CN218800072U

CN218800072U - Automatic welding device based on three-axis movement

Info

Publication number: CN218800072U
Application number: CN202223187440.1U
Authority: CN
Inventors: 何银水; 萧跃鹏; 高杰; 肖贺; 胡振宇; 涂振兴
Original assignee: Nanchang University
Current assignee: Nanchang University
Priority date: 2022-11-30
Filing date: 2022-11-30
Publication date: 2023-04-07
Anticipated expiration: 2032-11-30

Abstract

The utility model relates to the technical field of welding, in particular to an automatic welding device based on three-axis motion, which comprises a supporting platform, wherein a first transverse transmission mechanism and a second transverse transmission mechanism are fixedly arranged on the surface of the supporting platform, and two ends of an actuating mechanism are respectively meshed and connected with the first transverse transmission mechanism and the second transverse transmission mechanism; two ends of the vertical transmission mechanism are respectively movably connected with the first transverse transmission mechanism and the second transverse transmission mechanism; the lifting transmission mechanism is movably connected with the vertical transmission mechanism; the top end of the lifting transmission mechanism is fixedly connected with a fixed platform; the welding mechanism is fixedly arranged on the surface of the supporting platform; the fixed platform is specially designed for the welding mechanism to the fixed mode of metal, fixed platform and welding mechanism looks adaptation, and welding mechanism confirms the most suitable welding route through built-in CDD camera and laser and welds automatically, and welding mechanism can carry out wide-angle rotation simultaneously, can realize multiple special welding mode, and the better welded precision of the device stability is higher, and work efficiency is high simultaneously.

Description

Automatic welding device based on three-axis movement

Technical Field

The utility model belongs to the technical field of the welding technique and specifically relates to an automatic welder based on triaxial motion is related to.

Background

The welding has very important status in the field of industrial manufacturing, is a technology with extremely strong comprehensiveness, and has wide application in the fields of aerospace, national defense and military industry, automobile and part manufacturing industry and the like. The manual welding technology and the welding platform in the past need a large amount of human resources, and the technical requirements for operators are high. Therefore, the manual welding and welding platform in the past can not meet the current requirements on welding quality and efficiency. In addition, when an operator performs welding operation, strong light, smoke and the like generated in the welding process can cause great threat to the physical health of the operator. With the continuous progress of scientific technology, the automatic welding technology is rapidly developed in the mechanical manufacturing industry and occupies an advantageous position in the industry. At present, intelligent and automatic welding becomes a research hotspot in the field of modern welding. And its degree of automation is low among current few automatic welding set, and the welding mode is single, and work efficiency is low, simultaneously because power structure is when the operation, because its poor stability and information acquisition error are big, lead to the effect of welding out poor to can't satisfy and weld the steel sheet to different thickness sizes, the adaptability is lower.

SUMMERY OF THE UTILITY MODEL

The utility model discloses aim at solving one of the technical problem that exists among the prior art at least. Therefore, the utility model provides an automatic welder based on triaxial motion

According to the utility model discloses automatic welder based on triaxial motion of first aspect embodiment, include:

a support platform;

the first transverse transmission mechanism and the second transverse transmission mechanism have the same structure; the first transverse transmission mechanism and the second transverse transmission mechanism are arranged on the surface of the supporting platform in parallel;

the actuating mechanism is fixedly arranged on the surface of the supporting platform; the actuating mechanism is respectively meshed with the first transverse transmission mechanism and the second transverse transmission mechanism;

the vertical transmission mechanism is perpendicular to the first transverse transmission mechanism, one end of the vertical transmission mechanism is movably connected with the first transverse transmission mechanism, and the other end of the vertical transmission mechanism is movably connected with the second transverse transmission mechanism;

the lifting transmission mechanism is movably connected with the vertical transmission mechanism and is perpendicular to the vertical transmission mechanism; the top end of the lifting transmission mechanism is fixedly connected with a fixed platform;

and the welding mechanism is fixedly arranged on the surface of the supporting platform far away from the actuating mechanism.

According to the automatic welding device based on the three-axis motion, the metal plate to be welded is fixed through the fixed platform according to a specific mode, and the fixed platform is matched with the welding mechanism; the stability in the welding process is higher, the adaptability is wide, and the welding effect is better; through the arrangement of the transverse transmission mechanism, the actuating mechanism, the vertical transmission mechanism and the lifting transmission mechanism, the metal plate to be welded is automatically moved to the most appropriate welding space position; the welding efficiency is improved, the welding mechanism can move in multiple spatial degrees of freedom through the cooperation of multiple stepping motors through the arrangement of the welding mechanism, and meanwhile, the automation degree is higher and the welding accuracy is high due to the arrangement of the laser positioning device on the welding mechanism, so that the information acquisition is stable; whole welding process only needs the manual work to fix the metal sheet of treating welding on fixed platform, follow-up welding the utility model discloses the device is automatic to be gone on, and protection operating personnel's health safety uses manpower sparingly reduces welding cost.

According to some embodiments of the present invention, the welding mechanism comprises: the welding gun comprises a support column, a rotating arm, a welding gun fixing arm, a positioning device and a positioning fixing arm; one end of the support column is fixedly connected with the supporting platform, one end of the support column far away from the supporting platform is movably connected with the rotating arm, one end of the rotating arm far away from the support column is movably connected with the welding gun fixing arm, one end of the welding gun fixing arm far away from the rotating arm is fixedly connected with the positioning fixing arm, and the other end of the positioning fixing arm is fixedly connected with the positioning device; the welding gun is fixedly provided with a welding gun, a fourth stepping motor is arranged at the movable connection position of the support and the rotating arm, and a fifth stepping motor is arranged at the movable connection position of the rotating arm and the fixed arm of the welding gun. The multi-step motor is arranged and matched to work, so that the welding mechanism can move at multiple angles in space, multiple special welding modes can be realized, and the welding efficiency is higher.

According to some embodiments of the invention, the positioning device comprises: the device comprises a frame, a CCD camera, an arched bracket and a laser clamper; the frame is fixedly connected with the positioning fixed arm, and the CCD camera is fixedly installed at the bottom in the CCD camera; the middle part in the frame, which is close to the CCD camera, is fixedly connected with the arched bracket, and the arched top end of the arched bracket is movably connected with the laser holder. The problems of unstable information acquisition and large error during welding are solved through the arrangement of the laser clamp holder and the frame which is suitable for the arrangement of the CCD camera; the CCD camera reaches the setting of laser makes accurate location wait welded position to the metal sheet, through the welding rifle realizes automatic weld, at the welding removal in-process, the CCD camera reaches real-time data acquisition can be realized to laser, guarantees its welded accuracy nature and stability.

According to some embodiments of the invention, the fixed platform comprises: the fixing table comprises a fixing table top, a fixing rod and a fixing frame; the fixing table comprises a fixing table top and is characterized in that vertical rods are fixedly arranged on two sides of the surface of the fixing table top, the vertical rods are movably connected with a fixing frame, and two ends of each fixing rod are movably connected with the fixing frame. The fixed frame is used for fixing the horizontally placed metal plates, the fixed rods are used for fixing the vertically placed metal plates, when the metal plates with different thicknesses are fixed, the fixed frame and the fixed rods can be adjusted in position, the adaptability is wider, the fixed frame is convenient to fix and more stable, meanwhile, the fixed platform is designed to be matched with the welding mechanism, the welding mechanism is more convenient to collect and judge the welding seam information of the metal plates to be welded, and welding is carried out.

According to some embodiments of the invention, the first transverse transmission mechanism and the second transverse transmission mechanism comprise: the device comprises a base, a first supporting rod and a first screw rod; the base is fixedly arranged at two ends of the surface of the supporting platform, the first supporting rod is fixedly connected with the base, the first screw rod is movably connected with the base, and one end of the first screw rod penetrates through the base. The actuator includes: first step motor, transmission gear axle, bearing frame and driven gear shaft, first step motor with the bearing frame fixed set up in supporting platform, first step motor fixed connection the transmission gear axle, the transmission gear axle with driven gear shaft straight-teeth gear meshing connects, driven gear shaft passes the bearing frame, driven gear shaft end helical gear with first lead screw one end helical gear meshing. The base and the first supporting rod are arranged to bear heavier metal plates, and the first screw rod and the actuating mechanism are arranged to enable the fixed platform to synchronously and transversely move.

According to some embodiments of the utility model, the vertical drive mechanism includes: the first connecting piece, the second stepping motor, the second supporting rod and the second screw rod are arranged on the first connecting piece; the first connecting piece is movably connected with the first transverse transmission mechanism, the second connecting piece is movably connected with the second transverse transmission mechanism, one end of the second supporting rod is fixedly connected with the first connecting piece, the other end of the second supporting rod is fixedly connected with the second connecting piece, one end of the second lead screw is movably connected with the first connecting piece, the other end of the second lead screw is movably connected with the second connecting piece, and the second stepping motor is fixedly arranged on the surface of the second connecting piece; the output shaft of the second stepping motor is fixedly connected with the second screw rod; the first connecting piece is in a trapezoidal table shape, and the first connecting piece and the second connecting piece are identical in structure. The vertical transmission mechanism can enable the fixed platform to move vertically.

According to some embodiments of the utility model, the lifting transmission mechanism comprises: the lifting platform, the T-shaped commutator, the worm gear and nut lifting device and the third stepping motor are arranged on the lifting platform; the lifting platform is movably connected with the vertical transmission mechanism; the two ends of the surface of the lifting platform are fixedly connected with the worm gear nut lifting device, the middle part of the surface of the lifting platform is fixedly connected with the T-shaped commutator, and the two ends of a transmission rod of the T-shaped commutator are meshed with the worm gear nut lifting device; the T-shaped commutator is fixedly connected with the third stepping motor, and the third stepping motor is fixedly arranged on the surface of the lifting platform; one end of a third screw rod of the worm gear nut lifting device is fixedly connected with the fixed platform, and the fixed platform is parallel to the lifting platform. Through the arrangement of the lifting transmission mechanism, the fixed platform moves in the vertical direction, and the positioning at different heights is realized.

Additional aspects and advantages of the invention will be set forth in part in the description which follows and, in part, will be obvious from the description, or may be learned by practice of the invention.

Drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings needed to be used in the embodiments will be briefly described 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 creative efforts.

Fig. 1 is a schematic structural diagram of an automatic welding device based on three-axis motion according to an embodiment of the present invention;

fig. 2 is a schematic structural diagram of an automatic welding device based on three-axis movement according to an embodiment of the present invention;

fig. 3 is a schematic structural diagram of an actuator in an automatic welding device based on three-axis motion according to an embodiment of the present invention;

fig. 4 is a schematic view of a lifting structure in an automatic welding device based on three-axis movement according to an embodiment of the present invention;

fig. 5 is a schematic view of an internal structure of a positioning device in an automatic welding device based on three-axis movement according to an embodiment of the present invention;

fig. 6 is a schematic structural diagram of a fixed platform in an automatic welding device based on three-axis motion according to an embodiment of the present invention;

fig. 7 is a schematic structural diagram of a fixed platform in an automatic welding device based on three-axis motion during operation according to the embodiment of the present invention.

Reference numerals:

100. a support platform;

210. a first transverse transmission mechanism; 220. a second transverse transmission mechanism; 211. a base; 212. a first lead screw; 213. a first support bar;

300. a vertical transmission mechanism; 301. a first connecting member; 302. a second connecting member; 303. a second stepping motor; 304. a second support bar; 305. a second screw rod;

400. a lifting transmission mechanism; 401. a lifting platform; 402. a T-shaped commutator; 403. a worm gear nut lifting device; 404. a third screw rod; 405. a third step motor;

500. fixing the platform; 501. fixing the table top; 502. fixing the rod; 503. a fixed frame 504, a first metal plate; 505. a second metal plate;

600. a welding mechanism; 610. a support post; 620. a fourth stepping motor; 630. a rotating arm; 640. a fifth stepping motor; 650. a welding gun fixing arm; 660. welding a gun; 670. a positioning device; 671. a frame; 672. a CCD camera; 673. an arched bracket; 674. a laser clamper; 675. a protective lens; 676 laser transmitter; 677 an optical filter; 680. positioning a fixed arm;

700. an actuator; 710. a driven gear shaft; 720. a bearing seat; 730. a drive gear shaft; 740. a first stepper motor.

Detailed Description

The embodiments of the present invention will now be described in detail, with the understanding that the embodiments described are exemplary and are not intended to limit the application to the specific embodiments described herein.

It will be understood that when an element is referred to as being "secured to" another element, it can be directly on the other element or intervening elements may also be present. When an element is referred to as being "connected" to another element, it can be directly connected to the other element or intervening elements may also be present.

Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. The terminology used herein in the description of the invention is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. As used herein, the term "and/or" includes any and all combinations of one or more of the associated listed items.

Example 1

Referring to fig. 1 to 4, the present embodiment provides an automatic welding apparatus based on three-axis movement, including:

a support platform 100;

a first transverse transmission mechanism 210 and a second transverse transmission mechanism 220 are fixedly arranged on the surface of the supporting platform 100, and the first transverse transmission mechanism 210 and the second transverse transmission mechanism 220 have the same structure;

the actuator 700, the actuator 700 is fixedly arranged on the surface of the support platform 100; one end of the actuator 700 is engaged with one end of the first traverse transmission mechanism 210; the other end of the actuating mechanism 700 is engaged with one end of the second transverse transmission mechanism 220;

the vertical transmission mechanism 300 is perpendicular to the first transverse transmission mechanism 210 and the second transverse transmission mechanism 220, one end of the vertical transmission mechanism 300 is movably connected with the first transverse transmission mechanism 210, and the other end of the vertical transmission mechanism 300 is movably connected with the second transverse transmission mechanism 220;

the lifting transmission mechanism 400 is perpendicular to the vertical transmission mechanism 300, and the lifting transmission mechanism 400 is movably connected with the vertical transmission mechanism 300; the top end of the lifting transmission mechanism 400 is fixedly connected with a fixed platform 500;

the welding mechanism 600 is fixedly arranged on the surface of the supporting platform 100, the welding mechanism 600 is far away from the executing mechanism 700, and the welding mechanism 600 is located between the first transverse transmission mechanism 210 and the second transverse transmission mechanism 220.

Specifically, the first transverse transmission mechanism 210 and the second transverse transmission mechanism 220 include: a base 211, a first support rod 213, and a first lead screw 212; the base 211 is fixedly arranged at two ends of the surface of the supporting platform 100, the first supporting rod 213 is fixedly connected with the base 211, the first screw rod 212 is movably connected with the base 211, and one end of the first screw rod 212 penetrates through the base 211.

Specifically, the actuator 700 includes: first step motor 740, transmission gear axle 730, bearing frame 720 and driven gear axle 710, first step motor 740 with bearing frame 720 is fixed set up in supporting platform 100, first step motor 740 fixed connection transmission gear axle 730, transmission gear axle 730 with driven gear axle 710 spur gear meshing is connected, driven gear axle 710 passes bearing frame 720, driven gear axle 710 terminal helical gear with first lead screw 212 one end helical gear meshing.

Specifically, the vertical transmission mechanism 300 includes: a first connecting piece 301, a second connecting piece 302, a second stepping motor 303, a second supporting rod 304 and a second screw rod 305; the first connecting piece 301 is movably connected with the first transverse transmission mechanism 210, the second connecting piece 302 is movably connected with the second transverse transmission mechanism 220, one end of the second supporting rod 304 is fixedly connected with the first connecting piece 301, the other end of the second supporting rod 304 is fixedly connected with the second connecting piece 302, one end of the second lead screw 305 is movably connected with the first connecting piece 301, the other end of the second lead screw 305 is movably connected with the second connecting piece 302, and the second stepping motor 303 is fixedly arranged on the surface of the second connecting piece 302; the output shaft of the second stepping motor 303 is fixedly connected with the second screw rod 305; the first connecting piece 301 and the second connecting piece 302 are in a trapezoidal shape, and the first connecting piece 301 and the second connecting piece 302 have the same structure.

Specifically, the lifting transmission mechanism 400 includes: the lifting platform 401, the T-shaped reverser 402, the worm gear and nut lifting device 403 and the third stepping motor 405; the lifting platform 401 is movably connected with the vertical transmission mechanism (300); the two ends of the surface of the lifting platform 401 are fixedly connected with the worm gear nut lifting device 403, the middle part of the surface of the lifting platform 401 is fixedly connected with the T-shaped commutator 402, and the two ends of a transmission rod of the T-shaped commutator 402 are meshed with the worm gear nut lifting device 403; the T-shaped commutator 402 is fixedly connected to the third stepping motor 405, and the third stepping motor 405 is fixedly arranged on the surface of the lifting platform 401; one end of the third screw rod 404 of the worm gear nut lifting device 403 is fixedly connected to the fixing platform 500, and the fixing platform is used for fixing a metal block to be welded.

Specifically, the welding mechanism 600 includes: post 610, rotating arm 630, gun securing arm 650, positioning device 670, and positioning securing arm 680; one end of the support pillar 610 is fixedly connected to the support platform 100, one end of the support pillar 610 far away from the support platform 100 is movably connected to the rotating arm 630, one end of the rotating arm 630 far away from the support pillar 610 is movably connected to the welding gun fixing arm 650, one end of the welding gun fixing arm 650 far away from the rotating arm 630 is fixedly connected to the positioning fixing arm 680, and the other end of the positioning fixing arm 680 is fixedly connected to the positioning device 670; the fixed welding gun that is provided with of welding gun fixed arm 650, pillar 610 with rotatory arm 630 swing joint department is provided with fourth step motor 620, rotatory arm 630 with welding gun fixed arm 650 swing joint department is provided with fifth step motor 640.

Example 2

Referring to fig. 5, in this embodiment, based on embodiment 1, the specific internal structure of the positioning apparatus 670 is further described:

the positioning device 670 includes: frame 671, CCD camera 672, arched support 673, and laser clamp 674; the frame 671 is fixedly connected with the positioning fixing arm 680, and the CCD camera 672 is fixedly mounted at the bottom in the frame; the CCD camera coaxial lens is provided with a light filter 677 and a dimmer in front of the CCD camera coaxial lens and used for accurately collecting field information and preventing strong light interference during welding, the middle part in the frame close to the CCD camera 672 is fixedly connected with the arched support 673, the arched top end of the arched support 673 is movably connected with the laser holder 674, the laser holder 674 is used for fixing a laser generator, a protective lens 675 is arranged on one side of the laser pen emitting laser, and meanwhile, the whole positioning device is provided with a protective cover to prevent spark generated during welding from damaging parts in the positioning device.

An angle adjusting rod is arranged at the movable connection part of the arched top end of the arched bracket 673 and the laser holder 674, the angle adjusting rod extends out of the protective cover, and when some special conditions are met, the angle of the laser emitter 676 can be adjusted without detaching the protective cover, so that the position of the laser emitter can be calibrated; laser emitter 676 with CCD camera 672 has solved because the whole circumstances such as vibrations that appear of welding in-process platform lead to the image information of gathering inaccurate, can't plan the welding route.

Example 3

Referring to fig. 6 and 7, in this embodiment, based on embodiment 1, a specific process of fixing a metal block by the fixing platform is further described:

the fixing platform 500 includes: a fixed table 501, a fixed rod 502 and a fixed frame 503; when metal plates with different thicknesses are welded, as shown in fig. 7, a first metal plate 504 is horizontally placed on the fixed table 501, the fixed frame 503 is moved to fix the first metal plate 504, then the fixed frame 503 and fixing bolts on the limiting rods are fastened, a second metal plate 505 to be welded is vertically placed on the surface of the first metal plate 504, the fixing rods 502 on both sides are moved, and when the fixing rods 502 on both sides abut against the second metal plate 505, the fixing rods 502 on both sides are fastened respectively to fix the second metal plate 505; through the above operation, the first metal plate 504 and the second metal plate 505 are more stable when being welded; fixed mesa 501 the dead lever 502 with fixed frame 503 structure designs according to welding mechanism's characteristic, makes fixed platform 500 with welding mechanism looks adaptation has increased welding mechanism's welding mode, and the information acquisition and the weldment work that more make things convenient for welding mechanism simultaneously go on, improves welded accuracy nature and high efficiency.

Example 4

Referring to fig. 1 and 2, the working principle of the automatic welding apparatus based on three-axis motion according to the present embodiment is further described, which includes:

when the welding platform performs welding operation, the laser transmitter 676 and the CCD camera 672 acquire and acquire characteristic information of a welding seam, and then upload the acquired characteristic information to a software program, the software program processes the characteristic information of the welding seam and plans a welding path, the planned welding path is converted into three-dimensional coordinate information and is transmitted to a single chip microcomputer, the single chip microcomputer drives the first stepping motor 740, the second stepping motor 303 and the third stepping motor 405 to operate, the fixed platform 500 is moved to a target position through the first transverse transmission mechanism 210, the second transverse transmission mechanism 220, the vertical transmission mechanism 300 and the lifting transmission mechanism 400, the welding mechanism 600 is driven by the fourth stepping motor 620 and the fifth stepping motor 640 to move along the planned welding path, the welding gun 660 is started, and the welding gun is matched to perform welding operation.

In the description of the present invention, it is to be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential", and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are only for convenience of description and for simplicity of description, and do not indicate or imply that the device or element referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus, should not be construed as limiting the invention.

In the description of the present specification, reference to the description of "one embodiment," "some embodiments," "an illustrative embodiment," "an example," "a specific example," or "some examples" or the like means that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the present invention. In this specification, the schematic representations of the terms used above do not necessarily refer to the same embodiment or example.

It is to be understood that the embodiments described are only a few embodiments of the present application and not all embodiments. Reference herein to "an embodiment" means that a particular feature, structure, or characteristic described in connection with the embodiment can be included in at least one embodiment of the present application. The appearances of the phrase 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. Those skilled in the art will explicitly and implicitly appreciate that the embodiments described herein may be combined with other embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.

While embodiments of the present invention have been shown and described, it will be understood by those of ordinary skill in the art that: various changes, modifications, substitutions and alterations can be made to the embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the claims and their equivalents.

Claims

1. An automatic welding device based on three-axis movement, comprising:

a support platform (100);

a first transverse transmission mechanism (210) and a second transverse transmission mechanism (220) which have the same structure; the first transverse transmission mechanism (210) and the second transverse transmission mechanism (220) are arranged on the surface of the supporting platform (100) in parallel;

the actuator (700) is fixedly arranged on the surface of the supporting platform (100); the actuating mechanism (700) is respectively engaged with the first transverse transmission mechanism (210) and the second transverse transmission mechanism (220);

the vertical transmission mechanism (300) is perpendicular to the first transverse transmission mechanism (210), one end of the vertical transmission mechanism (300) is movably connected with the first transverse transmission mechanism (210), and the other end of the vertical transmission mechanism (300) is movably connected with the second transverse transmission mechanism (220);

the lifting transmission mechanism (400) is movably connected with the vertical transmission mechanism (300), and the lifting transmission mechanism (400) is perpendicular to the vertical transmission mechanism (300); the top end of the lifting transmission mechanism (400) is fixedly connected with a fixed platform (500);

the welding mechanism (600) is fixedly arranged on the surface of the supporting platform (100) far away from the actuating mechanism (700).

2. The automated welding apparatus based on three-axis motion of claim 1, wherein: the welding mechanism (600) comprises: the welding gun comprises a support column (610), a rotating arm (630), a welding gun fixing arm (650), a positioning device (670) and a positioning fixing arm (680); pillar (610) one end fixed connection supporting platform (100), keep away from supporting platform (100) pillar (610) one end swing joint the swinging boom (630), keep away from pillar (610) swinging boom (630) one end swing joint welding gun fixed arm (650), keep away from swinging boom (630) welding gun fixed arm (650) one end fixed connection location fixed arm (680), location fixed arm (680) other end fixed connection positioner (670).

3. The automatic welding device based on three-axis motion of claim 2, wherein: the fixed welding rifle that is provided with of welding rifle fixed arm (650), pillar (610) with swinging boom (630) swing joint department is provided with fourth step motor (620), swinging boom (630) with welding rifle fixed arm (650) swing joint department is provided with fifth step motor (640).

4. The automatic welding device based on three-axis motion of claim 2, wherein: the positioning device (670) comprises: a frame (671), a CCD camera (672), an arch support (673) and a laser clamper (674); the frame (671) is fixedly connected with the positioning fixing arm (680), and the CCD camera (672) is fixedly installed at the inner bottom of the frame (671); the middle part in the frame (671) close to the CCD camera (672) is fixedly connected with the arched bracket (673), and the arched top end of the arched bracket (673) is movably connected with the laser holder (674).

5. The automatic welding device based on three-axis motion of claim 1, wherein: the stationary platform (500) comprises: a fixed table top (501), a fixed rod (502) and a fixed frame (503); the fixing table is characterized in that vertical rods are fixedly arranged on two sides of the surface of the fixing table top (501), the vertical rods are movably connected with the fixing frame (503), and two ends of the fixing rod (502) are movably connected with the fixing frame (503).

6. The automated welding apparatus based on three-axis motion of claim 1, wherein: the first transverse transmission mechanism (210) and the second transverse transmission mechanism (220) each comprise: a base (211), a first support rod (213) and a first screw rod (212); the base (211) is fixedly arranged at two ends of the surface of the supporting platform (100), the first supporting rod (213) is fixedly connected with the base (211), the first screw rod (212) is movably connected with the base (211), and one end of the first screw rod (212) penetrates through the base (211).

7. The automated welding apparatus based on three-axis motion of claim 6, wherein: the actuator (700) comprises: first step motor (740), transmission gear axle (730), bearing frame (720) and driven gear axle (710), first step motor (740) with bearing frame (720) fixed set up in supporting platform (100), first step motor (740) fixed connection drive gear axle (730), transmission gear axle (730) with driven gear axle (710) straight-teeth gear meshing is connected, driven gear axle (710) passes bearing frame (720), driven gear axle (710) terminal helical gear with first lead screw (212) one end helical gear meshing.

8. The automated welding apparatus based on three-axis motion of claim 1, wherein: the vertical transmission mechanism (300) comprises: the device comprises a first connecting piece (301), a second connecting piece (302), a second stepping motor (303), a second supporting rod (304) and a second screw rod (305); the first connecting piece (301) is movably connected with the first transverse transmission mechanism (210), the second connecting piece (302) is movably connected with the second transverse transmission mechanism (220), one end of the second supporting rod (304) is fixedly connected with the first connecting piece (301), the other end of the second supporting rod (304) is fixedly connected with the second connecting piece (302), one end of the second lead screw (305) is movably connected with the first connecting piece (301), the other end of the second lead screw (305) is movably connected with the second connecting piece (302), and the second stepping motor (303) is fixedly arranged on the surface of the second connecting piece (302); and the output shaft of the second stepping motor (303) is fixedly connected with the second screw rod (305).

9. The automated welding apparatus based on three-axis motion of claim 1, wherein: the lifting transmission mechanism (400) comprises: the device comprises a lifting platform (401), a T-shaped commutator (402), a worm gear and nut lifting device (403) and a third stepping motor (405); the lifting platform (401) is movably connected with the vertical transmission mechanism (300); the two ends of the surface of the lifting platform (401) are fixedly connected with the worm gear and nut lifting device (403), the middle part of the surface of the lifting platform (401) is fixedly connected with the T-shaped commutator (402), and the two ends of a transmission rod of the T-shaped commutator (402) are meshed with the worm gear and nut lifting device (403); the T-shaped commutator (402) is fixedly connected with the third stepping motor (405), and the third stepping motor (405) is fixedly arranged on the surface of the lifting platform (401).

10. The automated welding device based on three-axis motion of claim 9, wherein: one end of a third screw rod (404) of the worm gear nut lifting device (403) is fixedly connected with the fixing platform (500), and the fixing platform (500) is parallel to the lifting platform (401).