WO2014082425A1 - 自卸车箱板悬臂式自动焊接机 - Google Patents

自卸车箱板悬臂式自动焊接机 Download PDF

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Publication number
WO2014082425A1
WO2014082425A1 PCT/CN2013/075312 CN2013075312W WO2014082425A1 WO 2014082425 A1 WO2014082425 A1 WO 2014082425A1 CN 2013075312 W CN2013075312 W CN 2013075312W WO 2014082425 A1 WO2014082425 A1 WO 2014082425A1
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WIPO (PCT)
Prior art keywords
probe
inner casing
swinging
motor
gear
Prior art date
Application number
PCT/CN2013/075312
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English (en)
French (fr)
Inventor
刘宪福
Original Assignee
山东水泊焊割设备制造有限公司
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Application filed by 山东水泊焊割设备制造有限公司 filed Critical 山东水泊焊割设备制造有限公司
Priority to DE112013000177.2T priority Critical patent/DE112013000177B4/de
Publication of WO2014082425A1 publication Critical patent/WO2014082425A1/zh

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
    • B23K9/00—Arc welding or cutting
    • B23K9/02—Seam welding; Backing means; Inserts
    • B23K9/025—Seam welding; Backing means; Inserts for rectilinear seams
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
    • B23K37/00—Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups
    • B23K37/02—Carriages for supporting the welding or cutting element
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
    • B23K9/00—Arc welding or cutting
    • B23K9/0026—Arc welding or cutting specially adapted for particular articles or work

Definitions

  • the utility model relates to a cantilever type automatic welding machine for a dump truck box.
  • the purpose of the utility model is to provide a cantilever type automatic welding machine for a dump truck box, which can guide the welding gun to automatically weld along the welds at the four edges of the box body, and can ensure that the welding torch is transferred from a weld seam. When another weld is welded, it can still be accurately positioned and welded accurately. And the welding has no dead ends.
  • a cantilever automatic welding machine for a dump truck panel comprising a moving mechanism and a contour welding mechanism, the moving mechanism can drive the copy welding mechanism to move;
  • the contour welding mechanism comprises a shell and a shell
  • the cavity is opened, the inner casing is installed in the cavity, and the inner casing can rotate relative to the outer casing;
  • the inner casing rotating device is mounted on the outer casing, and the execution component of the inner casing rotating device is connected with the inner casing to provide rotational power for the inner casing;
  • a first probe, a second probe and a third probe are fixedly mounted in the cavity, the first probe, the second probe and the third probe are not collinear;
  • the universal joint is mounted on the inner casing, and the universal joint is located at the first probe Below, a swinging rod is mounted on the swinging member of the universal joint, and an eccentric member is mounted on the lower part of the swinging member or the swinging rod of the universal joint, and the eccentric member is located under the inner casing;
  • the intersection of the transverse plane and the longitudinal plane is parallel to the axis L of the pendulum.
  • the pendulum can swing along the transverse plane and swing along the longitudinal plane under the guidance of the swinging member of the universal joint;
  • the plane swing can trigger the first probe or the third probe, and the swinging rod swings along the longitudinal plane to trigger the second probe;
  • two adjusters are mounted on the side wall of the inner casing, the first adjuster is located below the first probe, and the second The adjuster is located under the second probe;
  • the rotating sleeve is mounted on the outer circumference of the outer casing or the inner casing, and the rotating sleeve can rotate relative to the outer casing or the inner casing;
  • the second motor is mounted on the outer casing, and the second gear is mounted on the output shaft of the second motor to rotate the outer circumference of the sleeve
  • a second ring gear is mounted, and the second ring gear is meshed with the second gear wheel;
  • a connecting member is mounted on the
  • the moving mechanism is composed of a longitudinal movement mechanism, a traverse mechanism and a vertical movement mechanism;
  • the longitudinal movement mechanism has a longitudinal beam, and the longitudinal beam has a first a linear guide rail and a first rack, the first linear connecting rod is movably mounted on the first linear connecting plate, the first connecting plate is mounted on the first sliding connecting plate, and the first connecting plate is mounted with the first electric motor, the first electric motor
  • the first driving gear is mounted thereon, the first driving gear is meshed with the first rack;
  • the traverse mechanism is mounted on the first connecting plate, the vertical moving mechanism is mounted on the traverse mechanism, and the contour welding mechanism is mounted on the vertical moving mechanism.
  • the traverse mechanism has a beam, the beam is connected with the first connecting plate; the second linear guide and the second rack are mounted on the beam, and the second slider connecting plate is movably mounted on the second linear guide, and the second sliding plate is connected
  • a traverse plate is mounted, a vertical movement mechanism and a second motor are mounted on the traverse plate, a second drive gear is mounted on the second motor, and the second drive gear meshes with the second rack.
  • the vertical movement mechanism has a third linear guide rail.
  • the third linear guide rail is movably mounted on the movable body, and the nut and the connecting rod are mounted on the moving body; the private service motor is installed on the traverse plate, and the output shaft of the private service motor is connected with the ball screw, and the ball is connected.
  • the lead screw is threaded to the nut.
  • the inner casing rotating device is composed of a first ring gear, a first gear and a first motor, and a first motor is mounted on the outer casing, an output shaft of the first motor is connected to the first gear, and a first tooth is mounted on the outer circumference of the inner casing.
  • the first ring gear meshes with the first gear.
  • the connecting member is composed of a connecting rod fixing bracket, a fixing base, a supporting rod, a welding gun angle adjusting shaft and an anti-collision mechanism; the connecting rod fixing bracket is connected with the rotating sleeve, and the connecting rod fixing bracket is mounted with a supporting rod and a welding gun
  • the angle adjustment shaft and the anti-collision mechanism of the welding gun angle adjustment shaft are mounted on the anti-collision mechanism.
  • a laser range finder is mounted on the support rod, and a baffle is mounted on the bottom of the laser range finder.
  • a fourth probe is mounted in the inner casing, and the first probe, the second probe, the third probe, and the fourth probe are uniformly distributed in a circle; the swinging of the swing rod along the longitudinal plane can trigger the second probe or the fourth probe.
  • the universal joint is composed of a swing block and a cross shaft.
  • the cross shaft is vertically and vertically connected by a vertical axis and a horizontal axis.
  • a swinging cavity is formed in the swinging block, and a cross shaft is installed in the swinging cavity.
  • Both ends of the horizontal axis and the swinging block are movable.
  • both ends of the longitudinal axis pass through the swing block and are movably connected to the inner casing; the swing block is the swinging member of the universal joint, and the swing block is fixedly connected with the swing rod.
  • the positive effect of the utility model is that it can guide the welding gun to continuously weld along the four welds between the bottom plate of the box and the four side walls, thereby ensuring that the welding torch is transferred to another adjacent weld seam after welding one weld seam. At the same time, it can still be accurately positioned with the weld seam, so that the automatic welding of the casing can be realized, and the welding efficiency and precision can be improved. It is also equipped with a lifting profile mechanism that accurately adjusts the height of the torch so that the torch can be precisely and automatically guided for box welding without manual positioning.
  • the utility model also has the advantages of simple and compact structure, low manufacturing cost and convenient use.
  • FIG. 1 is a schematic perspective view of the cantilever type automatic welding machine of the dump truck panel of the present invention
  • FIG. 2 is a schematic enlarged view of the vertical movement mechanism
  • FIG. 3 is a schematic view of the left side structure of FIG. 2
  • FIG. 5 is a schematic view showing the enlarged structure of the profiling welding mechanism
  • FIG. 6 is a schematic view of the three-dimensional structure of FIG. 5
  • FIG. 7 is a schematic view of the right side of FIG.
  • FIG. 9 is a partially enlarged structural view of FIG. 8
  • FIG. 10 is a schematic view of the C-direction structure of FIG. 9;
  • the cantilever type automatic welding machine for the dump truck panel of the present invention comprises a moving mechanism and a profile welding mechanism, and the moving mechanism can drive the profile welding mechanism to move, so that the welding gun 60 can move arbitrarily in the horizontal, vertical or vertical direction.
  • the profile welding mechanism includes a housing 37 in which a cavity 79 is defined, and an inner casing 48 is mounted in the cavity 79, and the inner casing 48 is rotatable relative to the outer casing 37. To reduce the rotational friction between the inner casing 48 and the outer casing 37, as shown in Fig. 8, a bearing is mounted between the outer casing 37 and the inner casing 48.
  • An inner casing rotating device is mounted on the outer casing 37, and an actuator member of the inner casing rotating device is coupled to the inner casing 48 to provide power to the inner casing 48 to rotate relative to the outer casing 37.
  • the inner cavity 80 is defined in the inner casing 48.
  • the first probe 81, the second probe 82 and the third probe 83 are fixedly mounted in the inner cavity 80.
  • the first probe 81, the second probe 82 and the third probe 83 are not collinear.
  • a universal joint is mounted on the inner casing 48.
  • the universal joint is located below the first probe 81, the second probe 82, and the third probe 83, and the swinging rod 66 is mounted on the swinging member of the universal joint.
  • the eccentric member 11 can be directly mounted on the lower portion of the swinging member of the universal joint, that is, the eccentric member 11 is fixedly connected to the swinging rod 66 through the swinging member of the universal joint, or the lower portion of the swinging rod 66 can be fixedly mounted with the eccentric member 11 for the purpose of eccentricity.
  • the piece 11 can be fixedly coupled to the swing link 66 to form a lever.
  • the eccentric member 11 is located below the inner casing 48 to facilitate contact with the workpiece for a contouring function. As shown in FIG. 2, the portion of the eccentric member 11 that is in contact with the workpiece 86 is referred to as a contact member 62. As shown in FIG.
  • the contact member central axis L2 of the contact member 62 is offset from the center axis L1 of the swing link 66 by a certain distance.
  • the plane where the swing axis L1 and the contact axis L2 are located is called a transverse plane, and the plane perpendicular to the transverse plane is called a longitudinal plane, and the intersection of the transverse plane and the longitudinal plane is parallel to the swing axis A1, and the swing lever 66 is
  • the oscillating member of the universal joint can both oscillate along the transverse plane and oscillate along the longitudinal plane; the oscillating lever 66 swings along the transverse plane to trigger the first probe 81 or the third probe 83, and the swinging lever 66 can be triggered to swing along the longitudinal plane.
  • the second probe 82 two adjusters 84 are mounted on the side wall of the inner casing 48, the first adjuster 84 is located below the first probe 81, and the second adjuster 84 is located below the second probe 82.
  • the thrust of the adjuster 84 under the first probe 81 to the left of the swing lever 66 shifts the swing lever 66 to the left with a tendency to trigger the third probe 83, while the eccentric 11 and the contact 62 are synchronized.
  • the adjuster 84 below the second probe 82 provides a rearward preload to the swing link 66, allowing the swing link 66 to return to the upright position after touching the side wall of the workpiece.
  • FIG. 1 the thrust of the adjuster 84 under the first probe 81 to the left of the swing lever 66 shifts the swing lever 66 to the left with a tendency to trigger the third probe 83, while the eccentric 11 and the contact 62 are synchronized.
  • the adjuster 84 below the second probe 82 provides a rearward preload to the swing link
  • the adjuster 84 may be connected by a tension spring 71 and a tension adjusting nut 72.
  • One end of the tension spring 71 is connected to the swing lever 66, and the other end of the tension spring 71 is connected with the tension adjusting nut 72, and the tension adjusting nut is provided.
  • 72 is connected to the inner casing 48.
  • the position of the welding gun 60 is adjusted in time when the welding direction is changed, and the rotating sleeve 40 is mounted on the outer periphery of the outer casing 37 or the inner casing 48, and the rotating sleeve 40 can be rotated relative to the outer casing 37 or the inner casing 48.
  • a bearing can be mounted between the rotating sleeve 40 and the outer casing 37 or the inner casing 48. As shown in FIG. 8, the rotating sleeve 40 is mounted outside the inner casing 48.
  • a second motor 36 is mounted on the outer casing 37, a second gear 39 is mounted on the output shaft of the second motor 36, a second ring gear 85 is mounted on the outer circumference of the rotating sleeve 40, and the second ring gear 85 is meshed with the second gear 39.
  • the second motor 36 can be coupled to the second gear 39 via the coupling and the second shaft 38.
  • a connector is mounted on the rotating sleeve 40, and a welding torch 60 and a laser range finder 54 are mounted on the connector.
  • the second motor 36 can drive the rotating sleeve 40 through the second gear 39 and the second ring gear 85.
  • the outer casing 37 or the inner casing 48 is rotated to adjust the position of the welding torch 60 so that the welding torch 60 is moved to the rear of the contact member 62 to prevent the welding torch 60 from colliding with the side wall of the workpiece, thereby affecting the welding precision.
  • the leading end of the welding torch 60 Prior to welding, the leading end of the welding torch 60 is intersected with the swing rod center axis L1. In addition, complete other preparations before welding.
  • the moving mechanism drives the welding torch 60 to move down to the set height.
  • the third probe 83 controls the moving mechanism to drive the welding gun 60 to move to the right synchronously by the control device. , near the side wall of the workpiece. After the contact member 62 is in contact with the side wall of the workpiece, the welding gun 60 continues to move to the right until the workpiece side wall pushes the contact member 62 to completely move the swing rod 66 away from the third probe 83, and the third probe 83 controls the moving mechanism through the control device. Stop right shifting, at this point, the welding wire of the welding torch 60 is in the weld position.
  • the welding torch 60 is welded in a counterclockwise direction along a rectangular weld bead on the inner side of the casing.
  • the direction in which the welding torch 60 moves along each weld bead is referred to as a longitudinal direction, and the direction perpendicular to the side wall of the workpiece is referred to as a lateral direction.
  • the pendulum rod 66 triggers the first probe 81 or the third probe 83 under the action of the side wall of the workpiece when the weld seam changes in a concave or convex shape as the shape of the side wall of the workpiece changes.
  • the workpiece side wall pushes the contact member 62 to cause the swing lever 66 to trigger the first probe 81, and the first probe 81 controls the welding moving mechanism to drive the welding gun 60 to move the workpiece sidewall inwardly, and the swing lever 66 is at the adjuster 84.
  • the vertical position is restored, the swing lever 66 is separated from the first probe 81, and the welding moving mechanism stops lateral movement.
  • the contact member 62 pushes the swing lever 66 to trigger the third probe 83, and the third probe 83 controls the welding movement mechanism to move outwardly toward the sidewall of the workpiece, so that the swing lever 66 overcomes the thrust of the adjuster 84 to restore the intermediate position.
  • the swing link 66 is separated from the third probe 83, and the welding moving mechanism stops lateral movement.
  • the first probe 81 and the third probe 83 ensure that the torch 60 is always at a set distance from the sidewall of the workpiece.
  • the welding moving mechanism still drives the profiler and the welding gun 60 to move longitudinally, and the side walls of the adjacent welds push the contact member 62, so that the swinging rod 66 triggers the second probe 82.
  • the second probe 82 controls the inner casing rotating device to rotate the inner casing 48 counterclockwise by a certain angle with respect to the outer casing 37, so that the contact member 62 is rotated to the rear, that is, the contact member 62 is moved backward by a certain distance along the current weld seam.
  • the swing lever 66 is separated from the second probe 82, and the swing lever 66 is restored to the straight position.
  • the welding gun 60 can continue to move along the longitudinal direction of the current weld seam, and the entire weld seam is welded to eliminate the dead angle of the weld.
  • the contact member 62 touches the side wall of the adjacent weld seam again, and the side wall pushes the contact member 62 to cause the swing rod 66 to trigger the second probe 82 again.
  • the signal from the second probe 82 can be
  • the moving mechanism changes the welding direction so that the welding torch 60 is welded along the adjacent weld, that is, the second weld is welded.
  • the third and fourth weld seams are sequentially welded, thereby completing the welding work of the entire casing.
  • the laser range finder 54 accurately measures the vertical distance of the torch to the workpiece.
  • the moving mechanism may be constituted by a longitudinal movement mechanism, a traverse mechanism, and a vertical movement mechanism.
  • the longitudinal movement mechanism has a longitudinal beam 1 , and the longitudinal beam 1 is provided with a first linear guide 3 and a first rack 4 .
  • the first linear guide 3 is movably mounted with a first slider connecting plate 8 , and the first sliding connecting plate
  • the first connecting plate 6 is mounted on the first connecting plate 6, and the first electric motor 13 is mounted on the first connecting plate 6, and the first driving gear 14 is mounted on the first electric motor 13, and the first driving gear 14 meshes with the first rack 4.
  • a traverse mechanism is mounted on the first connecting plate 6, and a vertical moving mechanism is mounted on the traverse mechanism.
  • the first electric motor 13 is activated, and the first electric motor 13 can drive the traverse mechanism to move in the longitudinal direction by the first drive gear 14.
  • a profile welding mechanism is mounted on the vertical movement mechanism.
  • the traverse mechanism has a beam 7, which is connected to the first connecting plate 6.
  • a second linear guide 9 and a second rack 10 are mounted on the beam 7.
  • a second slider connecting plate 11 is movably mounted on the second linear guide rail 9, and a traverse plate 19 is mounted on the second slider connecting plate 11, and a vertical movement mechanism and a second motor 23 are mounted on the traverse plate 19, and the second motor 23 is mounted on the second motor 23
  • the second drive gear 25 is mounted, and the second drive gear 25 meshes with the second rack 10.
  • the second motor 23 is activated, and the second motor 23 drives the vertical movement mechanism to move laterally along the second linear guide 9 by the second drive gear 25.
  • the vertical movement mechanism has a third linear guide 31.
  • the movable body 30 is movably mounted on the third linear guide 31, and the nut 32 and the connecting rod 34 are mounted on the movable body 30.
  • a private motor 27 is attached to the traverse plate 19, and the output shaft of the private motor 27 is coupled to the ball screw 29, and the ball screw 29 is screwed to the nut 32.
  • the private motor 27 is activated, and the moving body 30 is moved up and down by the rotation of the ball screw 29, thereby adjusting the height of the welding torch 60.
  • the radius of the contact 62 is equal to H.
  • the second probe 82 controls the inner casing rotating device to drive the inner casing 48 to rotate 85 degrees relative to the outer casing 37, so that the contact member The 62 just moves back a radius of its own, allowing the welding wire of the torch 60 to continue to weld the entire weld.
  • the inner casing rotating device is composed of a first ring gear 47, a first gear 45 and a first motor 42.
  • the first motor 42 is mounted on the outer casing 37, and the output shaft of the first motor 42 is connected to the first motor 42.
  • a gear 45 is coupled, and a first ring gear 47 is mounted on the outer circumference of the inner casing 48, and the first ring gear 47 meshes with the first gear 45.
  • the actuators of the inner casing rotating device are a first gear 45 and a first ring gear 47.
  • the output shaft of the first motor 42 can drive the inner casing 48 to rotate relative to the outer casing 37 through the first gear 45 and the first ring gear 47.
  • the first rotating shaft 45 can be connected through the coupling, the first rotating shaft 45 is connected to the first gear 45, and the first motor 42 passes through the first The rotating shaft 45 drives the first gear 45 to rotate.
  • the inner casing rotating device may also be another power mechanism that drives the inner casing 48 to rotate relative to the outer casing 37.
  • the upper portion of the inner casing 48 protrudes out of the outer casing 37, and the first motor is directly mounted on the upper portion of the outer casing 37.
  • the output shaft of the first motor 42 is coupled to the inner casing 48.
  • the first motor 42 directly drives the inner casing 48 to rotate relative to the outer casing 37.
  • the universal joint is composed of a swinging block 78 and a cross shaft.
  • the cross shaft is vertically fixedly connected by the vertical shaft 69 and the horizontal shaft 70, and the swinging block 77 is opened in the swinging block 78.
  • a cross shaft is mounted in the oscillating cavity 77. Both ends of the horizontal axis 70 are movably coupled to the oscillating block 78.
  • the oscillating cavity 77 is sized to swing about the horizontal axis 70 about the longitudinal axis 69. Both ends of the longitudinal axis 69 pass through the swing block 78 and are movably connected to the inner casing 48.
  • the swing block 78 is the swinging member of the universal joint, and the swing block 78 is fixedly connected to the swing link 66.
  • the oscillating block 78 is swung about the transverse axis 70, i.e., oscillated in the longitudinal plane, and the oscillating block 78 is swung about the longitudinal axis 69, i.e., oscillated in a transverse plane.
  • the universal joint may also be a joint bearing, a cross universal joint, or other conventional mechanism that enables the swing lever 66 to swing in four directions of front, rear, left, and right.
  • the swing of the joint bearing is non-directional, and the swinging direction of the swing lever 66 is deviated, so that the profile sensitivity of the entire profiler is lowered.
  • the center of the swing of the cross joint is not unique and will also reduce the profile sensitivity of the entire profiler.
  • a fourth probe 52 is mounted in the inner casing 48, and the first probe 81, the second probe 82, the third probe 83, and The fourth probe 52 is evenly distributed in a circle; the swinging of the swing lever 66 along the longitudinal plane can trigger the second probe 82 or the fourth probe 52.
  • the fourth probe 52 operates in the same manner as the second probe 82.
  • the inner casing 48 can be mounted with an annular probe holder 8 to facilitate mounting and fixing the first probe 81, the second probe 82, the third probe 83, and the fourth probe 52.
  • the first probe 81, the second probe 82, the third probe 83, and the fourth probe 52 may be an inductive switch or a proximity switch.
  • the first probe 81, the second probe 82, the third probe 83, and the fourth probe 52 may be existing proximity switches or travel switches.
  • a third adjuster 84 is mounted on the inner casing 48 and a third adjuster 84 is located below the fourth probe 52.
  • the adjuster 84 below the second probe 82 and the adjuster 84 below the fourth probe 52 cooperate to ensure that the swing lever 66 is located between the fourth probe 52 and the second probe 82 without triggering the fourth probe 52 and the second probe 82. .
  • the contact 62 can be a pulley or a ball.
  • the connecting member may be connected by a connecting strut holder 50, a fixing base 51, a support rod 53, a welding gun angle adjusting shaft 58, and an anti-collision mechanism 59.
  • the connecting rod fixing bracket 50 is connected to the rotating sleeve 40.
  • the connecting rod fixing bracket 50 is mounted with a supporting rod 53 and a welding gun angle adjusting shaft 58, an anti-collision mechanism 59 is mounted on the welding gun angle adjusting shaft 58, and an anti-collision mechanism 59 is mounted 60.
  • a laser range finder 54 is mounted on the support rod 53, that is, the laser range finder 54 is fixedly coupled to the rotating sleeve 40 via the support rod 53.
  • the bottom of the laser range finder 54 is provided with a baffle 55.
  • the first motor 13 and the second motor 23 may each be a servo motor mounted with a speed reducer to improve transmission accuracy.
  • the contoured rotary zero signal 74 is fixed on the screw capable of adjusting the distance for sensing the contour zero signal.
  • the hard limit 74 stops the rotation of the rotating spindle 48, and the torch zero signal 76 is fixed at The outer surface of the gear sleeve 40 is used to sense the zero position of the torch.

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  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • Mechanical Engineering (AREA)
  • Plasma & Fusion (AREA)
  • Optics & Photonics (AREA)
  • Laser Beam Processing (AREA)

Abstract

一种自卸车箱板悬臂式自动焊接机，包括移动机构和仿形焊接机构，移动机构能带动仿形焊接机构移动；仿形焊接机构包括外壳（37），外壳（37）内开设腔体（79），腔体（79）内安装内壳（48），内壳（48）能相对外壳（37）转动；外壳（37）上安装内壳旋转装置，内壳旋转装置的执行部件与内壳（48）连接，为内壳（48）提供旋转动力；内壳（48）内开设内腔（80），内腔（80）内固定安装第一探头（81）、第二探头（82）和第三探头（83），第一探头（81）、第二探头（82）和第三探头（83）不共线；内壳（48）上安装万向节，万向节位于第一探头（81）的下方，万向节的摆动件上安装摆杆（66），万向节的摆动件或摆杆（66）的下部安装偏心件（63），偏心件（63）位于内壳（48）下方；偏心件（63）上与工件接触部分称为接触件（62），接触件（62）的接触件中轴线L相对摆杆（66）的摆杆中轴线L偏移一定距离H。

Description

自卸车箱板悬臂式自动焊接机 技术领域
　　　本实用新型涉及一种自卸车箱板悬臂式自动焊接机。
背景技术
　　现有各类焊接机在焊接箱体时，难以实现自动仿形焊接，其主要原因是：现有焊接机的机械仿形机构，即实现自动焊接的仿形机构，仅可引导焊枪沿一条焊缝焊接，而无法引导焊枪在焊接完一条焊缝后换向焊接相邻的另一条焊缝。另外，由于现有仿形部件与工件接触的仿形部件有一定厚度，该厚度大于焊丝的直径，因此，使得焊枪无法准确焊接两条焊缝交汇处附近的部分，即焊枪无法完整的焊接一条焊缝，焊接存在死角。因此，现有的箱体焊接需要人工操控焊枪，焊接精度低，焊接效率低，焊接时间长。
实用新型内容
　　　本实用新型的目的，是提供了一种自卸车箱板悬臂式自动焊接机，它可引导焊枪自动沿箱体的四条边沿处的焊缝进行连续焊接，能确保焊枪在由一条焊缝转到另一条焊缝时，仍能准确定位，精确焊接。并且焊接无死角。
　　　本实用新型的目的是通过以下技术方案实现的：自卸车箱板悬臂式自动焊接机，包括移动机构和仿形焊接机构，移动机构能带动仿形焊接机构移动；仿形焊接机构包括外壳，外壳内开设腔体，腔体内安装内壳，内壳能相对外壳转动；外壳上安装内壳旋转装置，内壳旋转装置的执行部件与内壳连接，为内壳提供旋转动力；内壳内开设内腔，内腔内固定安装第一探头、第二探头和第三探头，第一探头、第二探头和第三探头不共线；内壳上安装万向节，万向节位于第一探头的下方，万向节的摆动件上安装摆杆，万向节的摆动件或摆杆的下部安装偏心件，偏心件位于内壳下方；偏心件上与工件接触部分称为接触件，接触件的接触件中轴线L相对摆杆的摆杆中轴线L偏移一定距离H；摆杆中轴线L和接触件中轴线L所在的平面称为横平面，与横平面垂直的平面称为纵平面，横平面和纵平面的交线与摆杆中轴线L平行，摆杆在万向节的摆动件导向下既能沿横平面摆动，又能沿纵平面摆动；摆杆沿横平面摆动能触发第一探头或第三探头，摆杆沿纵平面摆动能触发第二探头；内壳的侧壁上安装两个调整器，第一个调整器位于第一探头下方，第二个调整器位于第二探头下方；外壳或内壳的外周安装转动套，转动套能相对外壳或内壳转动；外壳上安装第二电机，第二电机的输出轴安装第二齿轮，转动套的外周安装第二齿圈，第二齿圈与第二齿轮啮合；转动套上安装连接件，连接件上安装焊枪和激光测距仪。
　　　为进一步实现本实用新型的目的，还可以采用以下技术方案实现：所述移动机构由纵移机构、横移机构和竖移机构连接构成；纵移机构有纵向梁，纵向梁上设有第一直线导轨和第一齿条，第一直线导轨上活动安装第一滑块连接板，第一滑块连接板上安装第一连接板，第一连接板上安装第一电动机，第一电动机上安装第一驱动齿轮，第一驱动齿轮与第一齿条啮合；第一连接板上安装横移机构，横移机构上安装竖移机构，竖移机构上安装仿形焊接机构。所述横移机构有横梁，横梁与第一连接板连接；横梁上安装第二直线导轨和第二齿条，第二直线导轨上活动安装第二滑块连接板，第二滑块连接板上安装横移板，横移板上安装竖移机构和第二电动机，第二电动机上安装第二驱动齿轮，第二驱动齿轮与第二齿条啮合。所述竖移机构有第三直线导轨，第三直线导轨上活动安装移动体，移动体上安装螺母和连接杆；横移板上安装私服电机，私服电机的出轴与滚珠丝杠连接，滚珠丝杠与螺母螺纹连接。所述的内壳旋转装置由第一齿圈、第一齿轮和第一电机连接构成，外壳上安装第一电机，第一电机的输出轴与第一齿轮连接，内壳的外周安装第一齿圈，第一齿圈与第一齿轮啮合。所述的连接件由连接支杆固定架、固定座、支撑杆、焊枪角度调整轴和防碰撞机构连接构成；连接支杆固定架与转动套连接，连接支杆固定架上安装支撑杆和焊枪角度调整轴，焊枪角度调整轴上安装防碰撞机构，防碰撞机构上安装。所述支撑杆上安装激光测距仪，激光测距仪的底部安装挡板。所述内壳内安装第四探头，第一探头、第二探头、第三探头和第四探头呈圆形均匀分布；摆杆沿纵平面摆动能触发第二探头或第四探头。所述万向节由摆动块和十字轴连接构成，十字轴由纵轴和横轴垂直固定连接构成，摆动块内开设摆动腔，摆动腔内安装十字轴，横轴的两端与摆动块活动接，纵轴的两端穿出摆动块外与内壳活动连接；摆动块即为所述万向节的摆动件，摆动块与摆杆固定连接。
　　　本实用新型的积极效果在于：它可引导焊枪沿箱体底板与四个侧壁之间的四条焊缝进行连续焊接，可确保焊枪在焊完一条焊缝后转至相邻的另一条焊缝时，仍可与焊缝精确定位，从而，能实现自动焊接箱体，能提高焊接效率和精度。它还装有升降仿形机构，能准确调整焊枪的高度，从而，能在无须人工定位的情况下，完全自动地精确引导焊枪进行箱体焊接。本实用新型还具有结构简洁紧凑、制造成本低廉和使用方便的优点。
附图说明
　　图1是本实用新型所述自卸车箱板悬臂式自动焊接机的立体结构示意图；图2是所述竖移机构的放大结构示意图；图3是图2的左视结构示意图；图4是图3的后视结构示意图；图5是所述仿形焊接机构的放大结构示意图；图6是图5的立体结构示意图；图7是图5的右视结构示意图；图8是图7的A-A剖视放大结构示意图；图9是图8的I局部放大结构示意图；图10是图9的C向结构示意图；图11是所述自卸车箱板悬臂式自动焊接机的结构示意图；图12是图11的左视结构示意图，图中省略了竖移机构及其上安装的焊枪等部件；图13是图12的II局放大结构示意图；图14是图11的III局部放大结构示意图；图15是图8的B向放大结构示意图。
　　　附图标记：1纵向梁　2立柱　3第一直线导轨　4第一齿条　5第一导轨护罩　6第一连接板　7横梁　8第一滑块连接板　9第二直线导轨　10第二齿条　11第二滑块连接板　12第二导轨护罩　13第一电动机　14第一驱动齿轮　15第一弹性机构　16焊机托架　17焊接电源　18第一坦克链　19横移板　20送丝机托架　21送丝机　22第二坦克链　23第二电动机　24第二弹性机构　25第二驱动齿轮　26移动体外壳　27私服电机　28联轴器　29滚珠丝杠　30移动体　31第三直线导轨　32螺母　33第三护罩　34连接杆　35接近开关　36第二电机　37外壳　38第二转轴　39第二齿轮　40转动套　41轴承　42第一电机　43第一转轴　44第一铜套　45第一齿轮　46第二铜套　47第一齿圈　48内壳　49上轴承　50固定架　51固定座　52第四探头　53支撑杆　54激光测距仪　55挡板　56玻璃　57玻璃挡片　58焊枪角度调整轴　59防碰撞机构　60焊枪　61绝缘垫圈　62接触件　63偏心件　66摆杆　67衬套　69纵轴　70横轴　71拉簧　72拉力调节螺母　74仿形旋转零点信号　76焊枪零点信号　77摆动腔　78摆动块　79腔体　80内腔　81第一探头　82第二探头　83第三探头　84调整器　85第二齿圈　86工件　　L1摆杆中轴线　L2接触件中轴线。
具体实施方式
　　　本实用新型所述的自卸车箱板悬臂式自动焊接机，包括移动机构和仿形焊接机构，移动机构能带动仿形焊接机构移动，以便焊枪60能沿横向、纵向或竖向任意移动。仿形焊接机构包括外壳37，外壳37内开设腔体79，腔体79内安装内壳48，内壳48能相对外壳37转动。为减少内壳48与外壳37之间的旋转摩擦力，如图8所示，外壳37和内壳48之间安装轴承。外壳37上安装内壳旋转装置，内壳旋转装置的执行部件与内壳48连接，为内壳48提供相对外壳37旋转的动力。内壳48内开设内腔80，内腔80内固定安装第一探头81、第二探头82和第三探头83，第一探头81、第二探头82和第三探头83不共线。如图2所示，内壳48上安装万向节，万向节位于第一探头81、第二探头82和第三探头83的下方，万向节的摆动件上安装摆杆66。万向节的摆动件的下部可直接安装偏心件11，即偏心件11通过万向节的摆动件与摆杆66固定连接，也可以是摆杆66的下部固定安装偏心件11，目的是偏心件11可与摆杆66固定连接构成一根杠杆。偏心件11位于内壳48下方，以便于与工件接触实现仿形功能。如图2所示，偏心件11上与工件86接触部分称为接触件62，如图2所示，接触件62的接触件中轴线L2相对摆杆66的摆杆中轴线L1偏移一定距离H。摆杆中轴线L1和接触件中轴线L2所在的平面称为横平面，与横平面垂直的平面称为纵平面，横平面和纵平面的交线与摆杆中轴线L1平行，摆杆66在万向节的摆动件导向下既能沿横平面摆动，又能沿纵平面摆动；摆杆66沿横平面摆动能触发第一探头81或第三探头83，摆杆66沿纵平面摆动能触发第二探头82；内壳48的侧壁上安装两个调整器84，第一个调整器84位于第一探头81下方，第二个调整器84位于第二探头82下方。如图2所示，第一探头81下方的调整器84对摆杆66向左的推力，使摆杆66向左偏移有触发第三探头83的趋势，同时偏心件11和接触件62同步向右偏移；第二探头82下方的调整器84为摆杆66提供向后的预紧力，使摆杆66可在触碰工件侧壁后恢复竖直状态。如图8所示，所述调整器84可由拉簧71和拉力调节螺母72连接构成，拉簧71的一端与摆杆66连接，拉簧71的另一端与拉力调节螺母72连接，拉力调节螺母72与内壳48连接。
　　　为方便精确焊接，在焊接方向改变的情况下及时调整焊枪60的位置，如图外壳37或内壳48的外周安装转动套40，转动套40能相对外壳37或内壳48转动。为减少转动套40与外壳37或内壳48之间的转动磨擦，转动套40和外壳37或内壳48之间可安装轴承。如图8所示，转动套40安装于内壳48外。外壳37上安装第二电机36，第二电机36的输出轴安装第二齿轮39，转动套40的外周安装第二齿圈85，第二齿圈85与第二齿轮39啮合。当第二齿轮39与第二电机36间的距离较大时，第二电机36可通过联轴器和第二转轴38与第二齿轮39连接。转动套40上安装连接件，连接件上安装焊枪60和激光测距仪54。当焊枪60焊完一条焊缝，在焊接移动机构的带动下改变焊接方向焊接相邻的另一条焊缝后，第二电机36可通过第二齿轮39和第二齿圈85带动转动套40相对外壳37或内壳48转动，从而调整焊枪60的位置，使焊枪60移至接触件62的后方，防止焊枪60与工件侧壁发生碰撞，影响焊接精度。
　　　焊接前，使焊枪60的焊丝前端与摆杆中轴线L1相交。另外，完成焊接前的其他准备工作。
　　　焊接前的定位：
　　　1、竖向定位：移动机构带动焊枪60下移至设定高度。
　　　2、横向定位：由于摆杆66在第一探头81下方调整器84的作用下向左偏移触发第三探头83，因此，第三探头83通过控制装置控制移动机构带动焊枪60同步向右移动，靠近工件侧壁。当接触件62与工件侧壁接触后，所述焊枪60继续向右移动，直至工件侧壁推动接触件62使摆杆66完全离开第三探头83时，第三探头83通过控制装置控制移动机构停止右移，此时，焊枪60的焊丝正处于焊缝位置。
　　　焊接过程：
　　　所述焊枪60沿箱体内侧的矩形焊缝按逆时针方向焊接，焊枪60沿每条焊缝移动的方向称为纵向，垂直工件侧壁的方向称为横向。当焊缝随工件侧壁形状变化而发生内凹或外凸的弯曲变化时，摆杆66会在工件侧壁的作用下触发第一探头81或第三探头83。工件侧壁内凹时，工件侧壁推动接触件62使摆杆66触发第一探头81，第一探头81控制焊接移动机构带动焊枪60向内移开工件侧壁，摆杆66在调整器84的作用下恢复竖直位置，使摆杆66与第一探头81分离，焊接移动机构停止横向移动。工件侧壁外凸时，接触件62推动摆杆66触发第三探头83，第三探头83控制焊接移动机构向外移动靠近工件侧壁，使摆杆66克服调整器84的推力恢复中间位置，摆杆66与第三探头83分离，焊接移动机构停止横向移动。第一探头81和第三探头83可确保焊枪60与工件侧壁间始终保持设定的距离。
　　　焊接过程中，当接触件62移至一条焊缝的末端时，由于接触件62的半径远大于焊丝的半径，因此，相邻焊缝的侧壁与接触件62接触时，焊丝并未焊完整条焊缝，存在相当于接触件62半径长度的焊缝无法焊接，即焊接死角。此时，焊接移动机构仍带动所述仿形器和焊枪60纵向移动，相邻焊缝的侧壁会推动接触件62，使摆杆66触发第二探头82。第二探头82控制内壳旋转装置带动内壳48相对外壳37逆时针转动一定角度，使接触件62转至后方，即相当于将接触件62沿当前焊缝向后移动一定距离，此时，摆杆66与第二探头82分离，摆杆66恢复坚直位置，焊枪60可继续沿当前焊缝纵向移动，将整条焊缝焊完，消除焊接死角。焊完后，接触件62再次触碰相邻焊缝的侧壁，该侧壁推动接触件62使摆杆66再次与触发第二探头82，此时，第二探头82发出的信号，可使移动机构改变焊接方向，使焊枪60沿该相邻的焊缝焊接，即开始焊接第二条焊缝。按上述仿形过程，焊完第二条焊缝后依次焊接第三和第四条焊缝，从而完成整个箱体的焊接工作。在焊接过程中，激光测距仪54可精确测得焊枪到工件的竖高距离。
　　　如图12和图13所示，所述移动机构可由纵移机构、横移机构和竖移机构连接构成。纵移机构有纵向梁1，纵向梁1上设有第一直线导轨3和第一齿条4，第一直线导轨3上活动安装第一滑块连接板8，第一滑块连接板8上安装第一连接板6，第一连接板6上安装第一电动机13，第一电动机13上安装第一驱动齿轮14，第一驱动齿轮14与第一齿条4啮合。第一连接板6上安装横移机构，横移机构上安装竖移机构。启动第一电动机13，第一电动机13可通过第一驱动齿轮14带动横移机构沿纵向移动。竖移机构上安装仿形焊接机构。
　　　如图11和图14所示，所述横移机构有横梁7，横梁7与第一连接板6连接。横梁7上安装第二直线导轨9和第二齿条10。第二直线导轨9上活动安装第二滑块连接板11，第二滑块连接板11上安装横移板19，横移板19上安装竖移机构和第二电动机23，第二电动机23上安装第二驱动齿轮25，第二驱动齿轮25与第二齿条10啮合。启动第二电动机23，第二电动机23通过第二驱动齿轮25带动竖移机构沿第二直线导轨9横向移动。
　　　如图2至图4所示，所述竖移机构有第三直线导轨31。第三直线导轨31上活动安装移动体30，移动体30上安装螺母32和连接杆34。横移板19上安装私服电机27，私服电机27的出轴与滚珠丝杠29连接，滚珠丝杠29与螺母32螺纹连接。启动私服电机27，通过滚珠丝杠29旋转带动移动体30升降，从而，调整焊枪60的高度。
　　　如图8所示，接触件62的半径与H相等。在焊接同一条焊缝过程中，当接触件62带动摆杆66第一次触发第二探头82时，第二探头82控制内壳旋转装置带动内壳48相对外壳37转动85度，使接触件62恰好向后移动自身的一个半径，使焊枪60的焊丝能继续焊完整条焊缝。
　　　如图8所示，所述的内壳旋转装置由第一齿圈47、第一齿轮45和第一电机42连接构成，外壳37上安装第一电机42，第一电机42的输出轴与第一齿轮45连接，内壳48的外周安装第一齿圈47，第一齿圈47与第一齿轮45啮合。所述内壳旋转装置的执行部件是第一齿轮45和第一齿圈47。第一电机42的输出轴可通过第一齿轮45和第一齿圈47带动内壳48相对外壳37转动。当第一电机42的输出轴与第一齿轮45间的距离较大时，可通过联轴器连接第一转轴45，由第一转轴45与第一齿轮45连接，第一电机42通过第一转轴45带动第一齿轮45转动。所述的内壳旋转装置也可以是现有的带动内壳48相对外壳37转动的其他动力机构，例如，将内壳48的上部伸出外壳37外，在外壳37的上部直接安装第一电机42，第一电机42的输出轴与内壳48连接，由第一电机42直接带动内壳48相对外壳37旋转。
　　　如图8、图9和图10所示，所述万向节由摆动块78和十字轴连接构成，十字轴由纵轴69和横轴70垂直固定连接构成，摆动块78内开设摆动腔77，摆动腔77内安装十字轴，横轴70的两端与摆动块78活动接，摆动腔77的大小足够摆动块78绕横轴70相对纵轴69摆动。纵轴69的两端穿出摆动块78外与内壳48活动连接；摆动块78即为所述万向节的摆动件，摆动块78与摆杆66固定连接。摆动块78绕横轴70摆动，即为在纵平面内摆动，摆动块78绕纵轴69摆动，即为在横平面摆动。所述万向节也可以关节轴承、十字万向节，或其他现有的能使摆杆66实现前后左右四个方向摆动的机构。但，关节轴承的摆动存在不定向性，摆杆66的摆动方向有偏差，使整个所述仿形器的仿形灵敏度降低。十字万向节的摆动中心不唯一，也会降低整个所述仿形器的仿形灵敏度。
　　　为使所述仿形器能引导焊枪60实现顺时针仿形，如图6所示，所述内壳48内安装第四探头52，第一探头81、第二探头82、第三探头83和第四探头52呈圆形均匀分布；摆杆66沿纵平面摆动能触发第二探头82或第四探头52。第四探头52的工作原理与第二探头82相同。内壳48可安装环形探头支架8，以便于安装固定第一探头81、第二探头82、第三探头83和第四探头52。所述第一探头81、第二探头82、第三探头83和第四探头52可以是感应开关或接近开关。
　　　第一探头81、第二探头82、第三探头83和第四探头52可以是现有的接近开关或行程开关。
　　　为确保摆杆66在焊接过程中保持在第四探头52和第二探头82之间，所述内壳48上安装第三个调整器84，第三个调整器84位于第四探头52下方。第二探头82下方的调整器84和第四探头52下方的调整器84共同作用确保摆杆66位于第四探头52和第二探头82之间，不会触发第四探头52和第二探头82。
　　　为减少接触件62与工件之间的磨擦，所述接触件62可是滑轮或滚珠。
　　　如图5和图6所示，所述的连接件可由连接支杆固定架50、固定座51、支撑杆53、焊枪角度调整轴58和防碰撞机构59连接构成。连接支杆固定架50与转动套40连接，连接支杆固定架50上安装支撑杆53和焊枪角度调整轴58，焊枪角度调整轴58上安装防碰撞机构59，防碰撞机构59上安装60。
　　　所述支撑杆53上安装激光测距仪54，即激光测距仪54通过支撑杆53与转动套40连接固定。为提高激光测距仪54的灵敏度和精度，防止外界对激光测距仪54的测距干扰，如图5和图6所示，激光测距仪54的底部安装挡板55。
　　　所述第一电动机13和第二电动机23可均是安装有减速器的伺服电机，以提高传动精度。
　　　仿形旋转零点信号74固定在可以调节距离的螺杆上面，用来感应仿形零点信号，当仿形旋转零点信号出现故障后有硬限位74将旋转主轴48停止旋转，焊枪零点信号76固定在齿轮套40外表面，用来感应焊枪零点位置。
　　　本实用新型未详尽描述的技术内容均为公知技术。

Claims (9)

  1. 自卸车箱板悬臂式自动焊接机，其特征在于：包括移动机构和仿形焊接机构，移动机构能带动仿形焊接机构移动；仿形焊接机构包括外壳（37），外壳（37）内开设腔体（79），腔体（79）内安装内壳（48），内壳（48）能相对外壳（37）转动；外壳（37）上安装内壳旋转装置，内壳旋转装置的执行部件与内壳（48）连接，为内壳（48）提供旋转动力；内壳（48）内开设内腔（80），内腔（80）内固定安装第一探头（81）、第二探头（82）和第三探头（83），第一探头（81）、第二探头（82）和第三探头（83）不共线；内壳（48）上安装万向节，万向节位于第一探头（81）的下方，万向节的摆动件上安装摆杆（66），万向节的摆动件或摆杆（66）的下部安装偏心件（63），偏心件（63）位于内壳（48）下方；偏心件（63）上与工件接触部分称为接触件（62），接触件（62）的接触件中轴线（L2）相对摆杆（66）的摆杆中轴线（L1）偏移一定距离H；摆杆中轴线（L1）和接触件中轴线（L2）所在的平面称为横平面，与横平面垂直的平面称为纵平面，横平面和纵平面的交线与摆杆中轴线（L1）平行，摆杆（66）在万向节的摆动件导向下既能沿横平面摆动，又能沿纵平面摆动；摆杆（66）沿横平面摆动能触发第一探头（81）或第三探头（83），摆杆（66）沿纵平面摆动能触发第二探头（82）；内壳（48）的侧壁上安装两个调整器（84），第一个调整器（84）位于第一探头（81）下方，第二个调整器（84）位于第二探头（82）下方；外壳（37）或内壳（48）的外周安装转动套（40），转动套（40）能相对外壳（37）或内壳（48）转动；外壳（37）上安装第二电机（36），第二电机（36）的输出轴安装第二齿轮（39），转动套（40）的外周安装第二齿圈（85），第二齿圈（85）与第二齿轮（39）啮合；转动套（40）上安装连接件，连接件上安装焊枪（60）和激光测距仪（54）。
  2. 根据权利要求1所述的自卸车箱板悬臂式自动焊接机，其特征在于：所述移动机构由纵移机构、横移机构和竖移机构连接构成；纵移机构有纵向梁（1），纵向梁（1）上设有第一直线导轨（3）和第一齿条（4），第一直线导轨（3）上活动安装第一滑块连接板（8），第一滑块连接板（8）上安装第一连接板（6），第一连接板（6）上安装第一电动机（13），第一电动机（13）上安装第一驱动齿轮（14），第一驱动齿轮（14）与第一齿条（4）啮合；第一连接板（6）上安装横移机构，横移机构上安装竖移机构，竖移机构上安装仿形焊接机构。
  3. 根据权利要求2所述的自卸车箱板悬臂式自动焊接机，其特征在于：所述横移机构有横梁（7），横梁（7）与第一连接板（6）连接；横梁（7）上安装第二直线导轨（9）和第二齿条（10），第二直线导轨（9）上活动安装第二滑块连接板（11），第二滑块连接板（11）上安装横移板（19），横移板（19）上安装竖移机构和第二电动机（23），第二电动机（23）上安装第二驱动齿轮（25），第二驱动齿轮（25）与第二齿条（10）啮合。
  4. 根据权利要求3所述的自卸车箱板悬臂式自动焊接机，其特征在于：所述竖移机构有第三直线导轨（31），第三直线导轨（31）上活动安装移动体（30），移动体（30）上安装螺母（32）和连接杆（34）；横移板（19）上安装私服电机（27），私服电机（27）的出轴与滚珠丝杠（29）连接，滚珠丝杠（29）与螺母（32）螺纹连接。
  5. 根据权利要求1所述的自卸车箱板悬臂式自动焊接机，其特征在于：所述的内壳旋转装置由第一齿圈（47）、第一齿轮（45）和第一电机（42）连接构成，外壳（37）上安装第一电机（42），第一电机（42）的输出轴与第一齿轮（45）连接，内壳（48）的外周安装第一齿圈（47），第一齿圈（47）与第一齿轮（45）啮合。
  6. 根据权利要求1所述的自卸车箱板悬臂式自动焊接机，其特征在于：所述的连接件由连接支杆固定架（50）、固定座（51）、支撑杆（53）、焊枪角度调整轴（58）和防碰撞机构（59）连接构成；连接支杆固定架（50）与转动套（40）连接，连接支杆固定架（50）上安装支撑杆（53）和焊枪角度调整轴（58），焊枪角度调整轴（58）上安装防碰撞机构（59），防碰撞机构（59）上安装（60）。
  7. 根据权利要求6所述的自卸车箱板悬臂式自动焊接机，其特征在于：所述支撑杆（53）上安装激光测距仪（54），激光测距仪（54）的底部安装挡板（55）。
  8. 根据权利要求1所述的自卸车箱板悬臂式自动焊接机，其特征在于：所述内壳（48）内安装第四探头（52），第一探头（81）、第二探头（82）、第三探头（83）和第四探头（52）呈圆形均匀分布；摆杆（66）沿纵平面摆动能触发第二探头（82）或第四探头（52）。
  9. 根据权利要求1所述的自卸车箱板悬臂式自动焊接机，其特征在于：所述万向节由摆动块（78）和十字轴连接构成，十字轴由纵轴（69）和横轴（70）垂直固定连接构成，摆动块（78）内开设摆动腔（77），摆动腔（77）内安装十字轴，横轴（70）的两端与摆动块（78）活动接，纵轴（69）的两端穿出摆动块（78）外与内壳（48）活动连接；摆动块（78）即为所述万向节的摆动件，摆动块（78）与摆杆（66）固定连接。
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