostat capsule processing, in particular to an automatic continuous welding system for a capsule and a welding method thereof.

Background

The aerostat is a flexible aircraft which mainly depends on buoyancy lifting gas to realize lift-off and flying in the air. The manufacturing process of the capsule of the aerostat is characterized in that reinforced composite fabric or film fabric is cut into capsule flaps according to design, and the capsule flaps are connected in an aligned mode in pairs and formed through hot-pressing bonding, and the hot-pressing bonding forming process is capsule flap welding of the capsule; the straight welding of the edge of the valve is called as the straight welding, and the curved welding of the edge of the valve is called as the curved welding; the heat seal area where the two capsular flaps are connected is the weld seam. At present, the production and manufacturing process of aerostat utricule at home and abroad has the following defects: firstly, the high-frequency and hot-melt welding which is commonly used is intermittent operation, the operation speed of curve welding is low, and the large-sized capsule flap is inconvenient to move and feed in the welding process, so that the time and the labor are wasted. Secondly, although the hot air welding machine is a continuous welding operation, the problems of fold, out-of-control welding seam width and the like are easily caused when the ultra-thin capsule body is welded by adopting hot air heat transfer, and the welding feeding operation is difficult when the capsule flap is spliced to be large in size. Thirdly, although there is a belt type rapid edge sealing welder on the market, the heating distance is too long for linear welding and cannot meet the quality requirement of curve welding, so the application in the aerostat capsule processing industry is rather limited. Fourth, although the improved long-table continuous hot-melt welding equipment and the like adopts program control to automatically replace a cold-hot plate die to realize relatively high welding speed, the equipment is still intermittent in nature, particularly rigid and time-consuming for the welding of the curve of the capsular flap, and the requirement of the continuous and rapid curve welding technology for the multi-type capsular flaps cannot be fundamentally solved.

In summary, in the field of aerostat capsule welding processing technology, there is still no system and device that solve the problem of "universal continuous rapid curve welding technology requirement for multi-type capsules".

Disclosure of Invention

The invention aims to provide an automatic continuous welding system and a welding method for a capsule body, which can improve the production speed and the production quality of the capsule body.

The technical scheme of the invention is as follows: an automatic continuous capsule welding system comprises a capsule flap conveying mechanism, an automatic alignment mechanism, a welding mechanical arm mechanism and a digital display control system which are sequentially arranged; the welding mechanical arm mechanism, the automatic alignment mechanism and the capsular flap conveying mechanism are electrically connected with the digital display control system;

the capsule conveying mechanism is used for conveying the capsule to be welded to the automatic alignment mechanism; the automatic alignment mechanism is used for aligning and positioning the welding position of the capsular flap; the welding mechanical arm mechanism is used for heating and cooling the welding position of the capsule.

In the scheme, the large-scale capsule is stably fed into the welding machine by introducing the capsule conveying mechanism to replace manual movement; the synchronous automatic alignment device and the welding mechanical arm are used for ensuring the steady and orderly welding of the capsule materials; the welding quality dynamic state is automatically regulated and controlled by developing a digital display monitoring system, and the automation and the programming of capsule welding production are realized, so that the capsule production speed and the production quality are obviously improved.

Preferably, the automatic alignment mechanism comprises a precise alignment device and a pre-alignment device, wherein the pre-alignment device is used for oppositely moving the welding position of the capsule to have a certain width; the precise alignment device is used for oppositely moving the welding positions of the capsular bags to be coincident.

The welding position of the capsule (the edge of the capsule) is pre-positioned and then precisely positioned, so that the accuracy of the overlapping alignment or splicing alignment of the edges of the capsule is better realized, and the required welding width is ensured to be reached before the capsule enters the welding mechanical arm mechanism.

In addition, the automatic aligning mechanism can also be used for avoiding a pre-aligning device and realizing the opposite side work of the edge of the capsular flap only by using the accurate aligning device.

Preferably, the distance between the cooling point and the heating point of the welding mechanical arm mechanism is a, the distance between the heating point and the accurate alignment device is b, the length of the accurate alignment device along the feeding direction of the capsular flap is c, and the length of the pre-alignment device along the feeding direction of the capsular flap is d, wherein a = 50-300 mm, b = 3-30 cm, c = 1-20 cm, and d = 0.1-3 m.

The two-degree-of-freedom welding mechanical arm mechanism with the center distance shortened to a = (50-350) mm is adopted to ensure the universality of linear and curve welding (according to the principle that a curve is regarded as a section of a straight line in a local area, the curvature radius of each part of the capsule flap is usually more than 0.6m in actual production, and the linear welding is realized in each continuous local area).

b. The distance values of c and d can realize the continuity of actions of each pair of edges before the capsule enters the welding process, and the realization of continuous operation of an automatic welding production line is facilitated.

Preferably, the welding mechanical arm mechanism comprises a pressure bolt, a pressure applying arm, a grounding seat frame, an electromagnetic heating roller and a cooling roller, wherein the electromagnetic heating roller is pressed up and down, the cooling roller is pressed up and down, and the pressure bolt is in driving connection with the pressure applying arm; the cooling roller and the electromagnetic heating roller which are positioned above are horizontally arranged on the pressure arm, and the cooling roller and the electromagnetic heating roller which are positioned below are horizontally arranged on the grounding seat frame.

The electromagnetic heating roller is adopted to realize the instant in-situ uniformity of the parameters of temperature, pressure and speed, thereby realizing the rapid and continuous operation of linear welding and curve welding.

Preferably, the welding mechanical arm mechanism moves transversely to the precise alignment device; the pressure arm horizontally rotates 360 degrees along the pressure bolt.

Preferably, the pre-alignment device comprises two belt conveyors with opposite conveying directions and a camera probe arranged above the two belt conveyors, wherein a height difference h is arranged between the two belt conveyors, and the height difference h is less than or equal to 30cm and is adjustable.

Preferably, the tail ends of the two belt conveyors in the moving direction are aligned, the camera probe is arranged above the aligned end, and the camera probe is electrically connected with the digital display control system.

Preferably, the precise alignment device comprises two staggered and overlapped slotted structures, a detection reference hole vertically penetrating from each slotted structure, and a photoelectric probe corresponding to the detection reference hole in position.

Preferably, the capsular flap conveying mechanism is provided with a camera monitoring device electrically connected with the digital display control system, and the capsular flap conveying mechanism is provided with a left boundary and a right boundary along the advancing direction.

The invention also provides a welding method of the automatic continuous welding system for the capsule, which comprises the following steps:

1) two capsule bodies are separately placed on a capsule flap conveying mechanism and are conveyed simultaneously;

2) in the conveying process of the capsule bodies, the welding positions of the two capsule bodies are moved to be close to each other in opposite directions through an automatic alignment mechanism, and a certain width is kept; then the welding positions of the two bag bodies are moved oppositely to coincide;

3) the welding mechanical arm mechanism heats and then cools the superposed position;

4) and (5) completing welding.

Compared with the related technology, the invention has the beneficial effects that:

firstly, the welding mechanical arm mechanism integrates welding process elements such as temperature, speed, pressure and the like; the electromagnetic heating roller type welding mode is adopted, so that the instant in-situ uniformity of the parameters of temperature, pressure and speed is realized, and the rapid and continuous operation of linear welding and curve welding is realized; the automatic alignment mechanism is adopted to realize the accurate edge alignment and control of the welding connection structure of the capsular flap;

secondly, an automatic synchronous feeding device (capsule body conveying mechanism) is introduced to replace manual movement, so that the large-sized capsule flap stably enters a welding machine;

thirdly, ensuring the steady and orderly welding of the capsule materials through a synchronous automatic alignment device and a welding mechanical arm;

fourthly, welding quality dynamics are automatically regulated and controlled by developing a digital display monitoring system, such as the temperature, pressure, speed and connecting process structure among the capsular flaps during welding are automatically monitored, and the length of each single batch of capsular flaps, the width of welding seams and the like are automatically counted;

fifthly, automation and programmed control of capsule welding production are realized through the method, so that the capsule production speed and the production quality are obviously improved;

the invention breaks through the current situations of low production efficiency, low automation degree and low equipment single universality of the aerostat capsule at home and abroad at present, and solves the problems of low speed and labor-consuming feeding of large-scale capsules in the traditional intermittent hot-melting welding and high-frequency welding through improvement or innovative substitution; the problem that the application range of the rapid edge sealing welder is limited, such as difficulty in being suitable for arc welding, is solved; the problems that the hot air welding machine is uneven in heating and the quality of a welding seam for welding the film is out of control are solved;

seventh, the invention adopts the systematic overall arrangement of the automatic welding assembly line, achieve and promote the aerostat utricule welding technical level, raise the effects of welding efficiency and quality;

with the market promotion, the invention has wide application prospect in the aspects of promoting the intelligent manufacturing level of aerostat equipment, improving the quality of batch production and greatly reducing the cost.

Drawings

Fig. 1 is a schematic structural diagram of an automatic continuous welding system for capsules provided by the invention;

FIG. 2 is a schematic diagram of the welding robot mechanism and automatic alignment mechanism of FIG. 1;

FIG. 3 is a cross-sectional view of the precision alignment apparatus of FIG. 2;

FIG. 4 is a view of the prealignment device of FIG. 2 in the direction of A;

FIG. 5 is a schematic diagram of the control logic of the present invention;

fig. 6 is a schematic view of a balloon flap welding process.

In the attached drawing, 1-a welding mechanical arm mechanism, 2-an automatic alignment mechanism, 3-a capsule flap conveying mechanism, 4-a digital display control system, 5-a cooling roller, 6-an electromagnetic heating roller, 7-a pressure arm, 8-a pressure bolt, 9-a transverse contraction rod, 10-a grounding seat frame, 11-a pre-alignment device, 12-a precise alignment device, 13-an opposite belt conveyor, 14-a camera probe, 15-a beam frame, 16-a capsule flap, 17-a detection reference hole, 18-a photoelectric probe, 19-a slotting structure and 20-a base.

Detailed Description

The present invention will be described in detail below with reference to the embodiments with reference to the attached drawings. It should be noted that the embodiments and features of the embodiments may be combined with each other without conflict. For convenience of description, the words "upper", "lower", "left" and "right" in the following description are used only to indicate the correspondence between the upper, lower, left and right directions of the drawings themselves, and do not limit the structure.

As shown in fig. 1 and 2, the capsule automatic continuous welding system provided by the invention comprises a capsule flap conveying mechanism 3, an automatic alignment mechanism 2, a welding mechanical arm mechanism 1 and a digital display control system 4 which are arranged in sequence.

The capsule flap conveying mechanism 3 is provided with a camera monitoring device electrically connected with the digital display control system 4, a certain number of belt conveyors are arranged in a straight line shape, the width of each belt conveyor is 0.5-8 m, and a left boundary and a right boundary mark are arranged on the conveying belt along the advancing direction so as to allow two capsule flaps to be placed respectively.

The automatic alignment mechanism 2 comprises a pre-alignment device 11 and a precise alignment device 12, wherein the pre-alignment device 11 is arranged on the base 20, and the height of the pre-alignment device is flush with that of the capsule flap conveying mechanism 3.

A gantry-type beam frame 15 is arranged between the pre-alignment device 11 and the capsule conveying mechanism 3, and the welding mechanical arm mechanism 1 and the beam frame 15 move horizontally through a transverse contraction rod 9. The digital display control system 4 is fixedly arranged on the beam frame 15.

As shown in fig. 5, the digital display control system 4 performs data display, adjustment and program control functions, and is electrically connected to the welding manipulator mechanism 1, the automatic alignment mechanism 2 and the flap transmission mechanism 3 through cables and data cables. The digital display control system 4 has the following functions:

firstly, the composition of the whole welding system can be displayed and is divided into a manual control mode and a linkage control mode, wherein the manual control mode is used for independently regulating and controlling each mechanism; the 'linkage' control realizes the cooperative regulation and synchronous operation of the whole system;

secondly, regulating and controlling the temperature of the electromagnetic heating roller 6, the rotation linear speed and the pressure value of the pressure applying arm 7;

thirdly, regulating and controlling the belt rotating speed of the automatic aligning mechanism 2 according to the preset width e value, and regulating the running state of the accurate aligning device according to the welding width value.

Fourthly, regulating and controlling parameters or states such as speed and the like of the capsule flap conveying mechanism 3: the instantaneous linear speed of a belt conveyor of the capsule flap conveying mechanism 3 in production is set to be consistent with the instantaneous linear speed of the electromagnetic heating roller 6 in rotation, so that the instant synchronism of the capsule flap conveying mechanism 3 and the welding mechanical arm 1 is achieved.

As shown in fig. 2 and 5, the welding robot mechanism 1 includes a cooling roller 5 pressed up and down, an electromagnetic heating roller 6 pressed up and down, a pressing arm 7, a pressure pin 8, a transverse contraction rod 9, a ground seat 10, and a monitoring camera. Wherein: the central distance a between the cooling roller 5 (cooling point) and the electromagnetic heating roller 6 (heating point) is not = 50-350 mm, and the two are connected by a polytetrafluoroethylene belt or a glass fiber or other temperature-resistant belts and synchronously rotate under the action of a motor, and the rotating linear speed, namely the welding speed, is adjustable within the range of 0-8 m/min.

The electromagnetic heating roller 6 is used for guaranteeing the welding temperature, and the upper limit of the heating temperature is 350 ℃. The upper cooling roller 5, the electromagnetic heating roller 6 and the corresponding servo motor are jointly and horizontally fixedly arranged on the pressing arm 7, and the lower cooling roller 5 and the electromagnetic heating roller 6 are jointly and horizontally fixedly arranged on a horizontally movable grounding seat frame 10.

The pressure applying arm 7 can horizontally rotate for 360 degrees, synchronous pressure adjustment between the upper part and the lower part of the cooling roller 5 and the electromagnetic heating roller 6 is realized under the action of the pressure bolt 8, and the pressure adjustment range is 0-0.9 MPa. The pressure bolt 8 is fixedly connected to the transverse contraction rod 9, and the transverse contraction rod 10 is horizontally connected to the beam frame 15 and can move horizontally. Through the design, the space positioning and adjustment of 3 degrees of freedom of the cooling roller 5 and the electromagnetic heating roller 6 in the vertical, front-back and left-right directions are ensured, and the flexible and maneuvering effect of the welding machine operation is achieved.

The welding of the two valve flaps is lap welding, so that the two valve flaps need to be positioned to be overlapped when being welded. As shown in fig. 2, 3 and 5, the precise alignment device 12 is suspended on the beam frame 15, and includes two staggered and overlapped slotted structures 19, a detection reference hole 17 vertically penetrating from each slotted structure 19, and an opto-electronic probe 18 corresponding to the position of the detection reference hole 17. The slotted structure 19 corresponds to the positions of the electromagnetic heating roller 6 and the cooling roller 5 which are pressed up and down. The precise alignment device 12 is used for achieving the effect of overlapping or splicing and aligning the edges of the bladder 16 pairwise, so that the bladder 16 is ensured to meet the requirement of welding width before entering the welding mechanical arm mechanism 1.

As shown in fig. 2, 4 and 5, the pre-alignment device 11 is composed of a facing belt conveyor 13 and a camera probe 14 for ensuring that the incoming material pockets 16 are spaced apart in pairs on straight or curved edges. The opposite belt conveyor 13 is used for lifting the capsule 16 to move to a certain width e in an opposite and approaching way.

The two belt conveyors 13 are aligned at their ends in the direction of movement, and the camera probe 14 is suspended from a beam frame 15 and is disposed above the aligned ends. The end of the direction of motion refers to: the belt conveyor 13 arranged at the upper end is displaced to the right in the direction shown in fig. 4, the belt conveyor 13 arranged at the lower end is displaced to the left in the direction shown in fig. 4, the right end of the belt conveyor 13 arranged at the upper end is flush with the left end of the belt conveyor 13 arranged at the lower end, and the center of the camera probe 14 is positioned right above the flush line.

The camera probe 14 is connected with the digital display control system 4 and performs signal feedback of 'approach distance, namely a preset width e value' on the digital display control system: when the preset width e is larger than or equal to 10cm, the digital display control system 4 sends an instruction to drive the motor to accelerate the belt rotating speed of the opposite belt conveyor 13; when the preset width e is 0-10 cm, the opposite belt conveyor 13 is decelerated.

A height difference h is arranged between the two belt conveyors 13, wherein the height difference h is adjustable within a range of less than or equal to 30cm, and the height difference is used for ensuring the ordered staggering of the capsule flaps 16 before entering the precise aligning device 12.

As shown in fig. 2, a distance b = (3-30) cm from the center of the electromagnetic heating roller 6 to the precise alignment device 12; the length c = (1-20) cm of the precise alignment device 12 along the feeding direction of the capsular bag; the length d = (0.1-3) m of the pre-alignment device 11 along the feeding direction of the capsule.

As shown in fig. 2 and 6, the welding method of the automatic continuous welding system for capsules according to the present invention comprises the following steps:

1) two capsule bodies are separately placed on the capsule flap transmission mechanism 3 and are simultaneously transmitted;

2) in the conveying process of the capsule, the welding positions of two capsules are moved to be close to each other in opposite directions by the automatic aligning mechanism 2, and a certain width is kept; then the welding positions of the two bag bodies are moved oppositely to coincide;

3) the welding mechanical arm mechanism 1 heats and then cools the superposed position;

4) and (5) completing welding.

By the scheme, the automatic continuous welding method and the automatic continuous welding system for the capsule are formed. The capsule conveying mechanism 3 is adopted to replace manual moving feeding, so that the feeding efficiency is improved; the automatic alignment mechanism 2 is adopted to replace an artificial eye hand matching alignment operation mode, so that the balloon flap alignment efficiency and alignment precision are improved; the two-degree-of-freedom welding mechanical arm mechanism (1) with the center distance shortened to a = (50-350) mm is adopted to ensure the universality of linear and curve welding (according to the principle that a curve is regarded as a section of a straight line in a local area), and an electromagnetic heating roller is adopted to realize the instant co-location uniformity of the temperature, pressure and speed parameters, so that the rapid and continuous operation of linear welding and curve welding is realized; visual control and automation of capsule welding production are realized by adopting a digital display control system 4.

In addition, in the construction of the automatic capsule welding system, the assembly of the welding mechanical arm mechanism adopts a resistance heating module and a rolling mode to replace an electromagnetic heating roller, or adopts a plurality of electromagnetic heating rollers, and all the components are included in the protection scope of the invention.

The automatic capsule welding system provided by the embodiment can be assembled and operated by adopting the following method:

firstly, referring to fig. 1 and fig. 2, spatial position layout of mechanisms or equipment in a workshop assembly line is calibrated, and b =0.1m and d =0.8m are determined.

And secondly, assembling and debugging the capsule welding mechanical arm 1 by referring to fig. 2. The cooling roller 5, the electromagnetic heating roller 6, the pressure arm 7, the pressure bolt 8, the transverse contraction rod 9, the grounding seat frame 10, the beam frame 15, the servo motor, the cable and the sensor cable are installed and logically connected. A polytetrafluoroethylene belt is arranged between the cooling roller 5 and the electromagnetic heating roller 6, and the center distance a between the two is adjusted to 250 mm.

Thirdly, the automatic aligning mechanism 2 is assembled and debugged by comparing fig. 2, 3 and 4. The connection contains, accurate aligning device 12 and cable, sensor cable, adjusts accurate device 11 control bag flap edge and draws close interval e = (1 ~ 3) cm in advance, sets for accurate aligning device 12 and makes the bag flap overlap width be 30mm, promptly weld width (weld width).

And fourthly, connecting, assembling and debugging the capsule conveying mechanism 3, arranging 15 belt conveyors provided with camera probes in a straight line shape to form a capsule conveying production line with the length of 60m, wherein the length and the width of each belt conveyor are 4m × 3m, and the distance between the belt conveyors is 10 cm.

And fifthly, connecting and assembling a digital display control system, arranging 15 belt conveyors provided with camera probes in a straight line shape to form a 60 m-level long capsule conveying production line, wherein the length and width of each belt conveyor are 4m × 3m, and the distance between the belt conveyors is 10 cm.

Sixthly, referring to fig. 2, fixedly installing a digital display control system 4 on a beam frame 15, setting the instantaneous linear speed of a belt conveyor of the capsule conveying mechanism 3 to be equal to the rotating instantaneous linear speed of the electromagnetic heating roller 6 in production, and connecting the instantaneous linear speed with the welding mechanical arm mechanism 1, the automatic alignment mechanism 2 and the capsule conveying mechanism 3 into a whole; and performing joint debugging according to welding production requirements, and thus, completing the assembly of the whole automatic welding production line.

Seventhly, referring to fig. 5 and 6, the digital display control system is powered on, parameters of 100 ℃ of temperature, 2m/min of speed, 0.2MPa of pressure, 10mm of pre-standard width, 30mm of welding width and 10m of capsule flap length are input on a display screen, and 3 belt conveyors are started.

And (3) opening the welding production line in advance, pausing after running for 10 minutes, respectively folding 2 cut capsule pieces, reserving welding edges, placing the folded capsule pieces on the automatic aligning mechanism and the capsule conveying mechanism in advance, starting a welding program by the digital display control system, and automatically and continuously carrying out the whole capsule welding production according to the figure 6.

Through the steps, the automatic welding production effect of the capsule can be achieved, and the production speed, the labor efficiency and the production quality are obviously improved.

The above description is only an embodiment of the present invention, and not intended to limit the scope of the present invention, and all modifications of equivalent structures and equivalent processes, which are made by using the contents of the present specification and the accompanying drawings, or directly or indirectly applied to other related technical fields, are included in the scope of the present invention.

Claims (10)

1. An automatic continuous welding system for a capsule body is characterized by comprising a capsule flap conveying mechanism (3), an automatic alignment mechanism (2), a welding mechanical arm mechanism (1) and a digital display control system (4) which are sequentially arranged; the welding mechanical arm mechanism (1), the automatic alignment mechanism (2) and the capsular flap conveying mechanism (3) are electrically connected with the digital display control system (4);

the capsule conveying mechanism (3) is used for conveying the capsule to be welded to the automatic alignment mechanism (2); the automatic alignment mechanism (2) is used for aligning and positioning the welding position of the capsular flap; the welding mechanical arm mechanism (1) is used for heating and cooling the welding position of the capsular flap.

2. The automated continuous welding system of capsules according to claim 1, characterized in that the automatic alignment mechanism (2) comprises a precise alignment device (12) and a pre-alignment device (11), the pre-alignment device (11) is used for moving the welding position of the capsule oppositely to a certain width; the precise alignment device (12) is used for oppositely moving the welding positions of the capsular bags to be coincident.

3. The automated continuous welding system for capsules according to claim 2, wherein the distance between the cooling point and the heating point of the welding robot mechanism (1) is a, the distance between the heating point and the precise alignment device (12) is b, the length of the precise alignment device (12) along the feeding direction of the capsule is c, the length of the precise alignment device (11) along the feeding direction of the capsule is d, wherein a = 50-300 mm, b = 3-30 cm, c = 1-20 cm, and d = 0.1-3 m.

4. The automatic continuous capsule welding system according to claim 1, wherein the welding robot mechanism (1) comprises a pressure bolt (8), a pressing arm (7), a grounding seat frame (10), an electromagnetic heating roller (6) and a cooling roller (7), wherein the electromagnetic heating roller is pressed up and down and the cooling roller is pressed up and down, and the pressure bolt (8) is in driving connection with the pressing arm (7); the cooling roller (5) and the electromagnetic heating roller (6) which are positioned above are horizontally arranged on the pressure arm (7), and the cooling roller (5) and the electromagnetic heating roller (6) which are positioned below are horizontally arranged on the grounding seat frame (10).

5. The automated continuous welding system of capsules according to claim 4, characterized in that said welding robot mechanism (1) is moved laterally towards said precision alignment device (12); the pressure arm (7) horizontally rotates 360 degrees along the pressure bolt (8).

6. Automatic continuous capsule welding system according to any one of claims 2 to 5, wherein said pre-alignment device (11) comprises two belt conveyors (13) with opposite conveying directions and a camera probe (14) arranged above said two belt conveyors (13), and a height difference h is provided between said two belt conveyors (13), wherein h is less than or equal to 30cm and is adjustable.

7. Automatic continuous welding system for capsules according to claim 6, characterized in that the two belt conveyors (13) have aligned ends in the direction of movement, above which aligned ends the camera probe (14) is located, the camera probe (14) being electrically connected to the digital display control system (4).

8. The automatic continuous capsule welding system according to any one of claims 1 to 5, wherein the precise alignment device (12) comprises two staggered and overlapped slotted structures (19), a detection reference hole (17) vertically penetrating from each slotted structure (19), and an optoelectronic probe (18) corresponding to the position of the detection reference hole (17).

9. The automatic and continuous capsule welding system according to any one of claims 1 to 5, wherein a camera monitoring device electrically connected with the digital display control system (4) is arranged on the capsule conveying mechanism (3), and a left boundary line and a right boundary line are arranged on the capsule conveying mechanism (3) along the advancing direction.

10. A welding method for an automated continuous welding system for capsules according to any one of claims 1 to 9, comprising the following steps:

1) two capsule bodies are separately placed on a capsule flap transmission mechanism (3) and are simultaneously transmitted;

2) in the conveying process of the capsule bodies, the welding positions of the two capsule bodies are moved to be close to each other in opposite directions through the automatic aligning mechanism (2), and a certain width is kept; then the welding positions of the two bag bodies are moved oppositely to coincide;

3) heating and then cooling the superposed position by welding the mechanical arm mechanism (1);

4) and (5) completing welding.

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