A plasma welding robot

Abstract

The invention discloses a plasma welding robot, including a track, a welding trolley and a plasma power supply. The trolley is provided with a driving walking mechanism and its bracket, a welding gun angle and position adjustment mechanism and a welding gun bracket; the walking mechanism provides motion control in the X-axis track direction and the Y-axis perpendicular track direction; the angle adjustment mechanism is provided with an angle sensor to realize the rotation adjustment of the R-axis welding gun angle; the welding gun position adjustment mechanism provides the Z-axis front and rear direction and the AVC-axis welding gun fire line direction position adjustment, and the laser tracking sensor controls the ZX-axis laser point to deviate from the welding line position adjustment; the trolley is provided with three contact sensors, two of which are used to judge the curved surface position to control the trolley walking and the welding gun angle adjustment, and one is used to measure the local deformation of the plate to realize the automatic adjustment of the arc height. The invention adopts a guide rail that can be quickly installed, and controls the 6-axis linkage robot and the weld seam laser automatic tracking system through PLC to realize the automatic welding of the overlap seam of stainless steel corrugated plates in all positions.

Description

Technical Field

[0001] The invention relates to a welding robot, in particular to a plasma welding robot. Background Art

[0002] The main screen wall of the Mark III membrane-type LNG ship cargo containment system is made of 1.2mm thick stainless steel plates (304L) with crisscross corrugations, which are overlapped and welded. The welding is relatively complicated and the welding workload is huge. The manual welding method is used, and the welding production efficiency is low and the welding quality is difficult to control. Therefore, a high-precision automatic welding robot is needed to meet the needs of automated welding; the welding robot especially needs to meet the requirements of fast and flexible change of the welding gun angle under the condition that the position of the welding gun fire point remains unchanged, so as to adapt to the optimal and reasonable welding gun angle required for the automated welding of the complex shape of the Mark III membrane-type LNG ship stainless steel corrugated plate, and ensure the stable and reliable quality of the welds; the welding robot needs to be able to automatically walk over the wave, and control the welding parameters in sections when passing the wave; the welding arc length needs to be automatically adjusted; the welding line direction needs to be automatically tracked and adjusted with high precision. Summary of the invention

[0003] The main purpose of the present invention is to provide a plasma welding robot which can effectively solve the problems in the background technology.

[0004] To achieve the above object, the technical solution adopted by the present invention is:

[0005] A plasma welding robot comprises a track, a welding carriage, a plasma welding power source, a PLC control box with a touch screen, a wire control box or a wireless remote control. The welding carriage is provided with a driving travel mechanism and its bracket, a welding gun angle adjustment mechanism, a welding gun position adjustment mechanism and a welding gun bracket, a welding gun is provided on the welding gun bracket, an R-axis motor is provided on the driving travel mechanism bracket, the welding gun angle adjustment mechanism is arranged between the welding gun bracket and the driving travel mechanism bracket, and the welding gun realizes angle adjustment through the welding gun angle adjustment mechanism; the welding gun position adjustment mechanism is provided with a welding gun bracket, and the welding gun is located on the welding gun bracket; the welding gun position adjustment mechanism is provided with a position adjustment R-axis motor, which realizes position tracking and adjustment of the welding fire point; the welding carriage is also provided with three contact sensors, two of which are arranged on the welding gun position adjustment mechanism bracket, used to judge the position of the curved surface and feed back data to control the carriage travel and the welding gun angle adjustment mechanism to adjust the angle of the welding gun; the other is arranged on the welding gun bracket, used to measure the local deformation of the plate and feed back data to adjust the height of the welding gun to realize automatic adjustment of the arc height. According to different welding positions, PLC control is used to call corresponding welding parameters such as welding speed, welding current, plasma gas flow, pulse frequency, pulse width, etc., to ensure the stability of weld quality.

[0006] Preferably, the walking mechanism includes an X-axis position adjustment mechanism and a Y-axis position adjustment mechanism. The walking mechanism drives the entire welding robot to move in the X-axis track direction, and can also drive the welding gun angle adjustment mechanism, the welding gun position adjustment mechanism and its bracket to move along the Y-axis vertical track direction; the welding gun angle adjustment mechanism realizes the rotation adjustment of the R-axis welding gun angle; the welding gun position adjustment mechanism includes a Z-axis front-to-back direction position adjustment mechanism and an AVC-axis welding gun fire line direction position adjustment mechanism; a laser tracking sensor is also provided on the welding gun position adjustment mechanism bracket, which is used to control the ZX-axis laser point to deviate from the welding line position adjustment mechanism.

[0007] Preferably, the Y-axis position adjustment mechanism includes a vertical slide rail frame arranged on a driving walking mechanism bracket, a vertical slider arranged in the vertical slide rail frame, a Z-axis motor fixed on the vertical slide rail frame, and a vertical screw rod threadedly connected to the vertical slide rail frame and vertically arranged, and a gear plate is connected to the end of the output shaft of the Z-axis motor, and the gear plate is meshed with the vertical screw rod.

[0008] Preferably, both sides of the vertical slide rail frame are provided with slide rail frame mounting frames that can slide vertically along the vertical slide rail frame, the welding gun position adjustment mechanism includes a transverse slide rail frame arranged on the slide rail frame mounting frame, a transverse slider arranged in the transverse slide rail frame, an AVC axis motor fixed on the transverse slide rail frame, and a transverse screw rod threadedly connected to the transverse slide rail frame and transversely arranged, the output shaft end of the AVC axis motor is connected to a gear plate, the gear plate is meshed with the transverse screw rod, and the transverse slide rail frame is connected to the vertical slider; the welding head mechanism is fixed on the transverse slider.

[0009] Preferably, the laser tracking sensor is arranged on the welding gun bracket, and the laser tracking sensor is connected to the welding gun bracket through a horizontal fine-tuning mechanism, and the horizontal fine-tuning mechanism is a servo motor and a screw guide rail.

[0010] Preferably, the welding gun angle adjustment mechanism includes a rotary indexing mechanism that adopts a combination of a fan-shaped gear transmission and a sprocket chain transmission; the rotary indexing mechanism includes a fan-shaped gear plate, and the rotary indexing mechanism and the above-mentioned two brackets are connected through a slide table of an arc-shaped slide rail installed on the fan-shaped gear plate; the fan-shaped gear plate is connected to the driving walking mechanism bracket and rotates along the arc-shaped slide rail through gear transmission; the welding gun position adjustment mechanism bracket is connected to the fan-shaped gear plate and rotates along the arc-shaped slide rail through the sprocket chain transmission; the fan-shaped gear plate and the two arc-shaped slide rails of the welding gun angle adjustment mechanism are distributed on concentric circle arcs with the same center and different radii, and are distributed around the same center, ensuring that the welding gun angle adjustment mechanism The firepower point of the welding gun remains unchanged no matter how much the angle of the welding gun is swung left and right - it always refers to the center of the concentric circle, which is conducive to timely, convenient and rapid adjustment of the welding gun angle at different welding positions without affecting the firepower point, so as to achieve a stable welding firepower point and a reasonable welding gun angle that needs to be adjusted at any time. The two are organically unified to meet the requirements of automated control of rapid changes in welding positions of complex-shaped welded parts.

[0011] Preferably, the rotary indexing mechanism realizes rotation through a gear transmission mechanism, which includes a sector gear arranged on the outer edge of the sector gear plate and a gear arranged at the output end of the driving mechanism. The driving gear meshes with the sector gear, thereby driving the sector gear plate to rotate through gear transmission.

[0012] Preferably, the rotary indexing mechanism is rotated by a sprocket chain transmission mechanism, and the sprocket chain transmission mechanism includes two connecting arms arranged on the top of the fan-shaped indexing disk and connected to the driving walking mechanism bracket, which are respectively connected to the two ends of the chain; the chain includes an inner section and an outer section, the outer section is attached to the outer side wall of the fan-shaped gear disk, and the fan-shaped gear disk is provided with an arc groove on the side near the welding gun, the inner section is placed in the arc groove and extends to the middle of the arc groove and is connected to the welding gun position adjustment mechanism bracket; sprockets are provided at the ends of the arc groove on the fan-shaped gear disk, and the sprockets are meshed with the chain; on the already rotating fan-shaped gear disk, the sprocket and the chain are meshed to drive the welding gun position adjustment mechanism bracket to rotate relative to the fan-shaped gear disk, thereby doubling the rotation angle of the welding gun position adjustment mechanism bracket, which is beneficial to maximize the rotation angle in a limited space.

[0013] Preferably, the fan gear is located on the outer wall of the fan gear disk; arc-shaped slide rail grooves are provided on the front and back sides of the fan gear disk, and slide rails and slides clamped on the slide rails are provided at the bottom of the slide rail grooves on both sides, and the slides on both sides are respectively connected to the welding gun position adjustment mechanism bracket and the driving walking mechanism bracket. The double slide rail structure is conducive to structural stability, smooth movement, and improved motion control accuracy; guide grooves are also provided on the side walls of the slide rail grooves, and guide wheels are provided on the welding gun position adjustment mechanism bracket and the driving walking mechanism bracket, and the guide wheels extend into the guide grooves and cooperate with the guide grooves; the slide rail grooves are respectively arranged on the lower side walls of the slide rail groove on one side of the welding gun position adjustment mechanism bracket and the upper side walls of the slide rail groove on one side of the driving walking mechanism bracket; the slide rail on one side of the welding gun position adjustment mechanism bracket is arranged in the middle of the slide rail groove, and the slide rail on one side of the driving walking mechanism bracket is arranged on the lower side of the slide rail groove.

[0014] Preferably, the R-axis motor is connected to a driven gear box, and the rotation of the fan-shaped gear plate drives the driven gear to rotate; the driven gear box is connected to an electronic protractor, the electronic protractor is connected to a PLC controller, and the PLC controller is connected to a driving mechanism to control the rotation angle position through the PLC. A reasonable welding gun angle can be set at any time to ensure stable welding quality.

[0015] The present invention has the following beneficial effects: the present invention aims at the Mark III LNG ship main shield which is a complex structure of criss-crossed corrugated stainless steel plates. Through PLC control, a 6-axis linkage robot and a quickly installable guide rail system are used to realize automatic welding of stainless steel corrugated plates in all positions of the cabin; through PLC control, a high-precision laser sensor with a spot width of 0.5mm is used, and the height difference of the overlapped welded steel plates is used as the calculation basis. The spot offset correction method is used to determine the welding reference line, and automatic precision welding is realized, and the welding position accuracy is within 0.1mm; through the independently developed fan-shaped follow-up welding gun angle adjustment device based on sprocket drive, it can meet the requirement of keeping the position of the welding gun fire point unchanged. Through PLC control, it can quickly and flexibly change the angle of the welding gun's firepower point through the indexing teeth; it ensures the stability of rotation through the cooperation of the guide wheels and guide grooves, slide rails and slides on both sides and the transmission mechanism, thereby ensuring the stability of the weld quality; using 3 contact sensors, the PLC calculates and determines the three-dimensional spatial position of the welding gun's firepower point relative to the weld, and automatically adjusts the welding gun angle to keep the welding gun at the best welding angle; based on the complex corrugation welding gun firepower point position tracking system and plasma welding intelligent control system, the PLC control is used according to different welding positions to call the corresponding welding speed, welding current, plasma gas flow, pulse frequency, pulse width and other welding parameters to ensure the stability of the weld quality. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 It is a schematic diagram of the overall structure of the present invention.

[0017] Figure 2 It is a schematic diagram of the overall structure of the present invention (excluding the outer shell).

[0018] Figure 3 and Figure 4 It is a schematic diagram of the overall structure of the present invention (excluding the walking mechanism).

[0019] Figure 5 and Figure 6 The three-dimensional diagram of the welding gun angle adjustment mechanism (different angles).

[0020] Figure 7 It is a structural schematic diagram of the Y-axis position adjustment mechanism.

[0021] Figure 8 It is a structural schematic diagram of the X-axis position adjustment mechanism.

[0022] In the figure: 001—AVC axis motor, 002—Z axis motor, 003—X axis motor, 004—Y axis motor, 005—ZX axis motor, 006—digital fiber optic probe, 1—driving walking mechanism bracket, 2—welding gun position adjustment mechanism bracket, 3—sector gear plate, 300—welding gun angle adjustment mechanism, 301—indexing teeth, 302—grooves, 3021—guide grooves, 303—arc grooves, 304—slide rails, 305—slide table, 306—guide wheels, 307—connecting parts, 4—welding gun, 401—Y axis position adjustment mechanism, 4011—vertical slide rail frame, 4012— Vertical slider, 4013—vertical screw rod, 402—welding gun position adjustment mechanism, 4021—transverse slide rail frame, 4022—transverse slider, 4023—slide rail frame mounting frame, 4024—transverse screw rod, 403—welding head, 404—contact sensor, 405—laser tracking sensor, 406—welding gun bracket, 407—slide rail, 408—slider, 5—R-axis motor, 6—sprocket chain transmission mechanism, 601—connecting frame, 602—connecting arm, 603—chain, 604—gear, 7—driven gear box, 8—electronic indexer, 9—track, 91—welding trolley. DETAILED DESCRIPTION

[0023] In order to make the technical means, creative features, objectives and effects achieved by the present invention easy to understand, the present invention is further explained below in conjunction with specific implementation methods.

[0024] Example

[0025] A plasma welding robot, such as Figure 1-Figure 8As shown, it includes a track 9 and a welding carriage 91, the welding carriage 91 is provided with a driving travel mechanism and its bracket 1, a welding gun angle adjustment mechanism, a welding gun position adjustment mechanism 402 and a welding gun bracket 2, the driving travel mechanism bracket 1 is provided with an R-axis motor R-axis motor 004, the welding gun angle adjustment mechanism 300 is arranged between the welding gun position adjustment mechanism bracket 2 and the driving travel mechanism bracket 1, and the welding gun 4 is adjusted in angle through the welding gun angle adjustment mechanism; the welding gun position adjustment mechanism 402 is provided with a welding gun bracket 406, and the welding gun 4 is located at the welding gun bracket 4 06; a position adjustment R-axis motor is provided on the welding gun position adjustment mechanism, which realizes the position tracking and adjustment of the welding fire point; three contact sensors 404 are also provided on the welding trolley 91, two of which are arranged on the welding gun position adjustment mechanism bracket, for judging the position of the curved surface and feeding back the data to control the movement of the trolley and the welding gun angle adjustment mechanism 300 to adjust the angle of the welding gun; the other is arranged on the welding gun bracket 406, for measuring the local deformation of the plate and feeding back the data to adjust the height of the welding gun to realize automatic adjustment of the arc height.

[0026] Preferably, the walking mechanism includes an X-axis position adjustment mechanism and a Y-axis position adjustment mechanism. The walking mechanism drives the entire welding robot to move in the X-axis track direction, and can also drive the welding gun angle adjustment mechanism 300, the welding gun position adjustment mechanism and the welding gun position adjustment mechanism bracket to move along the Y-axis vertical track direction; the welding gun angle adjustment mechanism realizes the rotation adjustment of the R-axis welding gun angle; the welding gun position adjustment mechanism includes a Z-axis front-to-back direction position adjustment mechanism and an AVC-axis welding gun fire line direction position adjustment mechanism; a laser tracking sensor is also provided on the welding gun position adjustment mechanism bracket, which is used to control the ZX-axis laser point to deviate from the welding line position adjustment mechanism.

[0027] Preferably, the Y-axis position adjustment mechanism 401 includes a vertical slide rail frame 4011 arranged on the driving walking mechanism bracket 1, a vertical slider 4012 arranged in the vertical slide rail frame 4011, a Z-axis motor 002 fixed on the vertical slide rail frame 4011, and a vertical screw rod 4013 threadedly connected to the vertical slide rail frame 4011 and vertically arranged, and the output shaft end of the Z-axis motor 002 is connected to a gear plate, and the gear plate is meshed with the vertical screw rod 4013.

[0028] Preferably, the vertical slide rail frame 4011 is provided with a slide rail frame mounting frame 4023 which can slide vertically along the vertical slide rail frame 4011 on both sides, and the welding gun position adjustment machine 402 comprises a transverse slide rail frame 4021 arranged on the slide rail frame mounting frame 4023, a transverse slider 4022 arranged in the transverse slide rail frame 4021, an AVC axis motor 001 fixed on the transverse slide rail frame 4021, and a transverse screw rod 4024 which is threadedly connected to the transverse slide rail frame 4021 and arranged transversely, the output shaft end of the AVC axis motor 001 is connected with a gear plate, the gear plate is meshed with the transverse screw rod 4024, and the transverse slide rail frame 4021 is connected with the vertical slider 4012; the welding head mechanism is fixed on the transverse slider 4022. The vertical slide rail frame 4011 is provided with a slide rail 407 and a slider 408 which cooperate with each other on both sides, and the transverse slide rail frame is fixed on the slider 408.

[0029] Preferably, the laser tracking sensor 405 is arranged on the welding gun bracket 406, and the laser tracking sensor 405 is connected to the welding gun bracket 406 through a horizontal fine-tuning mechanism. The horizontal fine-tuning mechanism is a servo motor and a screw guide rail, which uses a single beam of laser to irradiate the weld of the welding plate along the length direction of the weld; the laser beam is reflected from the weld and the areas on both sides of the weld to the photosensitive element to generate a corresponding electrical signal, and the measurement principle of single-point laser triangulation is used to calculate the distance between the laser generator and the welding plate, and the average value of the distance measured by the single beam of laser is calculated. If the average distance is greater than the arithmetic mean of the distance from the laser generator to the bottom plate surface and the distance from the laser generator to the top plate surface, the center of the laser beam is relative to the center of the weld. The center position of the laser beam is offset to the left toward the bottom plate; if the average distance is less than the arithmetic mean of the distance from the laser generator to the bottom plate surface and the distance from the laser generator to the top plate surface, the center of the laser beam is offset to the right toward the top plate relative to the center position of the weld; if the average distance D is equal to the arithmetic mean of the distance from the laser generator to the bottom plate surface and the distance from the laser generator to the top plate surface, the center of the laser beam coincides with the center position of the weld without any offset; when there is an offset in the welding trajectory, the offset amount and the offset direction signal are fed back to the various position adjustment mechanisms on the welding machine to adjust the welding trajectory; since this method can measure very small offsets, high-precision control and tracking can be achieved.

[0030] Preferably, the welding gun angle adjustment mechanism 300 includes a rotary indexing mechanism that adopts a combination of a sector gear transmission and a sprocket chain transmission; the rotary indexing mechanism includes a sector gear plate 3, and the rotary indexing mechanism and the above-mentioned two brackets 1, 2 are slidably connected through an arc slide rail 304 installed on the sector gear plate 3 and a slide table 305 connected to the two brackets 1, 2; the sector gear plate 3 is connected to the driving walking mechanism bracket 1, and rotates along the arc slide rail 304 through gear transmission; the welding gun position adjustment mechanism bracket 2 is connected to the sector gear plate 3, and rotates along the arc slide rail 304 through a sprocket chain transmission. This solution independently develops a fan-shaped follow-up welding gun angle adjustment device based on a sprocket chain drive, which can meet the needs of quickly and flexibly changing the welding gun firepower point angle through PLC control when the welding gun firepower point position remains unchanged, thereby ensuring the stability of the weld quality; the fan-shaped gear plate 3 and the two arc-shaped slide rails 304 of the welding gun angle adjustment mechanism 300 are all on concentric circles with the same center but different radii, and are distributed around the same center of the circle, ensuring that no matter how much the welding gun angle adjustment mechanism 300 swings left and right, the welding gun firepower point remains unchanged - always pointing to the center of the circle; at the same time, the double slide rail 304 structure is conducive to structural stability, smooth movement, and improved motion control accuracy.

[0031] Preferably, the rotary indexing mechanism realizes gear transmission through a gear transmission mechanism, which includes a sector gear 301 arranged on the outer edge of the sector gear plate 3 and a gear box arranged at the output end of the driving mechanism 5. The gear box is meshed with the sector gear 301, and the driving mechanism 5 drives the sector gear plate 3 to rotate through gear transmission.

[0032] Preferably, the rotary indexing mechanism realizes sprocket chain transmission through a sprocket chain transmission mechanism 6, which includes a connecting frame 601 arranged on the welding gun position adjustment mechanism bracket 2, a transmission mechanism arranged on the fan-shaped indexing plate, and a connecting piece 307 arranged on the welding gun bracket. The transmission mechanism includes two connecting arms 602 arranged on the top of the fan-shaped indexing plate and connected to the connecting frame 601 at one end, and two chains 603 respectively connected to the other ends of the connecting arms 602. The two chains 603 each include an inner section and an outer section, and the outer section is attached to the outer side wall of the fan-shaped indexing plate. An arc groove 303 is provided on the side of the fan-shaped indexing plate near the welding gun 4, and the inner section is placed in the arc groove 303 and extends to the middle of the arc groove 303 and is connected to the connecting piece 307; a gear 604 is provided on each side edge of the outer side wall of the fan-shaped indexing plate, and the gear 604 is meshed with the chain 603. This structure provides chain 603 transmission.

[0033] Preferably, arc-shaped slide rail grooves 302 are provided on both the front and back sides of the sector gear plate 3. The rotating mechanism includes slide rails 304 arranged at the bottom of the two slide rail grooves 302 and slides 305 clamped on the slide rails 304. The slides 305 on both sides are respectively connected to the welding gun position adjustment mechanism bracket 2 and the driving travel mechanism bracket 1; the rotating mechanism also includes a guide groove 3021 arranged on the side wall of the slide rail groove 302 and a guide wheel 306 arranged on the welding gun position adjustment mechanism bracket 2 and the driving travel mechanism bracket 1. The guide wheel 306 extends into the guide groove 3021 and cooperates with the guide groove 3021. The guide is provided by the slide rail 304 and the slide 305 as well as the guide groove 3021 and the guide wheel 306, and then the chain 603 transmission combination is formed into a sprocket transmission mode, which improves the stability and accuracy of the angle adjustment, and at the same time can indirectly enhance the stability and improve the quality of welding. The slide rail groove 302 is respectively arranged at the lower side wall of the slide rail groove 302 on one side of the welding gun position adjustment mechanism bracket 2 and the upper side wall of the slide rail groove 302 on one side of the driving walking mechanism bracket 1; the slide rail 304 on one side of the welding gun position adjustment mechanism bracket 2 is arranged in the middle of the slide rail groove 302, and the slide rail 304 on one side of the driving walking mechanism bracket 1 is arranged at the lower side of the slide rail groove 302; the slide rail 304 is an arc-shaped track with an I-shaped cross-section, which is detachably fixed to the rotating dividing plate by bolts.

[0034] As a preferred embodiment, the R-axis motor 004 is connected to a driven gear box 7, and the rotation of the sector gear plate 3 drives the driven gear to rotate; the driven gear box 7 is connected to an electronic indexer 8, and the electronic indexer 8 is connected to a PLC controller, and the PLC controller is connected to a driving mechanism to control the rotation angle position through the PLC, and a reasonable welding gun angle can be set at any time to ensure stable welding quality. According to different welding positions, the corresponding welding speed, welding current, plasma gas flow, pulse frequency, pulse width and other welding parameters are called through PLC control to ensure the stability of the quality of the weld.

[0035] Figure 7 The 001-AVC axis motor, 002-Z axis motor, 003-X axis motor, 004-Y axis motor, and 005-ZX axis motor shown in the figure are responsible for providing power to each mechanism to drive each mechanism to move in the corresponding direction.

[0036] The specific embodiments are merely explanations of the present invention and are not limitations of the present invention. After reading this specification, those skilled in the art may make modifications to the embodiments without any creative contribution as needed, which shall be included in the protection scope of the present invention.

Claims

1. A plasma welding robot, comprising a track, a welding carriage and a plasma power supply, the welding carriage is provided with a driving travel mechanism and its bracket, a welding gun angle adjustment mechanism, a welding gun position adjustment mechanism, a welding gun and its bracket; an R-axis motor is provided on the driving travel mechanism bracket, characterized in that: The welding gun angle adjustment mechanism is arranged between the position adjustment mechanism bracket and the driving walking mechanism bracket, and the welding gun angle is adjusted by the angle adjustment mechanism; the welding gun position adjustment mechanism is provided with a welding gun bracket, and the welding gun is located on the welding gun bracket; the welding gun position adjustment mechanism is provided with a position adjustment R-axis motor, which realizes the position tracking and adjustment of the welding fire point; the welding trolley is also provided with three contact sensors, two of which are arranged on the welding gun position adjustment mechanism bracket, which are used to judge the surface position and feed back the data to control the trolley movement and the welding gun angle adjustment mechanism to adjust the angle of the welding gun; the other is arranged on the welding gun bracket, which is used to measure the local deformation of the plate and feed back the data to adjust the welding gun Height adjustment can realize automatic adjustment of arc height; automatic welding of stainless steel corrugated plate lap joints in all positions is realized by PLC control of 6-axis linkage robot and weld laser automatic tracking system; laser tracking sensor is arranged on welding gun bracket, and laser tracking sensor is connected to welding gun bracket through fine adjustment mechanism; fine adjustment mechanism is R-axis motor and screw guide rail; welding gun angle adjustment mechanism includes rotary indexing mechanism combining sector gear transmission and sprocket chain transmission; rotary indexing mechanism includes sector gear plate, and rotary indexing mechanism and the above two brackets are connected through the slide table of arc slide rail installed on sector gear plate; sector gear plate is connected to driving walking mechanism bracket through gear The transmission rotates along the arc slide rail; the welding gun bracket is connected to the fan-shaped gear plate, and rotates along the arc slide rail through the sprocket chain transmission; the fan-shaped gear plate and two arc slide rails of the welding gun angle adjustment mechanism are distributed on concentric circle arcs with the same center and different radius, and are distributed around the same center of the circle to ensure that the welding gun's firepower point remains unchanged no matter how much the welding gun angle adjustment mechanism swings left and right - it always refers to the center of the concentric circle. The rotary indexing mechanism is rotated by the gear transmission mechanism. The gear transmission mechanism includes a fan-shaped gear arranged on the outer edge of the fan-shaped gear plate and a gear arranged at the output end of the driving mechanism. The driving gear is meshed with the fan-shaped gear, thereby driving the fan-shaped gear plate to rotate through the gear transmission method. The rotary indexing mechanism realizes rotation through a sprocket chain transmission mechanism, and the sprocket chain transmission mechanism includes two connecting arms arranged on the top of the fan-shaped indexing disk and connected to the driving walking mechanism bracket, which are respectively connected to the two ends of the chain; the chain includes an inner section and an outer section, the outer section is attached to the outer side wall of the fan-shaped gear disk, and the fan-shaped gear disk is provided with an arc groove on the side near the welding gun, the inner section is placed in the arc groove and extends to the middle of the arc groove and is connected to the welding gun position adjustment mechanism bracket; sprockets are provided at the ends of the arc grooves on the fan-shaped gear disk, and the sprockets are meshed with the chain; on the fan-shaped gear disk that has been rotating, the welding gun position adjustment mechanism bracket is driven to rotate relative to the fan-shaped gear disk through the meshing transmission of the sprocket and the chain.

2. A plasma welding robot according to claim 1, characterized in that: The walking mechanism includes an X-axis position adjustment mechanism and a Y-axis position adjustment mechanism. The walking mechanism drives the entire welding robot to move in the X-axis track direction, and can also drive the welding gun angle adjustment mechanism, the welding gun position adjustment mechanism and the welding gun position adjustment mechanism bracket to move along the Y-axis vertical track direction; the welding gun angle adjustment mechanism realizes the rotation adjustment of the R-axis welding gun angle; the welding gun position adjustment mechanism includes a Z-axis front and rear direction position adjustment mechanism and an AVC-axis welding gun fire line direction position adjustment mechanism. A laser tracking sensor is also provided on the welding gun position adjustment mechanism bracket to control the ZX-axis laser point to deviate from the welding line position adjustment mechanism.

3. A plasma welding robot according to claim 2, characterized in that: The Y-axis position adjustment mechanism includes a vertical slide rail frame arranged on the driving walking mechanism bracket, a vertical slider arranged in the vertical slide rail frame, a Z-axis motor fixed on the vertical slide rail frame, and a vertical lead screw threadedly connected to the vertical slide rail frame and vertically arranged. The output shaft end of the Z-axis motor is connected to a gear plate, and the gear plate is meshed with the vertical lead screw.

4. A plasma welding robot according to claim 3, characterized in that: Both sides of the vertical slide rail frame are provided with slide rail frame mounting frames that can slide vertically along the vertical slide rail frame. The welding gun position adjustment mechanism includes a transverse slide rail frame arranged on the slide rail frame mounting frame, a transverse slider arranged in the transverse slide rail frame, an AVC axis motor fixed on the transverse slide rail frame, and a transverse screw rod threadedly connected to the transverse slide rail frame and arranged transversely. The output shaft end of the AVC axis motor is connected to a gear plate, the gear plate is meshed with the transverse screw rod, and the transverse slide rail frame is connected to the vertical slider; the welding head mechanism is fixed on the transverse slider.

5. The plasma welding robot according to claim 1, characterized in that: The R-axis motor is connected to a driven gear box, and the rotation of the sector gear plate drives the driven gear to rotate; the driven gear box is connected to an electronic indexer, the electronic indexer is connected to a PLC controller, and the PLC controller is connected to a driving mechanism to control the rotation angle position through the PLC. A reasonable welding gun angle can be set at any time to ensure stable welding quality.

Images