TW202231400A - A teaching machine and an automatic welding equipment of using the same - Google Patents

Abstract

A teaching machine includes a first multi-directional displacement machine that is driven by electric power and a manual second multi-directional displacement mechanism. The second multi-directional displacement mechanism is connected to the first multi-directional displacement mechanism; a manual detector is installed on the second multi-directional displacement mechanism. A plurality of first displacement measuring elements are installed in the first multi-directional displacement mechanism, a plurality of second displacement measuring elements are installed in the second multi-directional displacement mechanism, and a detector displacement measuring element is installed in the second multi-directional displacement mechanism and connected the detector. In this way, the first multi-directional displacement mechanism, the second multi-directional displacement mechanism and the detector approach a workpiece, and the first displacement measurement elements, the second displacement measurement elements and the detector displacement measuring element can get all welding position coordinates of the workpice and transmits to an automatic welding machine, so that the automatic welding machine automatically performs welding according to the welding position coordinates. As a result, the present invention has the effects of labor-saving operation and accurate measurement of the welding position and by the start-up timing of the automatic welding machine, the overall welding time can be shortened.

Description

Teaching machine and automatic welding equipment using the teaching machine

The present invention relates to the technical field of automatic welding equipment, in particular to a teaching machine with manual detection and teaching of welding positions and an automatic welding equipment composed of automatic welding machines.

Large-scale steel structure materials, such as H-beam, often add appropriate stiffeners to the raw material body according to the needs of use, or combine different steel structure materials. These additionally added or connected bodies of material may be joined to the body of raw material by welding means.

Due to the large length and volume of H-beams, manual or automatic welding machines are generally used to weld various material bodies. For example, the welding machine is combined with a welding machine by a robot arm, and the welding machine can be moved to the welding position for welding by the movement of the welding machine and the lifting, swinging and rotating of the robot arm. However, since the steel will be deformed and cause dimensional errors, in order to move the welder to the correct welding position, the user needs to drive the robot arm and the welder to the predetermined welding position first, and record the coordinates of each position. , and then the robot arm and the welder can automatically weld according to the coordinates or trajectory of the welding position.

Since the robotic arm is not suitable for manual driving, and can only be moved and adjusted slowly by using the controller, the process of determining the welding position takes a long time and is obviously inconvenient.

Secondly, for today's diverse welding operations of workpieces, it takes a long time to re-teach the welding machine every time the specifications and welding positions of the workpieces are changed. Therefore, the conventional welding equipment does not have the ability to quickly adjust the welding operation and shorten the overall welding time. The effect of welding time.

Also Japanese Patent No. JP 2020-6445A discloses a demonstration tool for teaching motion by performing a demonstration to a robot having a tip portion and an articulated arm, including a movement teaching device and a robot device, and the demonstration device of the action teaching device includes a demonstration tool and a detection device, This tool is used to perform a demonstration to teach a robot comprising a tip and an articulated arm to change the position and pose of the tip in a first coordinate system. However, the robotic base of the robotic device is mounted on the floor of the work area or on a movable part such as a trolley. In this way, if the base is installed on the floor of the work area, the motion teaching device and the robot device cannot be displaced relative to the workpiece. If it is installed on a movable trolley, the trolley must be moved manually, and its displacement accuracy is poor. .

The purpose of the present invention is to provide a teaching machine and an automatic welding equipment using the teaching machine, which has two modes of electric drive and manual operation integrated control, so that the operation of the teaching machine can save labor and accurately measure the welding position. . Secondly, through the starting timing of the automatic welding machine relative to the teaching machine, the effect of shortening the overall welding time can be achieved.

In order to achieve the purpose and effect of the embodiment of the present invention, the embodiment discloses a teaching machine, which includes a carrier; a first multi-directional displacement mechanism is installed on the carrier, and the first multi-directional displacement mechanism includes a plurality of displacement seats A combination of , the first multi-directional displacement mechanism can be displaced relative to the carrier, and the displacement seats can be displaced relative to each other, and the displacement directions of the displacement seats are different; a plurality of first displacement measuring elements are installed on the The first multi-directional displacement mechanism is also used to measure the displacement of each of the displacement seats; a second multi-directional displacement mechanism is installed on the first multi-directional mechanism, the second multi-directional displacement mechanism includes a combination of multiple displacement members, the The second multi-directional displacement mechanism can be manually driven to produce displacement relative to the first multi-directional mechanism, and each of the displacement members can be manually driven to produce relative displacement, and the displacement directions of each of the displacement members are different; The element is installed on the second multi-directional displacement mechanism and used to measure the displacement of each of the displacement members; a teaching device includes a connecting base connected to one end of a probe, and the connecting base is connected to the second multi-directional displacement The connecting seat is manually driven to rotate; and a teaching pendant displacement measuring element is installed on the second multi-directional displacement mechanism and connected to the teaching pendant, and is used to measure the rotational displacement of the connecting seat.

This embodiment also discloses an automatic welding equipment, which includes an automatic welding machine and a guide machine, the automatic welding machine is installed on the carrier and is located on one side of the first multi-directional displacement mechanism; a control device is electrically connected to the The teaching machine and the automatic welding machine, after the first multi-directional displacement mechanism, the second multi-directional displacement mechanism of the teaching machine and the welding position of the teaching machine to a workpiece are displaced, each of the first displacement measuring element, each The displacement data obtained by the second displacement measuring element and the teaching pendant displacement measuring element are transmitted to the control device, and the control device can transmit the displacement data to the automatic welding machine, and then control the automatic welding machine according to the displacement The data is displaced relative to the workpiece and the welding operation is automatically performed for each welding position; secondly, the control device can instruct the automatic welding machine to start the automatic welding after the teaching machine completes partial position measurement or all position measurement for each welding position. Operation.

Hereinafter, according to the purpose and effect of the present invention, preferred embodiments are given and described in detail with the accompanying drawings.

The following descriptions with reference to the drawings are preferred embodiments of the present invention. It should be understood that these drawings and descriptions are only for the description of the embodiments and are not used to limit the present invention. In addition, the terms "inner" and "outer", "upper" and "lower", "first" and "second" described in the specification are used to clearly describe the relative positions of related components or mechanisms. , not as a term of limitation.

Please refer to FIG. 1, an automatic welding machine 20 and a teaching machine 30 constitute an automatic welding equipment with a teaching mechanism. The teaching machine 30 has a fixed carrier 40, and the automatic welding machine 20 can be mounted on the carrier 40 and is movable. The automatic welding equipment is positioned on one side of a workpiece 10 , and the teaching machine 30 and the automatic welding machine 20 can be driven by appropriate electric power to generate displacements in multiple directions. Secondly, after the teaching machine 30 is displaced by electric drive for a certain distance, a part of the mechanism can be driven by manual operation, so that the manually driven mechanism can come closer to and contact the predetermined welding position on the workpiece 10, thereby The coordinates of the welding positions are obtained, and then the coordinates of the welding positions are transmitted to the automatic welding machine 20 , so that the automatic welding machine 20 can be driven to a proper position by electric power, and the welding operation can be performed according to the coordinates of the welding positions. Secondly, the automatic welding machine 20 can start to perform the automatic welding operation after the teaching machine 30 completes the measurement of part of the welding positions, or after the measurement of all the welding positions is completed.

The above-mentioned coordinates of the welding positions can be measured by a plurality of displacement measuring elements, and collected and transmitted by a control device 12 . The control device 12 can be installed on the teach pendant 30 or connected to the teach pendant 30, and the control device 12 can be a programmable digital controller, such as a programmable logic controller (PLC), or a computer Numerical control (Computer Numerical Control; CNC) device, or computer. Secondly, the control device 12 can be electrically connected to a controller 14, which is installed in the automatic welding machine 20 or connected to the automatic welding machine 20, so that the information collected by the control device 12 can be transmitted to the control device 12. The device 14 is used by the automatic welding machine 20 .

Please refer to FIGS. 2 and 3 , in addition to the carrier 40 , the teaching machine 30 also includes a first multi-directional displacement mechanism 50 , a second multi-directional displacement mechanism 60 and a teaching pendant 70 .

The carrier 40 is an elongated seat, and the upper surface of the seat has at least one carrier rail group 42 , and the carrier rail group 42 can be a combination of a wire rail and a slider.

The first multi-directional displacement mechanism 50 is mounted on the carrier rail set 42 , so that the first multi-directional displacement mechanism 50 and the carrier 40 can be displaced relative to each other. The first multi-directional displacement mechanism 50 includes a combination of a plurality of displacement seats, and each of the displacement seats can be driven by electric power to displace, and the displacement directions of the displacement seats are different and can produce relative displacement with each other.

The second multi-direction displacement mechanism 60 is installed on the first multi-direction displacement mechanism 50 , and the second multi-direction displacement mechanism 60 can generate relative displacement with the first multi-direction displacement mechanism 50 . The second multi-directional displacement mechanism 60 includes a combination of a plurality of displacement elements, the second multi-directional displacement mechanism 60 can be manually driven to generate relative displacement to the first multi-directional mechanism 60, and each of the displacement elements can be manually driven They are displaced relative to each other and in different displacement directions from each other.

The teaching pen 70 is mounted on the second multi-directional displacement mechanism 60 and can be rotated by manual operation. It can be understood that the teaching pen 70 is connected to the second multi-directional displacement mechanism 60, so the movement of the teaching pen 70 in conjunction with the second multi-directional displacement mechanism 60 can have displacement movements in multiple directions, and can be manually operated. turn.

Please refer to FIG. 2 again, the first multi-directional displacement mechanism 50 includes a first displacement seat 52 connected to a second displacement seat 54, and the second displacement seat 54 connected to a third displacement seat 56, wherein the first displacement seat 54 is connected to a third displacement seat 56. The bottom of the displacement seat 52 is mounted on the carrier rail group 42 . Further, the first displacement base 52 has at least one first linear rail set 53 for connecting the second displacement base 54, and the second displacement base 54 has at least one second linear rail set 55 for connecting the third displacement base Block 56. Secondly, it further includes a first electric driving device 57, a second electric driving device 58 and a third electric driving device 59, wherein the first electric driving device 57 is connected to the carrier 40 and the first displacement The seat 52 , the second electric driving device 58 is connected to the first displacement seat 52 and the second displacement seat 54 , and the third electric driving device 59 is connected to the second displacement seat 54 and the third displacement seat 56 .

Please refer to FIG. 4 , the first electric driving device 57 includes a first motor 572 , a first rack 574 and a first driving gear 576 , wherein the first rack 574 is mounted on the surface of the carrier 40 And between the two carrier rail sets 42 , the first motor 572 is installed on the first displacement seat 52 , and the first driving gear 576 is assembled on the first motor 572 and engages with the first rack 574 . Next, a first displacement measuring element 578 is mounted on the first displacement seat 52 and engages with the first driving gear 576 . The first displacement measuring element 578 is a rotary encoder.

Please refer to FIG. 5 , the second electric driving device 58 includes a second motor 582 , a second rack 584 and a second driving gear 586 , the second rack 584 is mounted on the first displacement seat 52 and Located between the two first linear track sets 53 , the second motor 582 is mounted on the second displacement seat 54 , and the second driving gear 586 is assembled on the second motor 582 and engages with the second rack 584 . Next, another first displacement measuring element 588 is mounted on the second displacement seat 52 and engages with the second driving gear 586 . The second displacement measuring element 588 is a rotary encoder.

Please refer to FIG. 6 , the third electric driving device 59 includes a third motor 592 , a third rack 594 and a third driving gear 596 , the third rack 594 is mounted on the third displacement seat 56 and Located between the two second linear rails 55 , the third motor 592 is mounted on the second displacement seat 54 , and the third driving gear 596 is assembled on the third motor 592 and engages with the third rack 594 . Next, another third displacement measuring element 598 is mounted on the second displacement seat 54 and meshes with the third driving gear 596 . The third displacement measuring element 598 is a rotary encoder.

According to the structural form disclosed in FIGS. 4 , 5 and 6 , the first motor 572 of the first electric drive device 57 , the second motor 582 of the second electric drive device 58 and the third electric drive The third motor 592 of the device 59 can correspondingly drive the first displacement seat 52, the second displacement seat 54 and the third displacement seat 56 to generate displacement, and each of the first displacement measuring elements 578, 588 and 598 They are respectively used to measure the displacement of the first displacement seat 52 , the second displacement seat 54 and the third displacement seat 56 driven by the motors correspondingly.

Please refer to FIGS. 7 and 8 , the second multi-directional displacement mechanism 60 includes a first displacement member 62 connected to a second displacement member 64 , and the second displacement member 64 connected to a third displacement member 66 . Further, the first displacement member 62 has at least one first sliding element 63 connected to the first multi-directional displacement mechanism 50 , the second displacement member 64 has at least one second sliding element 65 connected to the first displacement member 62 , the first The three displacement members 66 are movably connected to the second displacement member 64 . The present embodiment discloses that the first displacement member 60 and the second displacement member 64 are plate-shaped members, and the third displacement member 66 includes two juxtaposed sliding rods 660 respectively connected to two ends of a baffle plate 662, 664. And the sliding rod 660 passes through the second displacement member 64 . According to the above disclosure, the first displacement member 62 , the second displacement member 64 and the third displacement member 66 can be displaced by manual operation. Secondly, a combination of a plate-like member and at least one sliding component can be used to replace the third displacement member 66 of the sliding rod structure, and the sliding component can be installed on one side of the second displacement member to replace the third displacement member. The combination of the plate-shaped position member of the displacement member 66 and the sliding assembly can be manually operated to generate displacement relative to the second displacement member 64 .

The teaching pen 70 includes a connecting base 72 connected to a probe 76 at one end, and the connecting base is rotatably connected to the second multi-directional displacement mechanism 60 . Further, a side surface of the base plate 72 is connected to a rotating shaft member 74 , and the rotating shaft member 74 is connected to the third displacement member 66 of the second multi-directional displacement mechanism 60 . In the figure, the rotating shaft member 74 is connected to the side of the baffle plate 664 of the third displacement member 66, so that the combination of the connecting seat 72 and the rotating shaft member 74 can be manually operated to rotate relative to the baffle plate 664, The probe 76 is caused to rotate relative to the second multi-directional displacement mechanism 60 .

Further, the first sliding element 63 is a combination of a sliding rail and a slider, and is used to be installed on the bottom surface of the third displacement seat 56 of the first multi-directional displacement mechanism 50, and a side surface of the first displacement member 62 ( top surface) is connected to the first sliding component 63 . The second sliding element 65 is a combination of a sliding rail and a slider and is installed on the other side (bottom) of the first displacement member 62 , and one side of the second displacement member 64 is connected to the second sliding element 65 .

Please refer to FIG. 8 again, a plurality of second displacement measuring elements 80 , 82 and 84 are installed on the second multi-directional displacement mechanism 60 and are respectively used to measure the first displacement member 62 and the second displacement member 64 respectively. and the displacement of the third displacement member 66 . Each of the second displacement measuring elements 80 , 82 , and 84 can be a wire-pull encoder, and one of the second displacement measuring elements 80 is mounted on the first multi-directional displacement mechanism 50 and is connected to the first displacement with a lead wire The second displacement measuring element 82 is mounted on the first displacement element 62 and is connected to the second displacement element 64 with a lead wire; the second displacement measuring element 84 is mounted on the second displacement element 64 and a lead is connected to the third displacement member 66 , for example, to the baffle plate 662 of the third displacement member 66 .

This embodiment includes a teach pendant displacement measuring element 86 mounted on the teach pendant 70 . The teaching pendant displacement measuring element 86 can be a rotary encoder and is mounted on one side of the connecting seat 72 for connecting the rotating shaft 74 . In this way, by manual operation, the connecting base 72 can be linearly displaced with the third displacement member 66 and rotated with the rotating shaft member 74, and then the teaching pendant displacement measuring element 86 can measure the rotation of the connecting base 72 and The amount of rotation of the probe 76 is deduced.

Referring to FIG. 8 again, this embodiment includes a first positioning pin 90 , a second positioning pin 92 and a third positioning pin 94 , wherein the first positioning pin 90 is rotatably mounted on the first displacement member 62 , and one end of the first positioning pin 90 is used to stop the third displacement seat 56 of the first multi-directional displacement mechanism 50 . The second positioning bolt 92 is rotatably mounted on the second displacement member 64 , and one end of the second positioning bolt 64 is used to stop the first displacement member 62 . The third positioning bolt 94 is rotatably mounted on the second displacement member 64 , and one end of the third positioning bolt 94 is used to stop the sliding rod 660 of the third displacement member 66 . Therefore, when the first positioning bolt 90, the second positioning bolt 92 and the third positioning bolt 94 are released, the first displacement member 62, the second displacement member 64 and the The third displacement member 66 is displaced; when the first positioning bolt 90 , the second positioning bolt 92 and the third positioning bolt 94 are tightened, the first displacement member 62 , the second displacement member 64 and the The third displacement member 66 forms the positioning.

In addition, this embodiment includes an instructor positioning pin 96 rotatably mounted on the baffle 664 of the third displacement member 66 , and one end of the instructor positioning pin 96 is used to stop the rotating shaft member 74 . In this way, when the teach pendant 96 is released, the connecting seat 72 can be rotated. When the positioning pin 96 of the teaching device is tightened, the connecting seat 72 and the probe 76 form a positioning shape.

According to the structure described above, the first multi-directional displacement mechanism 50 and the second multi-directional displacement mechanism 60 have linear displacement motions in three directions of X-Y-Z, and the teaching device 70 can perform horizontal rotational motion, so that the operator can operate the The first multi-directional displacement mechanism 50 , the second multi-directional displacement mechanism 60 and the teaching pendant 70 move the probe 76 to the predetermined welding position of the workpiece 10 in a multi-directional movement mode, and each of the first displacement amounts The measuring elements 578, 588, 598, the second displacement measuring elements 80, 82, 84 and the teaching pendant displacement measuring element 86 are used to record the displacement, and the displacements are integrated to form welding position coordinates, and then the The welding coordinates are transmitted to the automatic welding machine 20, so that the automatic welding machine 20 can automatically perform welding operations according to the welding coordinates.

The second multi-directional displacement mechanism 60 and the teach pendant 70 of the present embodiment are designed to be small in volume and thus have a small weight, so the operator can easily and labor-savingly use the manual method to control the second multi-directional displacement. The mechanism 60 and the teach pendant 70 are displaced.

In addition, the automatic welding machine 20 of this embodiment is installed on the carrier rail set 42 of the carrier 40 and located on the side of the first multi-directional displacement mechanism 50 , and the teaching machine 30 and the automatic welding machine 20 can be connected to each other. Therefore, the control device 12 can instruct the automatic welding machine 20 to start the automatic welding operation after the teaching machine 30 completes the partial position measurement or the entire position measurement of each welding position. The automatic welding machine 20 starts to execute the welding mode on the workpiece 10 after the teaching machine 30 is displaced for a certain distance and the welding position is determined, which can shorten the overall welding time.

In addition, in order to prevent excessive displacement of the components of the first multi-directional displacement mechanism 50, the second multi-directional displacement mechanism 60 and the teaching pendant 70, a predetermined number of limiting elements may be installed at appropriate positions of the mechanisms, thereby enabling When each of the components moves to the limit position, the operator can be prompted or the movement of the component can be restricted by touching the limit element.

The above-mentioned embodiments are only used to illustrate the technology of the present invention and its effects, but are not intended to limit the present invention. Anyone skilled in the art can modify and change the above embodiments without violating the technical principle and spirit of the present invention. Therefore, the scope of protection of the present invention should be listed in the scope of the patent application described later. .

10: Workpiece 12: Control device 14: Controller 20: Automatic welding machine 30: Teaching machine 40: Carrier 42: Carrier track group 50: The first multi-directional displacement mechanism 52: The first displacement seat 53: The first linear track group 54: The second displacement seat 55: The second linear track group 56: The third displacement seat 57: The first electric power drive device 572: First Horse 574: First Rack 576: The first drive gear 578: The first displacement measuring element 58: Second Electric Power Drive 582: Second Motor 584: Second rack 586: Second drive gear 588: The first displacement measuring element 59: The third electric power drive device 592: Third Motor 594: Third Rack 596: Third drive gear 598: Third displacement measuring element 60: The second multi-directional displacement mechanism 62: The first displacement member 63: The first sliding assembly 64: The second displacement member 65: Second sliding assembly 66: Third displacement member 660: Slide bar 662: Bezel 664: bezel 70: teach pendant 72: Connection seat 73: Seat plate 74: Rotating shaft 76: Probe 80: The second displacement measuring element 82: The second displacement measuring element 84: Second displacement measuring element 86: Teaching pendant displacement measuring element

Fig. 1 is an external view of the automatic welding equipment of the present invention. Fig. 2 is an external view of the teaching machine of the present invention. Fig. 3 is an external view of the teaching machine of the present invention from another direction. FIG. 4 is a schematic view of the installation of the first electric power drive device, the first displacement seat and the carrier of the present invention. FIG. 5 is a schematic view of the installation of the second electric power driving device, the first displacement base and the second displacement base of the present invention. FIG. 6 is a schematic view of the installation of the third electric power drive device, the second displacement base and the third displacement base of the present invention. Fig. 7 is an external view of the second multi-directional displacement mechanism connected to the first multi-directional displacement mechanism of the present invention. Fig. 8 is an external view in another direction of the second multi-directional displacement mechanism connected to the first multi-directional displacement mechanism of the present invention.

10: Workpiece

12: Control device

14: Controller

20: Automatic welding machine

30: Teaching Machine

40: Carrier

42: Carrier track

Claims (10)

A teaching machine, which includes: a seat; A first multi-directional displacement mechanism is installed on the carrier, the first multi-directional displacement mechanism includes a combination of a plurality of displacement seats, the first multi-directional displacement mechanism can be displaced relative to the carrier, and the displacement seats are mutually Relative displacement can be generated, and the displacement direction of each displacement seat is different; A plurality of first displacement measuring elements are installed on the first multi-directional displacement mechanism and used to measure the displacement of each displacement seat; A second multi-direction displacement mechanism is installed on the first multi-direction mechanism, the second multi-direction displacement mechanism includes a combination of a plurality of displacement members, and the second multi-direction displacement mechanism can be manually driven relative to the first multi-direction mechanism The mechanism produces displacement, and each displacement member can be manually driven to produce relative displacement, and the displacement direction of each displacement member is different; A plurality of second displacement measuring elements are installed on the second multi-directional displacement mechanism and used to measure the displacement of each of the displacement members; a teaching pendant, comprising a connecting seat connected to a probe at one end, the connecting seat being connected to the second multi-directional displacement mechanism, and the connecting seat being manually driven to rotate; and A teaching pendant displacement measuring element is installed on the connection seat of the teaching pendant, and is used for measuring the rotation of the connection seat. The teaching machine of claim 1, wherein the second multi-directional displacement mechanism comprises a first displacement member connected to a second displacement member, and the second displacement member connected to a third displacement member, further, the first displacement member One side of the displacement piece has a first sliding component for connecting the first multi-directional displacement mechanism, one side of the second displacement piece has a second sliding component for connecting the first displacement piece, the third displacement piece includes two Two ends of the juxtaposed sliding rods are respectively connected with a baffle plate, and the two sliding rods pass through the second displacement piece, and the connecting seat of the teaching device is connected with a baffle plate. The teaching machine of claim 2, wherein each of the second displacement measuring elements is a wire-pull encoder, and one of the second displacement measuring elements is mounted on the first multi-directional displacement mechanism and connected to the first displacement The second displacement measuring element is mounted on the first displacement piece and connected to the second displacement piece, and the second displacement measuring element is mounted on the second displacement piece and connected to the third displacement piece. The teaching device as claimed in claim 1, wherein the connection base of the teaching device comprises a side surface of a base plate connected to a rotating shaft member, and the rotating shaft member is connected to a displacement member of the second multi-directional displacement mechanism, The teach pendant displacement measuring element is a rotary encoder, the teach pendant displacement measuring element is mounted on one side of the base plate and is connected to the rotating shaft. The teaching machine according to claim 2, further comprising a first positioning pin, a second positioning pin and a third positioning pin, the first positioning pin is rotatably mounted on the first displacement member, and the first positioning pin One end of the positioning bolt is used to stop the first multi-directional displacement mechanism, the second positioning bolt is rotatably mounted on the second displacement member, and one end of the second positioning bolt is used to stop the first displacement member, The third positioning bolt is rotatably mounted on the third displacement member, and one end of the third positioning bolt is used to stop the second displacement member. The teaching machine according to claim 4, further comprising a teaching device positioning pin rotatably mounted on the third displacement member, and one end of the teaching device positioning pin is used to stop the rotating shaft member. The teaching machine of claim 1, wherein the carrier has a carrier track set, the first multi-directional displacement mechanism comprises a first displacement seat connected to a second displacement seat, and the second displacement seat connected to a A third displacement seat, the first displacement seat is mounted on the carrier rail, the first displacement seat has a first linear track set for connecting the second displacement seat, and the second displacement seat has a second linear track The group is used for connecting the third displacement seat. The teaching machine as claimed in claim 7, further comprising a first electric driving device, a second electric driving device and a third electric driving device, wherein the first electric driving device is connected to the carrier and the The first displacement seat, the second electric power driving device is connected to the first displacement seat and the second displacement seat, and the third electric power driving device is connected to the two displacement seats and the third displacement seat. The teaching machine of claim 8, wherein the first electric driving device comprises a first motor, a first rack and a first driving gear, the first rack is mounted on the carrier, the first The motor is installed on the first displacement seat, the first driving gear is assembled on the first motor and engages with the first rack; the second electric power driving device includes a second motor, a second rack and a second a driving gear, the second rack is mounted on the first displacement seat, the second motor is mounted on the second displacement seat, the second driving gear is assembled on the second motor and engages with the second rack; the third The electric power driving device includes a third motor, a third rack and a third driving gear, the third rack is mounted on the third displacement seat, the third motor is mounted on the second displacement seat, the third The drive gear is assembled to the third motor and meshes with the third rack; and each of the first displacement measuring elements is a rotary encoder, and the first drive gear, the second drive gear and the third drive gear Each engages one of the first displacement measuring elements. An automatic welding device using the teaching machine of any one of claims 1 to 9, comprising: an automatic welding machine, which is installed on the carrier and located on one side of the first multi-directional displacement mechanism; A control device is electrically connected to the teaching machine and the automatic welding machine. After the first multi-directional displacement mechanism of the teaching machine, the second multi-directional displacement mechanism and the welding position of the teaching machine to a workpiece are displaced, each The displacement data obtained by the first displacement measuring element, each of the second displacement measuring elements and the teaching pendant displacement measuring element are transmitted to the control device, and the control device can transmit the displacement data to the automatic welding machine, Then control the automatic welding machine to generate displacement relative to the workpiece according to the displacement data and automatically perform welding operations on each welding position; Secondly, the control device can instruct the automatic welding machine to start the automatic welding operation after the teaching machine completes the partial position measurement or the whole position measurement of each welding position.

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