CN112792476A

CN112792476A - Robot welding device for loading arm plate

Info

Publication number: CN112792476A
Application number: CN202110374600.4A
Authority: CN
Inventors: 衣学航; 宋希龙; 刘元铭; 孙浩; 王国皓
Original assignee: Shandong Mingyu Heavy Industry Machinery Co Ltd
Current assignee: Shandong Mingyu Heavy Industry Machinery Co Ltd
Priority date: 2021-04-08
Filing date: 2021-04-08
Publication date: 2021-05-14
Anticipated expiration: 2041-04-08
Also published as: CN112792476B

Abstract

The invention relates to the technical field of robot welding, in particular to a robot welding device for a movable arm plate of a loader, which comprises a robot welding mechanism and a rotating frame, wherein the rotating frame comprises a rotating motor, a horizontally arranged rotating shaft, a plurality of working supporting plates and two cross-shaped fixing frames, the middle points of the two ends of each working supporting plate are respectively and fixedly provided with a rotating column head, the two ends of the rotating shaft are respectively and rotatably provided with a bearing seat, one opposite side of each bearing seat is provided with a fixed gear, each rotating column head is fixedly provided with a rotating gear, the robot welding mechanism comprises a limiting mechanism and a plurality of robots, the output end of each robot is provided with a clamping and welding mechanism, in the processes of feeding, blanking and welding, a movable arm plate is always positioned right above a mounting table, and the problem that the fixed movable arm plate is downward when the movable arm plate is turned to the other side of the rotating frame is solved, welding is carried out in the clamping process, and the accuracy of flange plate positioning is improved.

Description

Robot welding device for loading arm plate

Technical Field

The invention relates to the technical field of robot welding, in particular to a robot welding device for a loading movable arm plate.

Background

The loading machine moving arm plate is assembled and welded by a human tool at present, and the flange plate is assembled by a human tool, spot-welded by a human tool and welded by a human tool. The assembly precision is poor, and flange hole is poor with swing arm board hole axiality, and manual welding seam quality is unstable, and welding time is long, and production efficiency is low.

The utility model discloses a patent number is CN201911331427.9 a robot welding set for loading arm board the work piece group that shifts includes mounting bracket, servo motor, swivel mount, work piece, buckle and fixed plate, servo motor fixed mounting is in one side of mounting bracket, servo motor's pivot and swivel mount fixed connection, install the fixed plate that a block is used for fixed work piece on the swivel mount, install the buckle that is used for fixed work piece on the fixed plate.

The above scheme has the following disadvantages:

(1) the device's swivel mount both sides are unloading district and weld zone of going up respectively, through the swivel mount upset, after the fixed plate of swivel mount is close to directly over the fixed loading arm board in the one side in unloading district, after rotatory to the weld zone, one side that the fixed plate was fixed loading arm board is down, the swivel mount can't realize all up in the one side of unloading district and weld zone fixed plate fixed loading arm board, hinder the robot in weld zone to carry out the ring flange welding step to the loading arm board.

(2) The device robot snatchs the ring flange and carries to the loader swing arm board on, this fixed plate weight changes, and the focus has the tendency that moves down, and before welding, the gas claw of robot must loosen the ring flange, and the robot just can drive automatic welder and weld the welding position of ring flange and loader swing arm board, can't realize simultaneously for when carrying out the welding, the unable location of ring flange leads to the condition that the deviation appears in the position of ring flange.

(3) After the swivel mount is rotatory, the position of fixed behind the rotatory fixed angle of fixed plate does not have assistance-localization real-time's subassembly for after the fixed plate rotates the weld zone, carry out the welded in-process, the swivel mount can appear rocking, leads to the welding position deviation, and the ring flange welding is insecure, causes the rotation of the dynamic arm board of loader to interfere.

Disclosure of Invention

The present invention is directed to a robot welding device for loading a boom plate to solve the problems set forth in the background art.

The technical scheme of the invention is as follows:

a robot welding device for a loading machine cantilever plate comprises a robot welding mechanism and a rotating frame, wherein the rotating frame comprises a rotating motor, a horizontally arranged rotating shaft, a plurality of working supporting plates with rectangular structures and two cross fixing frames fixedly arranged at two ends of the rotating shaft respectively, an output shaft of the rotating motor is coaxially and fixedly connected with one end of the rotating shaft, all the working supporting plates are distributed around the rotating shaft in an equal angle difference manner, a rotating column head rotatably connected with one end of each of the two cross fixing frames is fixedly arranged at the midpoint of the two ends of each working supporting plate in the length direction of the working supporting plate, bearing seats are rotatably arranged at two ends of the rotating shaft respectively, a fixed gear is arranged on one opposite side of each bearing seat, the axis of the rotating shaft vertically passes through the center of the plane where the fixed gear is located, and an avoiding hole for avoiding the rotating shaft is arranged at the center of the fixed, and each rotary column head is fixedly provided with a rotary gear meshed with the corresponding fixed gear, the robot welding mechanism comprises a limiting mechanism and a plurality of multi-degree-of-freedom robots, the limiting mechanism is arranged on one side of the rotary frame, and the output end of each robot is provided with a clamping and welding mechanism.

Further, the output of robot is provided with servo motor, centre gripping welding mechanism is including inner circle centre gripping subassembly and welding assembly, and the inner circle centre gripping subassembly is including the middle disc of fixed mounting at servo motor's output and install the air clamp of keeping away from servo motor's one side at middle disc, and the output of air clamp is including the initiative clamping part of two right angle triangular prism structures.

Further, one side that middle disc is close to the gas clamp is provided with the spout of perpendicular to clamping part centre gripping direction, the spout is located the both sides of gas clamp and slidable mounting respectively has passive clamping part, passive clamping part is V-arrangement structure and passive clamping part and rotates at self central line and install the center pin, the tip of center pin is provided with the pulley with spout sliding fit, the inboard of two passive clamping parts is laminated with one of them right-angle face of two initiative clamping parts respectively, through reset spring elastic connection between two passive clamping parts, the initiative clamping part is rotated on the generating line limit at self hypotenuse both ends and is installed and is rotated a section of thick bamboo with the inboard sliding fit of passive clamping part.

Further, the welding subassembly is including rotating ring and driving motor, the face of cylinder of middle disc is provided with the ring groove with self central line coincidence, the rotation ring cup joints in the ring groove, one side fixed mounting that the rotation ring is close to servo motor has the ring gear with the rotation ring coaxial line, driving motor's output is provided with the drive gear with ring gear meshing, the edge fixed mounting that rotates the ring has automatic welder mounting panel.

Furthermore, the limiting mechanism comprises a limiting cylinder, a limiting slide block and a plurality of limiting slide rails, wherein the limiting cylinder points to the axis of the rotating shaft horizontally and vertically, the limiting slide block is fixedly installed at the output end of the limiting cylinder, all the limiting slide rails are installed at all the end parts of one cross-shaped fixing frame around the axis of the rotating shaft in an equal angle difference mode, the limiting slide block is long-strip-shaped, and the central line of the limiting slide block passes through the central point of the cross-shaped fixing.

Further, the work layer board is including the mount table of rectangle structure and the U-shaped frame of cover at the mount table edge, and two rotatory column cap fixed mounting are close to the tip of two cross mounts at the U-shaped frame, be provided with the slide parallel with self length direction on the mount table, slidable mounting has the swing arm board fixed station on the slide.

Furthermore, one end of the limiting sliding block, which is close to the rotating frame, is provided with a wedge surface which inclines upwards.

The invention provides a robot welding device for loading a movable arm plate by improvement, which has the following improvement and advantages compared with the prior art:

one is as follows: according to the rotary motor, the mounting table rotates around the rotary column head while all the working supporting plates are driven to rotate around the rotary shaft, when the working supporting plates rotate to a welding area from a feeding area, the working supporting plates are in a horizontal state, one side with the movable arm plate faces upwards, and in the processes of feeding, discharging and welding, the movable arm plate is always located right above the mounting table, so that the problem that the fixed movable arm plate faces downwards when the fixed movable arm plate is turned to the other side of the rotary frame is solved;

the second step is as follows: the robot welding mechanism provided by the invention has the advantages that the flange plate is clamped at the welding position, then the welding assembly drives the automatic welding gun to weld the welding positions of the flange plate and the movable arm plate, after the welding is finished, the flange plate is loosened by the inner ring clamping assembly, and the clamping process is carried out for welding, so that the positioning accuracy of the flange plate is improved, and the situation that the position of the flange plate is deviated is avoided;

and thirdly: when the rotating motor drives the rotating frame to intermittently rotate and pause, the limiting sliding block of the limiting mechanism is horizontally inserted into the limiting sliding rail, so that the problem that the gravity of an assembly flange plate mounting table is enlarged, the gravity center of the rotating frame is changed, and the working supporting plate rotates downwards is solved, the welding position deviation caused by the vertical shaking of the working supporting plate is reduced, the welding firmness of the flange plate is enhanced, and the rotating interference of a loading machine arm plate is further reduced;

fourthly, the method comprises the following steps: one end, close to the rotating frame, of the limiting sliding block of the limiting mechanism is provided with an upward inclined wedge surface, so that the limiting sliding block can be quickly inserted into the limiting sliding rail in a butt joint mode, and the problem that a limiting cylinder is damaged due to incomplete butt joint is solved;

and fifthly: according to the invention, the movable arm plate fixing table on the working supporting plate slides on the slideway, the movable arm plate fixing table is locked through the bolt after the position of the movable arm plate fixing table is adjusted, the welding position of the movable arm plate can be finely adjusted to reduce deviation, the mounting table is slidably mounted on the U-shaped frame, and then the mounting table is locked on the mounting table through the bolt, so that the mounting table is convenient to replace due to the structure, different mounting tables are replaced according to different welded accessories, and the utilization rate of equipment is improved;

and the sixth step: when the two passive clamping parts of the air clamp assist the two active clamping parts to expand outwards, the inner ring of the flange plate is supported and clamped tightly at multiple points, so that the flange plate is prevented from falling off.

Drawings

The invention is further explained below with reference to the figures and examples:

FIG. 1 is a first perspective view of the present invention;

FIG. 2 is a schematic perspective view of the present invention;

FIG. 3 is a first perspective view of the swivel mount of the present invention;

FIG. 4 is a schematic perspective view of a second embodiment of the present invention;

FIG. 5 is a side view of the spin stand of the present invention;

FIG. 6 is a schematic perspective view of the stop mechanism of the present invention in cooperation with a cross-shaped fixing frame;

FIG. 7 is an enlarged view at A of FIG. 6;

FIG. 8 is a schematic perspective view of a clamp welding mechanism according to the present invention;

FIG. 9 is a bottom view of the clamp welding mechanism of the present invention;

FIG. 10 is a schematic view of a partial perspective view of the clamp welding mechanism of the present invention;

FIG. 11 is a schematic view of the inner race clamp assembly, intermediate disk and rotating ring of the present invention.

Description of reference numerals:

the welding robot comprises a robot welding mechanism 1, a robot 11, a servo motor 12, a clamping welding mechanism 13, a rotating frame 2, a rotating motor 21, a rotating shaft 22, a cross fixing frame 23, a bearing seat 24, a fixed gear 25, an avoidance hole 26, a rotating gear 27, a work supporting plate 3, a rotating column head 31, a U-shaped frame 32, a mounting table 33, a slide rail 34, a movable arm plate fixing table 35, a limiting mechanism 4, a limiting cylinder 41, a limiting slide block 42, a limiting slide rail 43, a wedge surface 44, an inner ring clamping assembly 5, an intermediate disc 51, an air clamp 52, an active clamping part 53, a sliding groove 54, a passive clamping part 55, a central shaft 56, a return spring 57, a rotating cylinder 58, a pulley 59, a welding assembly 6, a rotating ring 61, a driving motor 62, an annular groove 63, a toothed ring 64, a driving gear 65 and an automatic welding.

Detailed Description

The present invention is described in detail below, and technical solutions in the embodiments of the present invention are clearly and completely described, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the 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 invention.

The invention provides a robot welding device for loading arm plates, which is improved and shown in figures 1-11, and comprises a robot welding mechanism 1 and a rotating frame 2, wherein the rotating frame 2 comprises a rotating motor 21, a horizontally arranged rotating shaft 22, a plurality of working supporting plates 3 in a rectangular structure and two cross fixing frames 23 fixedly arranged at two ends of the rotating shaft 22 respectively, an output shaft of the rotating motor 21 is coaxially and fixedly connected with one end of the rotating shaft 22, all the working supporting plates 3 are distributed around the rotating shaft 22 at equal angle difference, a rotating column head 31 rotatably connected with one end of the two cross fixing frames 23 is fixedly arranged at the midpoint of two ends of each working supporting plate 3 in the length direction, bearing seats 24 are rotatably arranged at two ends of the rotating shaft 22, a fixed gear 25 is arranged at the opposite side of each bearing seat 24, the axis of the rotating shaft 22 perpendicularly passes through the center of the plane where the fixed gear 25 is located, the center of the fixed gear 25 is provided with an avoiding hole 26 for avoiding the rotating shaft 22, the central line of the rotating shaft 22 perpendicularly passes through the avoiding hole 26 at the center of the fixed gear 25, the rotating shaft 22 is not connected with the avoiding hole 26 in a rotating mode, namely, the rotating shaft 22 cannot drive the fixed gear 25 to rotate when rotating, a rotating gear 27 meshed with the corresponding fixed gear 25 is fixedly installed on each rotating column head 31, the robot welding mechanism 1 comprises a limiting mechanism 4 and a plurality of multi-degree-of-freedom robots 11, and the clamping welding mechanism 13 is installed at the output end of the robot 11.

Two sides of the rotating frame 2 are respectively a feeding and discharging area and a welding area of the movable arm plate, and the clamping and welding mechanism 13 is driven by the robot 11 to clamp the flange plate in the welding area for feeding.

The movable arm plate is fixed on the working supporting plate 3 manually, then the rotating motor 21 is started to drive the rotating shaft 22 to rotate 90 degrees intermittently at a single time, and under the meshing transmission matching of the rotating gear 27 and the fixed gear 25, the movable arm plate fixed on the working supporting plate 3 rotates around the rotating shaft 22 and simultaneously the movable arm plate on the working supporting plate 3 is always kept horizontal relative to the ground;

when the rotating shaft 22 rotates, under the meshing transmission fit of the rotating gear 27 and the fixed gear 25, the fixed gear 25 does not rotate, the rotating gear 27 rotates around the fixed gear, so that the work supporting plate 3 rotates around a rotating column head, when the rotating frame 2 rotates 180 degrees, the work supporting plate also rotates 180 degrees around the rotating column head, under the meshing transmission fit of the rotating gear 27 and the fixed gear 25, a transmission process for correcting the posture of the work supporting plate 3 is always realized, when the work supporting plate 3 rotates to a welding area from a feeding area, the work supporting plate is in a horizontal state, one side with a movable arm plate faces upwards, in the process of realizing the feeding, discharging and welding steps, the movable arm plate is always right above the work supporting plate 3, and the problem that the fixed movable arm plate faces downwards when the work supporting plate is turned to the other side of the rotating frame 2 is solved;

after the movable arm plate rotates and stops at a welding area, the limiting mechanism 4 limits the cross fixing frame 23, then the robot 11 drives the clamping and welding mechanism 13 to clamp the flange plate to be placed at the position, to be welded, of the movable arm plate and weld the flange plate, after welding is completed, the clamping and welding mechanism 13 is loosened, the limiting mechanism 4 is reset and separated from the cross fixing frame 23, the limiting state of the cross fixing frame 23 is relieved, the rotating motor 21 continues to rotate for 90 degrees intermittently, and the steps are repeated.

The output of robot 11 is provided with servo motor 12, centre gripping welding mechanism 13 is including inner circle centre gripping subassembly 5 and welding assembly 6, and inner circle centre gripping subassembly 5 is including the middle disc 51 of fixed mounting at servo motor 12's output and install the air clamp 52 of keeping away from servo motor 12 one side at middle disc 51, and the output of air clamp 52 is including the initiative clamping part 53 of two right angle triangular prism structures.

Firstly, the robot 11 drives the air clamp 52 of the clamping and welding mechanism 13 to extend into the inner ring of the flange plate, then the driving clamping part 53 expands outwards and is tightly supported on the inner ring of the flange plate, then the robot 11 cooperates with the clamping and welding mechanism 13 to drive the flange plate to be assembled at the position to be welded, and then the welding assembly 6 welds the welding position of the flange plate and the movable arm plate.

A sliding groove 54 perpendicular to the clamping direction of the clamping parts is arranged on one side of the middle disc 51 close to the air clamp 52, the sliding groove 54 is positioned on two sides of the air clamp 52 and is respectively provided with a passive clamping part 55 in a V-shaped structure, the passive clamping part 55 is rotatably provided with a central shaft 56 at the central line of the passive clamping part 55, the end part of the central shaft 56 is provided with a pulley 59 in sliding fit with the sliding groove 54, the inner sides of the two passive clamping parts 55 are respectively attached to one right-angle surface of the two active clamping parts 53, the two passive clamping parts 55 are elastically connected through a return spring 57, the active clamping part 53 is rotatably provided with a rotating cylinder 58 in sliding fit with the inner side of the passive clamping part 55 at the side of a bus at the two ends of the self bevel edge, when the air clamp 52 drives the two active clamping parts 53 to move back to back, the output end of the air clamp 52 is driven to move back, the distance between the two active clamping portions 53 is increased, the two passive clamping portions 55 are driven to move back to back, the distance between the two passive clamping portions 55 is increased, at the moment, the rotating cylinder rotates at the inner side of the passive clamping portions 55, the friction force between the active clamping portions 53 and the passive clamping portions 55 is reduced, when the two active clamping portions 53 of the air clamp 52 expand towards the outer side, the two passive clamping portions 55 are driven to assist the active clamping portions 53 to tightly support the inner ring of the flange, the multi-point tightening of the two active clamping portions 53 and the two passive clamping portions 55 increases the tightening strength, the flange is prevented from falling off, when the welded flange needs to be loosened, the two active clamping portions 53 are close to each other, and meanwhile, under the restoring force action of the reset spring 57, the two passive clamping portions 55 are close to each other.

When the two active clamping parts 53 of the air clamp 52 are reset oppositely, the concave surfaces of the two passive clamping parts 55 lose the supporting force, and the restoring force of the stretched reset spring is mainly that when the active clamping parts are displaced, the two passive clamping parts 55 move oppositely, so that the two active clamping parts 53 and the two passive clamping parts 55 are separated from the inner wall of the flange plate, and the flange plate is loosened.

The welding assembly 6 comprises a rotating circular ring 61 and a driving motor 62, wherein a circular ring groove 63 coinciding with the central line of the middle circular disc 51 is formed in the cylindrical surface of the middle circular disc 51, the rotating circular ring 61 is sleeved in the circular ring groove 63, a gear ring 64 coaxial with the rotating circular ring 61 is fixedly installed on one side, close to the servo motor 12, of the rotating circular ring 61, a driving gear 65 meshed with the gear ring 64 is arranged at the output end of the driving motor 62, an automatic welding gun mounting plate 66 is fixedly installed at the edge of the rotating circular ring 61, after a flange plate is clamped and assembled at a position to be welded of a movable arm plate, the driving motor 62 drives the driving gear 65 to rotate, due to meshing acting force, the driving gear 65 drives the gear ring 64 to rotate, so that an automatic welding gun installed on the automatic welding gun mounting plate 66 rotates around a flange plate, welding operation is performed on the position to be, the air clamp 52 is reset to release the flange.

The limiting mechanism 4 comprises a limiting cylinder 41 which points to the axis of the rotating shaft 22 horizontally and vertically, a limiting slide block 42 and a plurality of limiting slide rails 43, wherein the limiting slide rails 42 are fixedly installed at the output end of the limiting cylinder 41, all the limiting slide rails 43 are installed at all the end parts of one cross-shaped fixing frame 23 around the axis of the rotating shaft 22 with equal angle difference, the limiting slide block 42 is in a long strip shape, and the central line of the limiting slide block 42 passes through the central point of the cross-shaped fixing frame 23.

The welding position deviation caused by the up-and-down shaking of the working supporting plate 3, the limiting slide rails 43 are arranged at all end parts of the cross fixing frame 23, the limiting air cylinder 41 drives the limiting slide block 42 to be horizontally inserted into the limiting slide rails 43 when the rotating motor 21 drives the rotating frame 2 to intermittently rotate and pause by the limiting mechanism 4, the cross fixing frame 23 is limited, at the same time, indirectly causes the rotation shaft 22 to be restrained, causing the rotation gear 27 to statically stop from rotating about the fixed gear 25, at which time, the working supporting plate stops rotating around the rotating column head, the working supporting plate keeps horizontal, the gravity enlargement of the assembly flange plate mounting table 33 is eliminated, make the focus of swivel mount 2 change, prevent that work layer board 3 from appearing because inertia leads to the problem of downrotation, reduce the welding position deviation that work layer board 3 rocked from top to bottom and lead to, strengthen the firm intensity of ring flange welding, and then reduce the rotation of loader swing arm board and interfere.

Work pallet 3 is including the mount table 33 and the cover of rectangle structure at the U-shaped frame 32 at mount table 33 edge, and two rotatory column cap 31 fixed mounting are close to the tip of two cross mounts 23 at U-shaped frame 32, be provided with the slide 34 parallel with self length direction on the mount table 33, slidable mounting has movable arm board fixed station 35 on the slide 34, and movable arm board fixed station 35 on the work pallet 3 slides on slide 34, through bolt locking behind the position of adjustment movable arm board fixed station 35, can finely tune movable arm board welded position and reduce the deviation.

The mounting table 33 is slidably mounted on the U-shaped frame 32, and then the mounting table 33 is locked on the mounting table through bolts, so that the mounting table 33 is convenient to replace, different mounting tables 33 are replaced according to different welded accessories, and the utilization rate of equipment is improved.

One end of the limiting slide block 42 close to the rotating frame 2 is provided with an inclined upward wedge surface 44, so that the limiting slide block 42 can be rapidly inserted into the limiting slide rail 43 in a butt joint mode.

The previous description of the disclosed embodiments is provided to enable any person skilled in the art to make or use the present invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the invention. Thus, the present invention is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A robot welding device for loading a maneuvering arm plate, characterized in that: the robot welding device comprises a robot welding mechanism (1) and a rotating frame (2), wherein the rotating frame (2) comprises a rotating motor (21), a horizontally arranged rotating shaft (22), a plurality of working supporting plates (3) with rectangular structures and two cross fixing frames (23) which are fixedly arranged at two ends of the rotating shaft (22) respectively, an output shaft of the rotating motor (21) is coaxially and fixedly connected with one end of the rotating shaft (22), all the working supporting plates (3) are distributed around the rotating shaft (22) at equal angular difference, a rotating column head (31) which is rotatably connected with one end of the two cross fixing frames (23) is fixedly arranged at the midpoint of two ends of each working supporting plate (3) in the length direction of the working supporting plate, bearing seats (24) are rotatably arranged at two ends of the rotating shaft (22), a fixed gear (25) is arranged on one side, opposite to the two bearing seats (24), the axis of the rotating shaft (22) vertically passes through the center of a plane where the fixed gear (25) is located, the center of the fixed gear (25) is provided with an avoidance hole (26) avoiding the rotating shaft (22), each rotating column head (31) is fixedly provided with a rotating gear (27) meshed with the corresponding fixed gear (25), the robot welding mechanism (1) comprises a limiting mechanism (4) and a plurality of multi-degree-of-freedom robots (11), the limiting mechanism is arranged on one side of the rotating frame (2), and the clamping welding mechanism (13) is arranged at the output end of the robot (11).

2. A robotic welding device for loading a motorised arm plate according to claim 1, wherein: the output of robot (11) is provided with servo motor (12), centre gripping welding mechanism (13) are including inner circle centre gripping subassembly (5) and welding subassembly (6), and inner circle centre gripping subassembly (5) are including middle disc (51) of fixed mounting at servo motor (12)'s output and install air clamp (52) of keeping away from one side of servo motor (12) in middle disc (51), and the output of air clamp (52) is including initiative clamping part (53) that have two right angle triangular prism structures.

3. A robotic welding device for loading a motorised arm plate according to claim 2, wherein: one side of the middle disc (51) close to the air clamp (52) is provided with a sliding groove (54) perpendicular to the clamping direction of the clamping parts, two sides of the sliding groove (54) located on the air clamp (52) are respectively provided with a driven clamping part (55) in a sliding mode, the driven clamping part (55) is of a V-shaped structure, the driven clamping part (55) is rotatably provided with a central shaft (56) at the center line of the driven clamping part, the end part of the central shaft (56) is provided with a pulley (59) in sliding fit with the sliding groove (54), the inner sides of the two driven clamping parts (55) are respectively attached to one of right-angle surfaces of the two driving clamping parts (53), the two driven clamping parts (55) are elastically connected through a return spring (57), and the driving clamping part (53) is rotatably provided with a rotating cylinder (58) in sliding fit with the inner sides of the driven.

4. A robotic welding device for loading a motorised arm plate according to claim 3, wherein: the welding assembly (6) comprises a rotating circular ring (61) and a driving motor (62), a circular ring groove (63) coinciding with the central line of the welding assembly is formed in the cylindrical surface of the middle disc (51), the rotating circular ring (61) is sleeved in the circular ring groove (63), a gear ring (64) coaxial with the rotating circular ring (61) is fixedly mounted on one side, close to the servo motor (12), of the rotating circular ring (61), a driving gear (65) meshed with the gear ring (64) is arranged at the output end of the driving motor (62), and an automatic welding gun mounting plate (66) is fixedly mounted at the edge of the rotating circular ring (61).

5. A robotic welding device for loading a motorised arm plate according to claim 1, wherein: limiting mechanism (4) are including spacing cylinder (41), the spacing slider (42) and the spacing slide rail (43) of a plurality of the perpendicular directional rotation axis (22) axis of level, fixed mounting at spacing cylinder (41) output, and all tip at one of them cross mount (23) are installed around rotation axis (22) axis isogonism in all spacing slide rails (43), spacing slider (42) are rectangular shape, the central line of spacing slider (42) passes through the central point of cross mount (23).

6. A robotic welding device for loading a motorised arm plate according to claim 1, wherein: work layer board (3) are including mount table (33) and the cover at U-shaped frame (32) at mount table (33) edge of rectangle structure, and two rotatory column cap (31) fixed mounting are close to the tip of two cross mounts (23) in U-shaped frame (32), be provided with slide (34) parallel with self length direction on mount table (33), slidable mounting has slide arm board fixed station (35) on slide (34).

7. A robotic welding device for loading a motorised arm plate according to claim 5, wherein: one end of the limiting sliding block (42) close to the rotating frame (2) is provided with a wedge surface (44) which inclines upwards.