CN215200463U - Barrel circumferential weld compresses tightly pulls limit mechanism - Google Patents

Abstract

The utility model discloses a barrel circumferential weld pressing and edge-pulling mechanism, which comprises a supporting roller, wherein the supporting roller is arranged below an outer circumferential weld at the bottom of a barrel body; the pressing assembly comprises an arm body and a pressing roller, the pressing roller is arranged at the side end of the arm body, the arm body can stretch into the barrel body, and then the pressing roller is located above the carrier roller. The utility model has the advantages that: by arranging the carrier roller and the pressing wrenching edge of the carrier roller acting on the circumferential seam, compared with the traditional manual mode, the wrenching edge is more uniform, the welding is more thorough, the mechanical strength of the product is higher, the service life is long, and the gap of the product is small compared with the traditional mechanical forming welding; and the bearing mechanism is arranged to drive the barrel to synchronously rotate, so that the operation is uniform in the process of pressing and pulling the edge.

Description

Barrel circumferential weld compresses tightly pulls limit mechanism

Technical Field

The utility model relates to a technical field of circumferential weld welds especially relates to a barrel circumferential weld compresses tightly pulls limit mechanism.

Background

In recent years, large cylindrical workpieces are heavy in weight and large in size, the barrel is mainly welded at the barrel circumferential weld for group in the splicing and welding process, the circumferential weld is welded by various circular and annular welding seams, the welding seam formed by welding is a closed circular ring which comprises a butt joint circumferential weld of a vertical or horizontal steel storage tank, and the circumferential weld refers to the ring formed by the welding seam as the name usually shows, and is parallel to the ground or the vertical surface.

In order to eliminate partial errors existing in butt joint, the circular seam is required to be pressed and flanged or pulled, the traditional mode is that a wrench is used manually for flanging, but the strength of manual operation is not easy to master, so that the thickness of the butt joint of the cylinder body is uneven, the welding position is not tight, the mechanical strength is low, and the cylinder body is easy to crack; and the problem of large gap in mechanical forming.

SUMMERY OF THE UTILITY MODEL

This section is for the purpose of summarizing some aspects of embodiments of the invention and to briefly introduce some preferred embodiments. Some simplifications or omissions may be made in this section and in the abstract of the specification and the title of the application to avoid obscuring the purpose of this section, the abstract of the specification and the title of the application, and such simplifications or omissions are not intended to limit the scope of the invention.

In view of the above existing problems, the present invention is provided.

Therefore, the utility model provides a technical problem be: the circular seam edge wrenching causes the problems of no welding, low mechanical strength, easy cracking and large mechanical forming gap.

In order to solve the technical problem, the utility model provides a following technical scheme: a barrel circumferential weld compresses tightly pulls limit mechanism, including the bearing roller, the said bearing roller is set up below the outer circumferential weld of the bottom of barrel; the pressing assembly comprises an arm body and a pressing roller, the pressing roller is arranged at the side end of the arm body, the arm body can stretch into the barrel body, and then the pressing roller is located above the carrier roller.

Preferably, the carrier roller further comprises a support, a sliding block, a sliding rail and a screw rod; the slider set up in the bottom of support, just the bottom both sides of slider with slide rail sliding fit connects, between the bottom both sides of slider with the lead screw is connected, the bearing roller embedding the support internal rotation.

Preferably, the pressing assembly further comprises a lifting slider, a longitudinal rail and a transverse rail; the transverse tracks are arranged on two long side faces of the arm body, the inner side face of the lifting slide block is connected with the transverse tracks in a sliding mode, and the outer side face of the lifting slide block is connected with the longitudinal tracks in a sliding mode.

Preferably, the pressing assembly further comprises a bracket and a connecting angle plate; the bracket is in a shape of a Chinese character 'men', the longitudinal rail is arranged on the inner side wall of the bracket, and two ends of the connecting angle plate are respectively connected with the arm body and the pressing roller.

Preferably, the connecting angle plate comprises a vertical plate, a transverse plate and a reinforcing plate; the riser with the connection of diaphragm constitutes the right angle, the riser with arm body side end is connected, the bottom of diaphragm with the pinch roller is connected, the reinforcing plate respectively with the riser with the adjacent side of diaphragm is connected.

Preferably, the roller support further comprises a bearing mechanism, the bearing mechanism is arranged at two ends of the carrier roller, and the barrel is placed on the bearing mechanism.

Preferably, the bearing mechanism comprises a front end roller supporting frame and an adjustable rotary roller frame; the adjustable rotary roller frame is arranged behind the front end roller frame, the carrier roller is arranged below the adjustable rotary roller frame, the front end roller frame is used for placing a front barrel, and the adjustable rotary roller frame is used for placing a variable cross section.

Preferably, the adjustable rotary roller frame comprises a transverse rolling roller, a shaft seat, a lifting seat and a lifting rod; the two ends of the transverse rolling roller are embedded into the shaft seats, the shaft seats are connected with the upper part of the lifting seat, and the bottom of the lifting seat is connected with the lifting rod.

Preferably, the front end roller supporting frame comprises a transverse front rolling roller and a front shaft seat for bearing the rotation of the transverse front rolling roller.

Preferably, the carrier roller, the pressing assembly and the bearing mechanism are all arranged on the base, and the welding mechanism is a welding robot placed in the operation groove.

The utility model has the advantages that: by arranging the carrier roller and the pressing wrenching edge of the carrier roller acting on the circumferential seam, compared with the traditional manual mode, the wrenching edge is more uniform, the welding is more thorough, the mechanical strength of the product is higher, the service life is long, and the gap of the product is small compared with the traditional mechanical forming welding; and the bearing mechanism is arranged to drive the barrel to synchronously rotate, so that the operation is uniform in the process of pressing and pulling the edge.

Drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings required to be used in the description of the embodiments will be briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art that other drawings can be obtained according to these drawings without inventive labor. Wherein:

FIG. 1 is a schematic view of the overall structure of the barrel circumferential seam pressing and edge wrenching mechanism of the present invention;

fig. 2 is a schematic diagram of the position structure of the carrier roller and the pressing assembly according to the present invention;

fig. 3 is an enlarged schematic structural view of the part a of the present invention;

fig. 4 is a schematic view of the overall structure of the compressing assembly of the present invention;

fig. 5 is the overall structure schematic diagram of the welding robot of the present invention.

Detailed Description

In order to make the aforementioned objects, features and advantages of the present invention more comprehensible, embodiments accompanied with figures are described in detail below, and it is obvious that the described embodiments are some, but not all embodiments of the present invention. Based on the embodiments in the present invention, all other embodiments obtained by a person having ordinary skill in the art without creative efforts shall belong to the protection scope of the present invention.

In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present invention, but the present invention may be implemented in other ways different from the specific details set forth herein, and one skilled in the art may similarly generalize the present invention without departing from the spirit of the present invention, and therefore the present invention is not limited to the specific embodiments disclosed below.

Furthermore, the references herein to "one embodiment" or "an embodiment" refer to a particular feature, structure, or characteristic that may be included in at least one implementation of the invention. The appearances of the phrase "in one embodiment" in various places in the specification are not necessarily all referring to the same embodiment, nor are separate or alternative embodiments mutually exclusive of other embodiments.

The present invention will be described in detail with reference to the drawings, and in order to describe the embodiments of the present invention in detail, the cross-sectional view showing the structure of the device will not be enlarged partially according to the general scale, and the drawings are only examples, which should not limit the scope of the present invention. In addition, the three-dimensional dimensions of length, width and depth should be included in the actual fabrication.

Meanwhile, in the description of the present invention, it should be noted that the directions or positional relationships indicated by the terms "upper, lower, inner and outer" and the like are based on the directions or positional relationships shown in the drawings, and are only for convenience of description of the present invention and simplification of description, but do not indicate or imply that the device or element referred to must have a specific direction, be constructed and operated in a specific direction, and thus, should not be construed as limiting the present invention. Furthermore, the terms first, second, or third are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.

The terms "mounted, connected and connected" in the present application are to be understood broadly, unless otherwise explicitly stated or limited, for example: can be fixedly connected, detachably connected or integrally connected; they may be mechanically, electrically, or directly connected, or indirectly connected through intervening media, or may be interconnected between two elements. The specific meaning of the above terms in the present invention can be understood in specific cases to those skilled in the art.

Example 1

Referring to the schematic diagrams of fig. 1 to 3, which are schematic diagrams of an overall structure of a barrel circumferential weld pressing and edge wrenching mechanism provided in this embodiment, in a process of welding 200 sets of barrels, different barrel sections are manufactured by different processes, for example, a front barrel 201 is manufactured by a plate bending machine, a variable cross section 202 is manufactured by an edge wrenching machine, and partial errors exist during butt joint, so that the circumferential weld is not aligned, and in order to eliminate the partial errors, a circumferential weld needs to be pressed and flanged or edge wrenched, a conventional method is to manually turn up the circumferential weld by using a wrench or to turn up the circumferential weld by using a machine, but the strength of manual operation is not easy to grasp, so that the thickness of the abutting joint of the barrels is not uniform, and the welded joint is not welded, low in mechanical strength and easy to crack; and the mechanical forming has large clearance and short service life. And the traditional plate rolling process is adopted to finish the forming of the cylinder, however, when the plate rolling process is adopted for production, the rolling of the roller is easy to scratch and damage the material structure. And because the sizes of the tank body end enclosure and the partition plate are difficult to be the same, perfect butt joint is difficult to realize, and large gaps and staggered edges are easy to generate, so that the girth welding is not attractive.

So this embodiment provides a barrel circumferential weld compresses tightly pulls limit mechanism, pulls the limit through setting up the bearing roller and the bearing roller acts on compressing tightly of circumferential weld department, pulls the limit more even, the welding is more thorough, product mechanical strength is higher and longe-lived for traditional manual mode, and is little for traditional mechanical shaping welded clearance. Specifically, the barrel circumferential weld pressing and edge wrenching mechanism comprises a carrier roller 100 and a pressing assembly 300, wherein the carrier roller 100 is arranged below an outer circumferential weld at the bottom of a barrel 200; the pressing assembly 300 comprises an arm body 301 and a pressing roller 302, the pressing roller 302 is arranged at the side end of the arm body 301, and after the arm body 301 is capable of extending into the barrel body 200, the pressing roller 302 is located above the carrier roller 100. It should be noted that the roller surface of the carrier roller 100 supports the outer side surface of the cylinder 200, the rotation direction of the carrier roller 100 is the same as the rotation direction of the cylinder 200, the pressing roller 302 extends into the cylinder 200 and is located at the annular gap of the inner side surface of the cylinder, and the rotation direction of the pressing roller 302 is also the same as the rotation direction of the cylinder 200, that is, the annular gap where the cylinder 200 is butted with is pressed by the middle of the pressing roller 302 and the carrier roller 100, and the pressing force is adjusted by the upward and downward movement of the pressing roller 302.

The operation principle here is: the cylinder body 200 is placed on a station, the outer side circular seam is kept above the carrier roller 100 (the mode is not limited, for example, the outer side circular seam can be placed manually or mechanically), the pressing assembly 300 is operated, the driving arm body 301 extends into the cylinder body 200, the pressing roller 302 is located above the inner circular seam and the carrier roller 100, the driving arm body 301 continues to move downwards, the inner circular seam is gradually pressed downwards until the circular seam is pressed by the middles of the pressing roller 302 and the carrier roller 100, at the moment, the cylinder body 200 is rotated, the pressing roller 302 and the carrier roller 100 synchronously rotate, and due to the fact that the positions of the pressing roller 302 and the carrier roller 100 are not moved, the circular seam of the cylinder body 200 is continuously rolled, pressed and pulled.

Further, because the positions of the circular seams of the cylinders 200 with different specifications, such as the cylinder length and the cylinder diameter, which are placed on the station are different, in order to adapt to the different positions of the circular seams, the carrier roller 100 is provided with an adjustable mechanism, and the position of the circular seams is adjusted to the position below the adjustable mechanism. Specifically, the carrier roller 100 further comprises a support 101, a slide block 102, a slide rail 103 and a screw rod 104; wherein the support 101 is a rotary bearing shaft seat of the carrier roller 100; the sliding block 102 is arranged at the bottom of the support 101, two sides of the bottom end of the sliding block 102 are connected with the sliding rail 103 in a sliding fit mode, two sides of the bottom end of the sliding block 102 are connected with the screw rod 104, and the carrier roller 100 is embedded into the support 101 to rotate.

The operation principle here is: firstly, the screw rod 104 is connected with the motor to rotate, and the screw rod connecting structure of the screw rod 104 and the sliding block 102 is utilized to rotate in a forward direction or a reverse direction, so that the sliding block 102 can displace forwards and backwards relative to the screw rod 104, the screw rod 104 is driven to slide on the sliding rail 103, and the carrier roller 100 is fixed on the sliding block 102, thereby realizing that the position of the carrier roller 100 in the transverse direction is adjusted to correspond to the lower part of the circular seam position of the cylinder body 200 assembly with different specifications, and then the circular seam of the cylinder body 300 is pressed and pulled by matching with the movement of the upper pressing assembly 300.

Further, in the present embodiment, a preferable scheme is proposed for the vertical and horizontal movement of the arm 301 in the pressing assembly 300. Specifically, the pressing assembly 300 further comprises a lifting slider 303, a longitudinal rail 304, a transverse rail 305, a bracket 306 and a connecting angle plate 307. The transverse rails 305 are arranged on two long side surfaces of the arm body 301, the inner side surface of the lifting slider 303 is connected with the transverse rails 305 in a sliding mode, and the outer side surface of the lifting slider 303 is connected with the longitudinal rails 304 in a sliding mode. The bracket 306 is in a shape of a 'door', the longitudinal rail 304 is arranged on the inner side wall of the bracket 306, and two ends of the connecting angle plate 307 are respectively connected with the arm body 301 and the pressing roller 302.

Preferably, the connecting gusset 307 comprises a riser 307a, a cross plate 307b, and a reinforcement plate 307 c; the vertical plate 307a is connected with the horizontal plate 307b to form a right angle, the vertical plate 307a is connected with the side end of the arm body 301, the bottom of the horizontal plate 307b is connected with the pressing roller 302, and the reinforcing plate 307c is respectively connected with the adjacent sides of the vertical plate 307a and the horizontal plate 307 b. The reinforcement plate 307c of this embodiment is a rib, so that the connection between the vertical plate 307a and the horizontal plate 307b is more stable.

It should be noted that, the wall of the cylinder body 200 is pressed between the pressing roller 302 and the carrier roller 100 to achieve pressing, firstly, the arm 301 is displaced transversely under the cooperation of the lifting slider 303 and the transverse rail 305, after being inserted into the cylinder body 200, the pressing roller 302 is located right above the carrier roller 100 at this time, the wall of the cylinder body 200 is located between the pressing roller 302 and the carrier roller 100, then, the lifting slider 303 is slidably engaged with the longitudinal rail 304 to achieve longitudinal displacement, and the pressing roller 302 moves downwards until abutting against the inner side wall of the cylinder body 200. The connection angle plate 307 functions to project the pinch roller 302 a distance beyond the arm 301 and set down and provides a reinforcement connection for the reinforcing ribs. The sliding control can be controlled by adopting a motor, the sliding fit mode can be a gear fit mode, and the sliding distance can be controlled by controlling the progress of the motor.

Example 2

Referring to the schematic diagrams of fig. 3 to 5, in order to realize the bearing and rotation of the cylinder 200 on the station, in this embodiment, the bearing mechanism 400 is disposed at the end of the carrier roller 100, so that the cylinder 200 can rotate to perform circumferential seam pressing, edge wrenching and welding, for example, a mode of clamping two ends of the cylinder 200 to perform axial rotation may be adopted, but in this mode, the cylinder 200 needs to be clamped, and the two ends are easily deformed due to stress. Preferably, the apparatus includes a bearing mechanism 400 and a welding mechanism 500, the bearing mechanism 400 is disposed at two ends of the idler 100, and the welding mechanism 500 is disposed below the bearing mechanism 400.

Specifically, the bearing mechanism 400 includes a front end roller frame 401 and an adjustable rotary roller frame 402; the adjustable rotating roller frame 402 is arranged behind the front end roller frame 401, the carrier roller 100 is arranged below the adjustable rotating roller frame 402, the front end roller frame 401 is used for placing the front cylinder 201, and the adjustable rotating roller frame 402 is used for placing the variable cross section 202.

The adjustable rotary roller frame 402 comprises a transverse rolling roller 402a, a shaft seat 402b, a lifting seat 402c and a lifting rod 402 d; two ends of the transverse rolling roller 402a are embedded into the shaft seat 402b, the shaft seat 402b is connected with the upper part of the lifting seat 402c, and the bottom of the lifting seat 402c is connected with the lifting rod 402 d. The front end idler frame 401 includes a lateral forward rolling roller 401a and a front axle seat 401b for carrying the lateral forward rolling roller 401a for rotation. It should be noted that, axle seat 402b is connected with the motor, horizontal roll roller 402a is embedded in axle seat 402b and takes place to rotate as the pivot, lift seat 402c is the lifter, can adopt the cylinder to go up and down to realize, the cylinder of the lift seat 402c of horizontal roll roller 402a both sides is independent control respectively, therefore the slope of certain angle can be realized at both ends, when the butt joint of variable cross section 202 or back barrel and anterior segment has the deviation, cooperate the butt joint through the height of adjusting both sides lift seat 402c, thereby more accurate, the skilled person understands without difficulty that this cylinder control adopts the control technology that exists now, do not detailed description.

Further, the welding mechanism 500 is disposed below the adjustable rotating roller frame 402, and when the cylinder 200 is located on the carrying mechanism 400 and rotates synchronously, the welding mechanism 500 at the bottom of the circular seam welds the upper circular seam, for example, spot welding is performed until the welding meets the butt joint requirement, and then the operation is stopped. Welding robots are industrial robots that are used for welding, also cutting and painting. According to the definition of the international organization for standardization (ISO) industrial robot, which is a versatile, reprogrammable, automatically controlled manipulator with three or more programmable axes for use in the field of industrial automation, belongs to the standard welding robot. To accommodate different applications, the mechanical interface of the last axis of the robot, usually a connecting flange, may be used to attach different tools or end effectors. The welding robot of the embodiment is provided with a welding clamp or a welding gun which is arranged on a tail shaft flange of the industrial robot, so that the welding robot can carry out welding. The carrier roller 100, the pressing component 300, the carrying mechanism 400 and the welding mechanism 500 of the present embodiment are all disposed on the base 600, and the welding mechanism 500 is a welding robot placed in the working tank 601.

Adopt above-mentioned embodiment barrel circumferential weld to compress tightly and pull limit mechanism, before the circumferential weld process or synchronous in-process, compress tightly the pull limit to circumferential weld department, for traditional pull limit mode, its welding effect is better, and the seam is located thickness more evenly controllable, the intensity of product is higher, be difficult for the fracture to and the welding clearance is less. Simultaneously the clamp plate can be with the hypotenuse pressure straight flange, for traditional artifical mode, this embodiment effect is better.

It is obvious to a person skilled in the art that the invention is not restricted to details of the above-described exemplary embodiments, but that it can be implemented in other specific forms without departing from the spirit or essential characteristics of the invention. The present embodiments are to be considered as illustrative and not restrictive, the scope of the invention being indicated by the appended claims rather than by the foregoing description, and all changes which come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein, no further reference being made to any figure in the claims.

It should be further understood that the present invention is described through the embodiments, and the embodiments are only for providing clear and complete descriptions for the technical solutions proposed by the claims of the present invention, that is, explaining the claims, so when judging whether the technical solutions described in the present invention are disclosed sufficiently, the core meaning of the solution defined by the claims should be fully considered, and other technical problems unrelated to the solution of the core technical problems proposed by the embodiments are necessarily present in the description, and the corresponding technical features and technical solutions are not referred to the meanings of the embodiments, belong to unnecessary technical features, so the implicit disclosure can be referred to, and the skilled in the art can fully combine the prior art and the common general knowledge to implement, and therefore, there is no need to do any detailed description.

It should be noted that the above embodiments are only used for illustrating the technical solutions of the present invention and not for limiting, and although the present invention has been described in detail with reference to the preferred embodiments, those skilled in the art should understand that the technical solutions of the present invention can be modified or replaced with equivalents without departing from the spirit and scope of the technical solutions of the present invention, which should be covered by the scope of the claims of the present invention.

Claims (10)

1. The utility model provides a barrel circumferential weld compresses tightly pulls limit mechanism which characterized in that: comprises the steps of (a) preparing a mixture of a plurality of raw materials,

the carrier roller (100), the carrier roller (100) is arranged below an outer circular seam at the bottom of the barrel body (200);

the pressing assembly (300) comprises an arm body (301) and a pressing roller (302), wherein the pressing roller (302) is arranged at the side end of the arm body (301), the arm body (301) can stretch into the barrel body (200) to form a structure, and then the pressing roller (302) is located above the carrier roller (100).

2. The barrel circumferential seam pressing and edge wrenching mechanism as claimed in claim 1, wherein: the carrier roller (100) further comprises a support (101), a sliding block (102), a sliding rail (103) and a screw rod (104);

the sliding block (102) is arranged at the bottom of the support (101), two sides of the bottom end of the sliding block (102) are connected with the sliding rail (103) in a sliding fit mode, two sides of the bottom end of the sliding block (102) are connected with the screw rod (104), and the carrier roller (100) is embedded into the support (101) to rotate.

3. The cylinder circumferential seam pressing and edge wrenching mechanism as claimed in claim 1 or 2, wherein: the pressing assembly (300) further comprises a lifting slider (303), a longitudinal rail (304) and a transverse rail (305);

the transverse rails (305) are arranged on two long side surfaces of the arm body (301), the inner side surface of the lifting slide block (303) is connected with the transverse rails (305) in a sliding mode, and the outer side surface of the lifting slide block (303) is connected with the longitudinal rails (304) in a sliding mode.

4. The barrel circumferential seam pressing and edge wrenching mechanism as claimed in claim 3, wherein: the pressing assembly (300) further comprises a bracket (306) and a connecting angle plate (307);

the bracket (306) is in a shape of a Chinese character 'men', the longitudinal rail (304) is arranged on the inner side wall of the bracket (306), and two ends of the connecting angle plate (307) are respectively connected with the arm body (301) and the pressing roller (302).

5. The barrel circumferential seam pressing and edge wrenching mechanism of claim 4, wherein: the connecting angle plate (307) comprises a vertical plate (307a), a transverse plate (307b) and a reinforcing plate (307 c);

the connection of the vertical plate (307a) and the transverse plate (307b) forms a right angle, the vertical plate (307a) is connected with the side end of the arm body (301), the bottom of the transverse plate (307b) is connected with the pressing roller (302), and the reinforcing plates (307c) are respectively connected with the adjacent sides of the vertical plate (307a) and the transverse plate (307 b).

6. The barrel circumferential seam pressing and edge wrenching mechanism as claimed in any one of claims 1-2, 4 or 5, wherein: the roller carrier is characterized by further comprising a bearing mechanism (400), wherein the bearing mechanism (400) is arranged at two ends of the carrier roller (100), and the barrel body (200) is placed on the bearing mechanism (400).

7. The barrel circumferential seam pressing and edge wrenching mechanism of claim 6, wherein: the bearing mechanism (400) comprises a front end roller frame (401) and an adjustable rotary roller frame (402);

the adjustable rotary roller frame (402) is arranged behind the front end roller frame (401), the carrier roller (100) is arranged below the adjustable rotary roller frame (402), the front end roller frame (401) is used for placing a front barrel body (201), and the adjustable rotary roller frame (402) is used for placing a variable cross section (202).

8. The barrel circumferential seam pressing and edging mechanism as claimed in claim 7, characterized in that: the adjustable rotary roller frame (402) comprises a transverse rolling roller (402a), a shaft seat (402b), a lifting seat (402c) and a lifting rod (402 d);

two ends of the transverse rolling roller (402a) are embedded into the shaft seat (402b), the shaft seat (402b) is connected with the upper part of the lifting seat (402c), and the bottom of the lifting seat (402c) is connected with the lifting rod (402 d).

9. The barrel circumferential seam pressing and edging mechanism as claimed in claim 7 or 8, characterized in that: the front end roller bracket (401) comprises a transverse front rolling roller (401a) and a front shaft seat (401b) for bearing the rotation of the transverse front rolling roller (401 a).

10. The barrel circumferential seam pressing and edging mechanism as claimed in claim 9, characterized in that: the carrier roller (100), the pressing assembly (300) and the bearing mechanism (400) are all arranged on the base (600), and the welding mechanism (500) is a welding robot placed in the operation groove (601).

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