Fixing and adjusting device for automatic welding of robot

Abstract

The invention discloses a fixing and adjusting device for automatic welding of a robot, and relates to the technical field of automatic welding of robots. The first transmission assembly and the second transmission assembly are combined with the first hydraulic cylinder and the angle adjusting assembly, flexible and accurate three-dimensional space positioning and posture adjusting capacity is provided for a welding structure, the multiple independently-driven robot clamping jaws are provided with floating pressure heads, a pressure sensor and a temperature sensor are integrated, and the welding precision is improved. The clamping state is monitored in real time, stable clamping is ensured, meanwhile, damage is avoided, three-dimensional deformation data of a workpiece are captured in real time through the laser contourgraph and the CCD camera, the controller integrates the data, a welding seam track, the pose of the robot and clamping force, displacement and temperature information fed back by the clamping jaw, and then the adjusting assembly can be driven to conduct pose compensation. Local thermal deformation caused by welding heat input is actively counteracted, and the welding precision, the joint quality and the process stability are improved.

Description

Technical Field

[0001] The present invention relates to the technical field of robot automatic welding, in particular to a fixing and adjusting device for robot automatic welding. Background Art

[0002] Welding, also known as fusion or melting, is a manufacturing process and technology that uses heat, high temperature or high pressure to join metals or other thermoplastic materials such as plastics. During the welding process, the materials to be welded need to be fixed to avoid shaking during the welding process, which may lead to welding errors. The position of the welding device also needs to be adjusted in real time to ensure the welding effect.

[0003] The defects of the existing fixing and adjusting devices for automatic robot welding are:

[0004] 1. Patent document US06772932B1 discloses an automatic welding system using an overhead robot. However, the welding robot in the above document has a technical problem of being unable to offset the local thermal deformation caused by welding heat input during use;

[0005] 2. Patent document US4538047A discloses a method for controlling a robotic automatic welding device. However, the robotic automatic welding device described in the above document suffers from unstable movement and poor stability during the welding process.

[0006] 3. Patent document US5528013A discloses a method for automatically adjusting the welding conditions of an arc welding robot. However, the arc welding robot described in the aforementioned document is unable to protect and self-clean the optical detection equipment, resulting in inaccurate data from the detection terminal box.

[0007] 4. Patent document CN111515610A discloses an automatic welding robot. However, the automatic welding robot in the above document has a technical problem of being unable to effectively isolate vibration, resulting in low process consistency and short equipment life. Summary of the Invention

[0008] The object of the present invention is to provide a fixing and adjusting device for robot automatic welding to solve the technical problems raised in the above background technology.

[0009] To achieve the above-mentioned object, the present invention provides the following technical solution: a fixing and adjusting device for robot automatic welding, comprising a processing base, support rods and a top frame, wherein support rods are provided at the four corners of the top of the processing base, and the top of the support rods is fixedly connected to the top frame;

[0010] The top of the top frame is movably connected to a movable plate, the top of the top frame is provided with a first transmission assembly, the first transmission assembly is used to drive the movable plate to move in a horizontal direction, the top of the movable plate is movably connected to a movable disk, the movable plate is provided with a second transmission assembly, the second transmission assembly is used to drive the movable disk to move;

[0011] A first hydraulic cylinder is embedded on the top of the movable plate, a fixed plate is fixedly connected to the bottom of the first hydraulic cylinder, and an adjustment component is provided at the bottom of the fixed plate, and the adjustment component is used to adjust the welding angle of the welding structure;

[0012] A clamping assembly is provided on the top of the processing base, and is used to restrict and fix the object to be welded. The clamping assembly includes a plurality of independently driven robot grippers, and a floating pressure head is provided at the output end of the robot gripper. The floating pressure head is provided with a high-temperature resistant liner, a pressure sensor, and a temperature sensor. One end of the floating pressure head is mechanically coupled to a piezoelectric ceramic actuator for outputting micro-displacement in the clamping direction.

[0013] A laser profiler and a CCD camera are provided at the bottom of the top frame, which output the three-dimensional deformation data of the workpiece to the controller in real time. The controller is provided at the front end of one side of the top of the top frame, and the controller is electrically connected to the robot gripper to collect and acquire the clamping force, displacement and temperature data in real time. Based on the weld trajectory, the robot posture and the collected data, the controller synchronously drives the adjustment component and the clamping component to adjust the posture, and triggers the piezoelectric ceramic actuator to output micro-displacement to offset thermal deformation.

[0014] Preferably, the first transmission assembly includes a first slide groove opened at the top of the top frame, a first slider is movably connected to the inner wall of the first slide groove, and the top of the first slider is fixedly connected to the bottom of the movable plate, a first threaded rod is threaded through one side of the first slider, a transmission flywheel is provided at one end of the first threaded rod, and a transmission chain is provided on the outer wall of the transmission flywheel, one end of one group of the transmission flywheels is connected to the first servo motor, and a protective cover is provided at one end of the first servo motor, and the protective cover is fixedly installed on one side of the top frame, and the transmission flywheel and the transmission chain are located inside the protective cover.

[0015] Preferably, the second transmission assembly includes a second slide groove opened in the middle of the top of the movable plate and a third slide groove on both sides of the top, and the inner wall of the third slide groove is movably connected to the outer wall of the output end of the first hydraulic cylinder, the inner wall of the second slide groove is movably connected with a second slider, and the top of the second slider is fixedly connected to the bottom of the fixed plate, one end of the second slider is threaded with a second threaded rod, one end of the second threaded rod is provided with a second servo motor, and the second servo motor is fixedly set on the front side of the top frame.

[0016] Preferably, the adjustment component includes a third servo motor embedded in the bottom of the fixed disk, the output end of the third servo motor is provided with a rotating disk, a group of rotating shafts are fixed to the bottom of the rotating disk, a fourth servo motor is provided on one side of the rotating shaft, and the output end of the fourth servo motor passes through one side of the rotating shaft and is provided with a welding structure.

[0017] Preferably, a protective cover is provided on the outside of the laser profiler and the CCD camera. The protective cover is made of transparent aluminum nitride ceramic and is coated with a metal-repellent droplet coating on the surface. A semicircular cleaning ring is provided on the outer wall of the protective cover, and a micro stepping motor is provided at one end of the semicircular cleaning ring.

[0018] Preferably, a flexible scraper is embedded in the inner wall of the semicircular cleaning ring, and the flexible scraper is tightly squeezed against the outer surface of the protective cover. The micro stepping motor drives the semicircular cleaning ring to rotate back and forth along the outer wall of the protective cover.

[0019] Preferably, shock-absorbing pads are fixedly provided at the four corners of the bottom of the processing base, dampers are provided on the inner walls of the shock-absorbing pads, and the top of the damper is provided on the bottom of the processing base and connected by bolts.

[0020] Preferably, the floating pressure head is provided with a pressure sensor and a temperature sensor which are arranged in a circular array between the high temperature resistant liner and the floating pressure head.

[0021] Preferably, the working steps of the fixing and adjusting device for automatic robot welding are as follows:

[0022] S1. The workpiece to be welded is placed on the processing base. The controller activates the clamping assembly, driving multiple sets of independently controlled robot grippers to move to the preset position. The floating pressure head contacts the workpiece surface, and the clamping force is fed back in real time through the pressure sensor. The temperature of the contact point is monitored by the temperature sensor to achieve adaptive flexible clamping.

[0023] S2, a laser profiler and a CCD camera scan the workpiece surface, generate 3D topography data and transmit it to the controller. The controller plans the welding path based on the weld trajectory and simultaneously calculates the initial position of the welding structure and the collaborative positioning parameters of the gripper.

[0024] During S3 welding, the temperature sensor monitors the thermal deformation of the workpiece in real time, the laser profiler tracks the weld deformation, and the controller integrates the displacement, temperature, and deformation data to generate compensation instructions, triggering the piezoelectric ceramic actuator to output micro-displacement to offset the thermal deformation error of the clamping point.

[0025] S4. When welding slag or droplets adhere to the surface of the protective cover, the micro stepper motor starts and drives the semicircular cleaning ring to rotate back and forth along the outer wall of the protective cover. The flexible scraper closely scrapes off the pollutants on the surface of the protective cover to maintain light transmittance. The metal droplet-repellent coating helps reduce metal splash adhesion.

[0026] Preferably, the step S3 further includes the following steps:

[0027] S31. Synchronously adjust the first transmission assembly and the second transmission assembly to adjust the spatial position of the welding structure, and dynamically correct the welding gun angle by adjusting the assembly to ensure welding accuracy.

[0028] Compared with the prior art, the present invention has the following beneficial effects:

[0029] 1. The present invention utilizes a first transmission assembly and a second transmission assembly in conjunction with a first hydraulic cylinder and an angle adjustment assembly to provide flexible and precise three-dimensional spatial positioning and posture adjustment capabilities for the welded structure. Multiple independently driven robotic grippers are equipped with floating pressure heads, embedded with high-temperature resistant liners to protect the workpiece, and integrated with pressure and temperature sensors to monitor the clamping status in real time, ensuring secure clamping while preventing damage. A laser profilometer and a CCD camera are used to capture three-dimensional workpiece deformation data in real time. A controller integrates this data with the weld trajectory, the robot's posture, and the gripping force, displacement, and temperature information fed back by the grippers to drive the adjustment assembly for posture compensation. Furthermore, the controller can trigger the piezoelectric ceramic actuator to output micron-level displacement in real time, actively offsetting local thermal deformation caused by welding heat input, thereby improving welding accuracy, joint quality, and process stability.

[0030] 2. In the present invention, the first chute and the first slider in the first transmission assembly form a rigid guide pair. The first threaded rod is synchronously linked by the transmission flywheel and the transmission chain, and is driven by the first servo motor to achieve smooth long-stroke movement of the movable plate along the top frame. The second transmission assembly guides the second slider through the second chute on the movable plate. The second servo motor directly drives the second threaded rod, driving the movable plate to perform precise short-distance translation, ensuring stability during the welding process.

[0031] 3. The transparent aluminum nitride ceramic protective cover of this invention combines high light transmittance with high-temperature and thermal shock resistance, ensuring stable operation of the laser profiler and CCD camera under the strong light and high-temperature environment of welding. The metal droplet-repellent coating on its surface effectively blocks molten metal splash and adhesion, significantly reducing the risk of optical window contamination. The semicircular cleaning ring, with its built-in flexible scraper, tightly adheres to the outer wall of the protective cover and is driven by a micro-stepping motor to reciprocate along the cover body, automatically scraping away residual contaminants and significantly improving cleaning efficiency and continuity. Furthermore, it can simultaneously achieve the triple functions of optical protection, pollution control, and intelligent self-cleaning under welding conditions, ensuring the long-term and accurate operation of the detection system.

[0032] 4. The present invention integrates shock-absorbing foot pads at the four corners of the bottom of the processing base, which are rigidly connected to the base through bolts to form a high-efficiency vibration absorption system. This can isolate high-frequency impacts and low-frequency resonances during equipment operation, ensuring high-precision processing stability. The pressure sensors and temperature sensors arranged in a circular array inside the floating pressure head are directly embedded between the high-temperature resistant liner and the pressure head body, realizing real-time closed-loop control of the workpiece pressing force and dynamic monitoring of the interface temperature field, thereby reducing processing errors caused by vibration interference, simultaneously preventing overheating damage, and improving process consistency and equipment life. BRIEF DESCRIPTION OF THE DRAWINGS

[0033] Figure 1 It is a three-dimensional schematic diagram of the overall structure of the present invention;

[0034] Figure 2 This is a schematic top view of the overall structure of the present invention;

[0035] Figure 3 For the present invention Figure 2 Schematic diagram of the structure at A in the middle;

[0036] Figure 4 It is a front view schematic diagram of the overall structure of the present invention;

[0037] Figure 5 It is a schematic diagram of the protective cover structure of the present invention;

[0038] Figure 6 This is a schematic diagram of the floating pressure head structure of the present invention;

[0039] Figure 7 This is a schematic diagram of the top view of the metal belt structure of the present invention;

[0040] Figure 8 Schematic diagram of the workflow of the present invention.

[0041] In the figure: 1. Machining base; 2. Support rod; 3. Top frame; 4. Moving plate; 5. Moving plate; 6. First hydraulic cylinder; 7. Fixed plate; 8. Robot gripper; 9. Floating pressure head; 10. High-temperature resistant gasket; 11. Welding structure; 12. Pressure sensor; 13. Temperature sensor; 14. Piezoelectric ceramic actuator; 15. Laser profiler; 16. CCD camera; 17. Controller; 18. First slide; 19. First slider; 20. First threaded rod; 21. Transmission flywheel; 22. Transmission chain; 23. First servo motor; 24. Protective cover; 25. Second slide; 26. Second slider; 27. Second threaded rod; 28. Second servo motor; 29. ​​Third servo motor; 30. Rotating disk; 31. Rotating shaft; 32. Fourth servo motor; 33. Protective cover; 34. Semicircular cleaning ring; 35. Micro stepping motor; 36. Flexible scraper; 37. Shock-absorbing foot pad; 38. Damper; 39. Third slide. DETAILED DESCRIPTION

[0042] The following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of the present invention.

[0043] In the description of the present invention, it should be noted that the terms "upper," "lower," "inner," "outer," "front end," "rear end," "both ends," "one end," "the other end," and the like, indicating orientations or positional relationships, are based on the orientations or positional relationships shown in the accompanying drawings and are intended solely to facilitate and simplify the description of the present invention. They are not intended to indicate or imply that the devices or components referred to must have, be constructed, or operate in a specific orientation, and therefore should not be construed as limiting the present invention. Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance.

[0044] In the description of the present invention, it should be noted that, unless otherwise expressly specified or limited, the terms "installed," "provided with," "connected," etc., should be understood in a broad sense. For example, "connected" may refer to a fixed connection, a detachable connection, or an integral connection; it may refer to a mechanical connection or an electrical connection; it may refer to a direct connection or an indirect connection through an intermediate medium; it may refer to internal communication between two components. Those skilled in the art will be able to understand the specific meanings of the above terms in the present invention based on specific circumstances.

[0045] Example 1: Please refer to Figure 1 、 Figure 4 、 Figure 6 and Figure 7 The present invention provides an embodiment of a fixing and adjusting device for robot automatic welding, comprising a processing base 1, a support rod 2 and a top frame 3. The four corners of the top of the processing base 1 are provided with support rods 2, and the top of the support rods 2 is fixedly connected to the top frame 3;

[0046] The top of the top frame 3 is movably connected to a movable plate 4, and a first transmission assembly is provided on the top of the top frame 3. The first transmission assembly is used to drive the movable plate 4 to move in the horizontal direction. The top of the movable plate 4 is movably connected to a movable disk 5. The movable plate 4 is provided with a second transmission assembly. The second transmission assembly is used to drive the movable disk 5 to move;

[0047] A first hydraulic cylinder 6 is embedded on the top of the movable plate 5. The bottom of the first hydraulic cylinder 6 is fixedly connected to a fixed plate 7. The bottom of the fixed plate 7 is provided with an adjustment component for adjusting the welding angle of the welding structure 11.

[0048] A clamping assembly is provided on the top of the processing base 1. The clamping assembly is used to restrict and fix the object to be welded. The clamping assembly includes several sets of independently driven robot grippers 8. The output end of the robot grippers 8 is provided with a floating pressure head 9. The floating pressure head 9 is provided with a high-temperature resistant liner 10, a pressure sensor 12 and a temperature sensor 13. One end of the floating pressure head 9 is mechanically coupled to a piezoelectric ceramic actuator 14 for outputting micro-displacement in the clamping direction.

[0049] A laser profiler 15 and a CCD camera 16 are provided at the bottom of the top frame 3, which output the three-dimensional deformation data of the workpiece to the controller 17 in real time. The controller 17 is provided at the front end of one side of the top of the top frame 3, and the controller 17 is electrically connected to the robot gripper 8 to acquire the clamping force, displacement and temperature data in real time. Based on the weld trajectory, the robot posture and the collected data, the controller 17 synchronously drives the adjustment component and the clamping component to adjust the posture, and triggers the piezoelectric ceramic actuator 14 to output a micro-displacement to offset the thermal deformation.

[0050] Furthermore, the first transmission component and the second transmission component are combined with the first hydraulic cylinder 6 and the angle adjustment component to provide the welding structure 11 with flexible and precise three-dimensional spatial positioning and posture adjustment capabilities. Then, multiple independently driven robot grippers 8 are equipped with a floating pressure head 9, and a built-in high-temperature resistant pad 10 is used to protect the workpiece. The pressure sensor 12 and the temperature sensor 13 are integrated to monitor the clamping state in real time to ensure stable clamping while avoiding damage. The laser profiler 15 and the CCD camera 16 are used to capture the three-dimensional deformation data of the workpiece in real time. The controller 17 integrates this data, the weld trajectory, the robot posture, and the clamping force, displacement and temperature information fed back by the gripper, and can then drive the adjustment component for posture compensation. It can also trigger the piezoelectric ceramic actuator 14 to output micron-level displacement in real time, actively offsetting the local thermal deformation caused by the welding heat input, and improving the welding accuracy, joint quality and process stability.

[0051] Example 2: Please refer to Figure 1 、 Figure 2 、 Figure 3 and Figure 4 , an embodiment provided by the present invention: the first transmission assembly includes a first slide groove 18 opened at the top of the top frame 3, the inner wall of the first slide groove 18 is movably connected to the first slider 19, and the top of the first slider 19 is fixedly connected to the bottom of the movable plate 4, a first threaded rod 20 is threadedly provided on one side of the first slider 19, a transmission flywheel 21 is provided at one end of the first threaded rod 20, a transmission chain 22 is provided on the outer wall of the transmission flywheel 21, one end of one group of transmission flywheels 21 is connected to a first servo motor 23, one end of the first servo motor 23 is provided with a protective cover 24, and the protective cover 24 is fixedly installed on one side of the top frame 3, and the transmission flywheel 21 and the transmission chain 22 are located inside the protective cover 24;

[0052] The second transmission assembly includes a second chute 25 provided in the middle of the top of the movable plate 4 and third chute 39 on both sides of the top. The inner wall of the third chute 39 is movably connected to the outer wall of the output end of the first hydraulic cylinder 6. The inner wall of the second chute 25 is movably connected to the second slider 26, and the top of the second slider 26 is fixedly connected to the bottom of the fixed plate 7. A second threaded rod 27 is threadedly provided at one end of the second slider 26, and a second servo motor 28 is provided at one end of the second threaded rod 27. The second servo motor 28 is fixedly provided on the front surface of the top frame 3.

[0053] Furthermore, through the first transmission component, the first slide 18 and the first slider 19 form a rigid guide pair, the first threaded rod 20 is synchronously linked through the transmission flywheel 21 and the transmission chain 22, and driven by the first servo motor 23, so as to realize the smooth movement of the movable plate 4 along the long stroke of the top frame 3. The second transmission component guides the second slider 26 through the second slide 25 on the movable plate 4, and the second threaded rod 27 is directly driven by the second servo motor 28, driving the movable plate 5 to perform precise short-distance translation to ensure stability during the welding process.

[0054] Example 3: Please refer to Figure 1 and Figure 4 In one embodiment of the present invention, the adjustment assembly includes a third servo motor 29 mounted on the bottom of the fixed plate 7. A rotating plate 30 is provided at the output end of the third servo motor 29. A set of rotating shafts 31 are fixed to the bottom of the rotating plate 30. A fourth servo motor 32 is provided on one side of the rotating shaft 31. The output end of the fourth servo motor 32 passes through a welding structure 11 on one side of the rotating shaft 31.

[0055] Furthermore, a third servo motor 29 is embedded and installed at the bottom of the fixed disk 7 and drives the rotating disk 30 to achieve horizontal rotation. At the same time, the rotating shaft 31 fixed at the bottom of the rotating disk 30 and the fourth servo motor 32 arranged on the side thereof are used to drive the welding structure 11 passing through the rotating shaft 31, thereby realizing independent, precise and stable motion adjustment of the welding structure 11 in multiple degrees of freedom in space, which is conducive to improving the flexibility and range of the position and posture adjustment of the welding structure 11, and provides reliable guarantee for the precise execution of complex welding trajectories or angles.

[0056] Example 4: Please refer to Figure 1 and Figure 5 In one embodiment of the present invention, a protective cover 33 is provided outside the laser profiler 15 and the CCD camera 16. The protective cover 33 is made of transparent aluminum nitride ceramic and coated with a metal-repellent droplet coating. A semicircular cleaning ring 34 is provided on the outer wall of the protective cover 33, and a micro-stepping motor 35 is provided at one end of the semicircular cleaning ring 34.

[0057] A flexible scraper 36 is embedded in the inner wall of the semicircular cleaning ring 34, and the flexible scraper 36 is tightly squeezed against the outer surface of the protective cover 33. The micro stepping motor 35 drives the semicircular cleaning ring 34 to rotate back and forth along the outer wall of the protective cover 33.

[0058] Furthermore, the transparent aluminum nitride ceramic protective cover 33 has high light transmittance, high temperature resistance and thermal shock resistance, ensuring that the laser profiler 15 and the CCD camera 16 can work stably under the strong light and high temperature environment of welding. The metal droplet-repellent coating on its surface can effectively prevent the splashing and adhesion of molten metal, greatly reducing the risk of optical window contamination. The semicircular cleaning ring 34 fits tightly with the outer wall of the protective cover 33 through the built-in flexible scraper 36, and is driven by a micro stepping motor 35 to rotate back and forth along the cover body to automatically scrape off residual pollutants, significantly improving cleaning efficiency and continuity, and thus being able to simultaneously achieve the triple functions of optical protection, pollution prevention and control, and intelligent self-cleaning under welding conditions, ensuring the long-term and accurate operation of the detection system.

[0059] Example 5: Please refer to Figure 1 and Figure 4 The present invention provides an embodiment in which a shock-absorbing pad 37 is fixedly provided at each of the four corners of the bottom of the processing base 1, a damper 38 is provided on the inner wall of the shock-absorbing pad 37, and the top of the damper 38 is provided on the bottom of the processing base 1 and connected by bolts;

[0060] The floating pressure head 9 is provided with a pressure sensor 12 and a temperature sensor 13 arranged in a circular array between the high temperature resistant liner 10 and the floating pressure head 9;

[0061] Furthermore, by processing the shock-absorbing foot pads 37 and integrated dampers 38 set at the four corners of the bottom of the base 1, which are rigidly connected to the base through bolts, a high-efficiency vibration absorption system is formed, which can isolate high-frequency impacts and low-frequency resonances during equipment operation and ensure high-precision processing stability. The pressure sensor 12 and temperature sensor 13 arranged in a circular array inside the floating pressure head 9 are directly embedded between the high-temperature resistant liner 10 and the pressure head body to achieve real-time closed-loop control of the workpiece pressing force and dynamic monitoring of the interface temperature field, thereby reducing the processing error caused by vibration interference, simultaneously preventing overheating damage, and improving process consistency and equipment life.

[0062] Example 6: Please refer to Figure 8 The present invention provides an embodiment in which the working steps of the fixing and adjusting device for automatic welding of the robot are as follows:

[0063] S1. Place the workpiece to be welded on the processing base 1 and start the clamping assembly. Each robot gripper 8 drives the floating pressure head 9 to contact the workpiece surface. The initial clamping force is applied through the high-temperature resistant liner 10. The pressure sensor 12 feeds back the clamping force data to the controller 17 in real time to ensure uniform distribution of the clamping force.

[0064] S2. The controller 17 drives the first servo motor 23 to drive the transmission chain 22 according to the preset weld trajectory, so that the movable plate 4 moves horizontally along the first slide 18, and drives the second servo motor 28 to rotate the second threaded rod 27 to drive the movable plate 5 to move along the second slide 25. The laser profiler 15 and the CCD camera 16 scan the workpiece contour to generate three-dimensional deformation data to assist in calibrating the initial position;

[0065] S3. The adjustment assembly is activated. The third servo motor 29 drives the rotating disk 30 to rotate and adjust the lateral inclination angle of the welding structure 11. The fourth servo motor 32 drives the rotating shaft 31 to adjust the longitudinal pitch angle of the welding structure 11. Ensure that the welding gun axis is aligned with the weld tangent line.

[0066] S4, the temperature sensor 13 monitors the thermal deformation of the workpiece, the pressure sensor 12 detects the fluctuation of the clamping force, and the laser profiler 15 continuously outputs the workpiece deformation data to the controller 17. The controller 17 calculates the thermal deformation offset and drives synchronously. The robot gripper 8 fine-tunes the position to offset the macro deformation. The piezoelectric ceramic actuator 14 outputs nanometer-level micro-displacement and compensates the stress caused by local thermal expansion through the floating indenter 9.

[0067] S5. When welding spatter adheres to the protective cover 33, the micro-stepping motor 35 drives the semicircular cleaning ring 34 to rotate, and the flexible scraper 36 scrapes off the slag on the surface of the protective cover 33. The metal droplet-repellent coating reduces the adhesion of molten metal;

[0068] S6. The shock-absorbing foot pad 37 at the bottom of the processing base 1 absorbs equipment vibration through the damper 38 to ensure welding accuracy;

[0069] S7. After welding is completed, all components are reset, the clamping component releases the workpiece, the welding structure 11 is lifted, the moving plate 4 and the moving disk 5 return to their initial positions, and the piezoelectric ceramic actuator 14 releases the micro-displacement output.

[0070] Working principle: Through the first transmission component and the second transmission component combined with the first hydraulic cylinder 6 and the angle adjustment component, the welding structure 11 is provided with flexible and accurate three-dimensional spatial positioning and posture adjustment capabilities, and then through multiple independently driven robot grippers 8 equipped with floating pressure heads 9, embedded high-temperature resistant pads 10 to protect the workpiece, and integrated pressure sensors 12 and temperature sensors 13, real-time monitoring of the clamping status to ensure stable clamping while avoiding damage, and through the laser profiler 15 and CCD camera 16 to capture the three-dimensional deformation data of the workpiece in real time, the controller 17 integrates this data, weld trajectory, robot posture and the clamping force, displacement and temperature information fed back by the gripper, and can then drive the adjustment component for posture compensation, and can also trigger the piezoelectric ceramic actuator in real time. The device 14 outputs micron-level displacement, actively offsets the local thermal deformation caused by welding heat input, improves welding accuracy, joint quality and process stability, and through the first transmission component, the first slide 18 and the first slider 19 form a rigid guide pair, the first threaded rod 20 is synchronously linked by the transmission flywheel 21 and the transmission chain 22, and driven by the first servo motor 23 to achieve smooth movement of the moving plate 4 along the long stroke of the top frame 3, and the second transmission component guides the second slider 26 through the second slide 25 on the moving plate 4, and the second threaded rod 27 is directly driven by the second servo motor 28 to drive the moving disk 5 to perform precise short-distance translation to ensure stability during the welding process, and the third servo motor 29 is installed at the bottom of the fixed disk 7 and drives the rotating disk 30 to realize It now rotates horizontally, and at the same time, the rotating shaft 31 fixed to the bottom of the rotating disk 30 and the fourth servo motor 32 arranged on the side thereof drive the welding structure 11 which passes through the rotating shaft 31, realizing the independent, precise and stable motion adjustment of the welding structure 11 in multiple degrees of freedom in space, which is conducive to improving the flexibility and range of the position and posture adjustment of the welding structure 11, and provides reliable guarantee for the precise execution of complex welding trajectories or angles. The transparent aluminum nitride ceramic protective cover 33 has high light transmittance, high temperature resistance and thermal shock resistance, ensuring that the laser profiler 15 and the CCD camera 16 can work stably under the strong light and high temperature environment of welding. The metal droplet-repellent coating on its surface can effectively prevent the splashing and adhesion of molten metal, greatly reducing the risk of optical window contamination. The semicircular cleaning ring 34 is tightly fitted with the outer wall of the protective cover 33 through the built-in flexible scraper 36, and is driven by the micro stepping motor 35 to reciprocate along the cover body to automatically scrape off residual pollutants, significantly improving cleaning efficiency and continuity, and thus being able to simultaneously achieve the triple functions of optical protection, pollution prevention and control, and intelligent self-cleaning under welding conditions, ensuring the long-term and accurate operation of the detection system. The shock-absorbing foot pads 37 and integrated dampers 38 are set at the four corners of the bottom of the processing base 1 and are rigidly connected to the base through bolts to form an efficient vibration absorption system, which can isolate high-frequency impacts and low-frequency resonances during equipment operation, ensuring high-precision processing stability. The pressure sensor 12 and temperature sensor 13 arranged in a ring array inside the floating pressure head 9 are directly embedded between the high-temperature resistant liner 10 and the pressure head body.Real-time closed-loop control of the workpiece pressing force and dynamic monitoring of the interface temperature field are achieved, thereby reducing machining errors caused by vibration interference, simultaneously preventing overheating damage, and improving process consistency and equipment life.

[0071] It will be apparent to those skilled in the art that the present invention is not limited to the details of the exemplary embodiments described above and that the invention can be embodied in other specific forms without departing from the spirit or essential characteristics of the invention. Therefore, the embodiments should be considered in all respects as illustrative and non-restrictive, and the scope of the invention is defined by the appended claims, not the foregoing description, and all variations within the meaning and range of equivalents of the claims are intended to be included therein. Any reference sign in a claim should not be construed as limiting the claim to which it relates.

Claims

1. A fixing and adjusting device for robot automatic welding, comprising a processing base (1), a support rod (2) and a top frame (3), characterized in that: Support rods (2) are provided at the four corners of the top of the processing base (1), and a top frame (3) is fixedly connected to the top of the support rods (2); The top of the top frame (3) is movably connected to a movable plate (4), the top of the top frame (3) is provided with a first transmission assembly, the first transmission assembly is used to drive the movable plate (4) to move in a horizontal direction, the top of the movable plate (4) is movably connected to a movable disk (5), the movable plate (4) is provided with a second transmission assembly, the second transmission assembly is used to drive the movable disk (5) to move; A first hydraulic cylinder (6) is embedded on the top of the movable plate (5), a fixed plate (7) is fixedly connected to the bottom of the first hydraulic cylinder (6), and an adjustment component is provided at the bottom of the fixed plate (7), and the adjustment component is used to adjust the welding angle of the welding structure (11); A clamping assembly is provided on the top of the processing base (1), and the clamping assembly is used to restrict and fix the object to be welded. The clamping assembly includes a plurality of groups of independently driven robot grippers (8), and a floating pressure head (9) is provided at the output end of the robot gripper (8). A high-temperature resistant liner (10), a pressure sensor (12) and a temperature sensor (13) are provided in the floating pressure head (9). One end of the floating pressure head (9) is mechanically coupled with a piezoelectric ceramic actuator (14) for outputting micro-displacement in the clamping direction. A laser profiler (15) and a CCD camera (16) are provided at the bottom of the top frame (3), and the three-dimensional deformation data of the workpiece are output to the controller (17) in real time. The controller (17) is provided at the front end of one side of the top of the top frame (3), and the controller (17) is electrically connected to the robot gripper (8) to collect and obtain the clamping force, displacement and temperature data in real time. Based on the weld trajectory, the robot posture and the collected data, the controller (17) synchronously drives the adjustment component and the clamping component to adjust the posture, and triggers the piezoelectric ceramic actuator (14) to output a micro-displacement to offset the thermal deformation.

2. A fixing and adjusting device for robot automatic welding according to claim 1, characterized in that: The first transmission assembly includes a first slide groove (18) opened at the top of the top frame (3), the inner wall of the first slide groove (18) is movably connected to a first slider (19), and the top of the first slider (19) is fixedly connected to the bottom of the movable plate (4), a first threaded rod (20) is provided through a thread on one side of the first slider (19), a transmission flywheel (21) is provided at one end of the first threaded rod (20), and a transmission chain (22) is provided on the outer wall of the transmission flywheel (21), one end of one group of the transmission flywheels (21) is connected to a first servo motor (23), one end of the first servo motor (23) is provided with a protective cover (24), and the protective cover (24) is fixedly installed on one side of the top frame (3), and the transmission flywheel (21) and the transmission chain (22) are located inside the protective cover (24).

3. The fixing and adjusting device for robot automatic welding according to claim 1, characterized in that: The second transmission assembly includes a second slide groove (25) opened in the middle of the top of the movable plate (4) and third slide grooves (39) on both sides of the top, and the inner wall of the third slide groove (39) is movably connected to the outer wall of the output end of the first hydraulic cylinder (6), the inner wall of the second slide groove (25) is movably connected to the second slider (26), and the top of the second slider (26) is fixedly connected to the bottom of the fixed plate (7), one end of the second slider (26) is threadedly provided with a second threaded rod (27), one end of the second threaded rod (27) is provided with a second servo motor (28), and the second servo motor (28) is fixedly provided on the front of the top frame (3).

4. The fixing and adjusting device for robot automatic welding according to claim 1, characterized in that: The adjustment assembly includes a third servo motor (29) mounted on the bottom of the fixed disk (7), an output end of the third servo motor (29) is provided with a rotating disk (30), a group of rotating shafts (31) are fixed to the bottom of the rotating disk (30), a fourth servo motor (32) is provided on one side of the rotating shaft (31), and a welding structure (11) is provided on one side of the output end of the fourth servo motor (32) passing through the rotating shaft (31).

5. The fixing and adjusting device for robot automatic welding according to claim 1, characterized in that: A protective cover (33) is provided outside the laser profiler (15) and the CCD camera (16). The protective cover (33) is made of transparent aluminum nitride ceramic and is coated with a metal-repellent droplet coating. A semicircular cleaning ring (34) is provided on the outer wall of the protective cover (33). A micro-stepping motor (35) is provided at one end of the semicircular cleaning ring (34).

6. A fixing and adjusting device for robot automatic welding according to claim 5, characterized in that: A flexible scraper (36) is embedded in the inner wall of the semicircular cleaning ring (34), and the flexible scraper (36) is tightly squeezed with the outer surface of the protective cover (33). The micro stepping motor (35) drives the semicircular cleaning ring (34) to rotate back and forth along the outer wall of the protective cover (33).

7. The fixing and adjusting device for robot automatic welding according to claim 1, characterized in that: Shock-absorbing pads (37) are fixedly provided at the four corners of the bottom of the processing base (1), a damper (38) is provided on the inner wall of the shock-absorbing pad (37), and the top of the damper (38) is provided on the bottom of the processing base (1) and connected by bolts.

8. The fixing and adjusting device for robot automatic welding according to claim 1, characterized in that: The floating pressure head (9) is provided with a pressure sensor (12) and a temperature sensor (13) which are arranged in a circular array between the high-temperature resistant liner (10) and the floating pressure head (9).

9. The method for using the fixing and adjusting device for robot automatic welding according to claim 6, characterized in that: The working steps of the fixing and adjusting device for automatic welding of the robot are as follows: S1. The workpiece to be welded is placed on the processing base (1). The controller (17) starts the clamping assembly and drives multiple sets of independently controlled robot grippers (8) to move to a preset position. The floating pressure head (9) contacts the workpiece surface. The clamping force is fed back in real time by the pressure sensor (12). The temperature of the contact point is monitored by the temperature sensor (13) to achieve adaptive flexible clamping. S2, a laser profiler (15) and a CCD camera (16) scan the workpiece surface, generate three-dimensional topography data and transmit it to a controller (17). The controller (17) plans the welding path based on the weld trajectory and simultaneously calculates the initial posture of the welding structure (11) and the collaborative positioning parameters of the clamping jaws (8); S3. During the welding process, the temperature sensor (13) monitors the thermal deformation of the workpiece in real time, the laser profiler (15) tracks the weld deformation, and the controller (17) fuses the displacement, temperature, and deformation data to generate compensation instructions, triggering the piezoelectric ceramic actuator (14) to output micro-displacement to offset the thermal deformation error of the clamping point; S4. When welding slag or droplets adhere to the surface of the protective cover (33), the micro stepper motor (35) starts to drive the semicircular cleaning ring (34) to rotate back and forth along the outer wall of the protective cover (33). The flexible scraper (36) closely scrapes away the pollutants on the surface of the protective cover to maintain light transmittance. The metal droplet-repellent coating helps reduce metal splash adhesion.

10. The method for using the fixing and adjusting device for robot automatic welding according to claim 9, characterized in that: The S3 also includes the following steps: S31, synchronously adjusting the first transmission assembly and the second transmission assembly, adjusting the spatial position of the welding structure (11), and dynamically correcting the welding gun angle by adjusting the assembly to ensure welding accuracy.

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