A multi-directional laser welding robot with automatic identification function

Abstract

The application provides a multi-directional laser welding robot with automatic identification function, relates to the technical field of laser welding, and is characterized in that an arbitrary angle arm body is arranged on an arbitrary angle mechanical arm; the arbitrary angle arm body is composed of multiple unit arbitrary angle arms; the unit arbitrary angle arm comprises a cylinder telescopic rod, an arbitrary angle joint one and an arbitrary angle joint two; the arbitrary angle joint one is provided with a suction ring I which is composed of multiple unit suction blocks I and multiple limiting plates; the arbitrary angle joint two is provided with a suction ring II which is composed of multiple unit suction blocks II; after multiple suction rings I and multiple suction rings II at different positions lose attraction, the arbitrary angle joint one and the arbitrary angle joint two are bent at an arbitrary angle, the arbitrary angle arm body drives the elastic sleeve to adjust the shape at an arbitrary angle, the elastic sleeve is shuttled in a complex and narrow welding environment, and a laser welding head is accurately adjusted to a laser welding point.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of laser welding, more particularly to a multi-directional laser welding robot with automatic identification function. BACKGROUND

[0002] Laser welding technology is a technology that uses a laser beam as energy to impact on the joint of the welding part to achieve the purpose of welding, which specifically belongs to fusion welding; in order to be intelligent and reduce manual operation, the laser welding technology is often combined with a robot to realize automatic welding.

[0003] At present, the robot on the market uses a mechanical arm to make corresponding bending adjustment for laser welding after automatically identifying the position; however, the mechanical arm of the robot in the prior art has a large turning radius at the joint and needs a large turning space, which causes the robot to be unable to adapt to the complex and narrow welding environment formed by numerous parts to arbitrarily change the form and shuttle. SUMMARY

[0004] Technical problem: The purpose of the present application is to solve the shortcomings in the prior art, i.e., the mechanical arm of the robot in the prior art has a large turning radius at the joint and needs a large turning space, which causes the robot to be unable to adapt to the complex and narrow welding environment formed by numerous parts to arbitrarily change the form and shuttle, and a multi-directional laser welding robot with automatic identification function is provided.

[0005] The specific technical scheme is: a multi-directional laser welding robot with automatic identification function, comprising an arbitrary angle mechanical arm and a position adjustment mechanical body, the arbitrary angle mechanical arm is installed on the position adjustment mechanical body, and a laser welding head is installed on the arbitrary angle mechanical arm; the position adjustment mechanical body is used for adjusting the position of the arbitrary angle mechanical arm and the laser welding head in the X-axis direction, the Y-axis direction and the Z-axis direction; the arbitrary angle mechanical arm is used for adjusting the shape at an arbitrary angle and shuttling in a complex and narrow welding environment; the arbitrary angle mechanical arm is composed of an elastic sleeve and an arbitrary angle arm body inserted in the elastic sleeve; the arbitrary angle arm body is composed of a plurality of detachable unit arbitrary angle arms; the unit arbitrary angle arm comprises a cylinder telescopic rod, an arbitrary angle joint one and an arbitrary angle joint two; the cylinder telescopic rod is installed on the arbitrary angle joint one and is used for adjusting the length of the unit arbitrary angle arm through the telescopic adjustment of the cylinder telescopic rod; the arbitrary angle joint one and the arbitrary angle joint two are connected through a hinge; an adsorption ring I is arranged on the arbitrary angle joint one, and the adsorption ring I is composed of a plurality of unit adsorption blocks I and a plurality of limiting plates arranged in a cross array; an adsorption ring II is arranged on the arbitrary angle joint two, and the adsorption ring II is composed of a plurality of unit adsorption blocks II arranged in a ring array and connected through a hinge; an elastic telescopic rod is arranged on the hinge; the unit adsorption blocks I and the unit adsorption blocks II are electromagnetic adsorption blocks, and the plurality of unit adsorption blocks I and the plurality of unit adsorption blocks II are independently powered and have magnetism after being powered.

[0006] The adsorption ring I and the adsorption ring II have magnetism after being powered, and are attracted to each other; the plurality of unit adsorption blocks I and the plurality of unit adsorption blocks II are magnetically adsorbed one by one and are limited one by one by the plurality of limiting plates, so that the plurality of adsorption rings I and the plurality of adsorption rings II lose magnetic adsorption, and the elastic telescopic rod supports them to be separated, so that the arbitrary angle joint one and the arbitrary angle joint two are bent at the adsorption points; after the plurality of adsorption rings I and the plurality of adsorption rings II at different positions lose magnetic adsorption by being powered off, the arbitrary angle joint one and the arbitrary angle joint two are bent at an arbitrary angle, and the telescopic adjustment of the cylinder telescopic rod is combined to further adjust the unit arbitrary angle arm, so that the arbitrary angle arm body drives the elastic sleeve to shuttle in the complex and narrow welding environment after the arbitrary angle adjustment, and the laser welding head is accurately adjusted to the laser welding point; the arbitrary angle adjustment of the arbitrary angle arm body comprises thread shape, wave shape, arc shape and irregular bending shape.

[0007] In the technical scheme of the present application, the unit arbitrary angle arm further comprises a detachable connecting piece, which is installed on the second arbitrary angle joint; the detachable connecting piece is used for detachable connection of multiple unit arbitrary angle arms; the detachable connecting piece is composed of two symmetrical unit connecting pieces, and the two unit connecting pieces are detachably connected through multiple bolts; the unit connecting piece is composed of a connecting disc and a connecting column; the connecting disc and the connecting column are integrally fixedly connected.

[0008] In the technical scheme of the present application, the hinge piece comprises a hinge ball I and a hinge ball II; the elastic telescopic rod is fixed between the hinge ball I and the hinge ball II; the hinge ball I is hingedly connected to the first arbitrary angle joint, and the hinge ball II is hingedly connected to the second arbitrary angle joint.

[0009] In the further technical scheme of the present application, the elastic telescopic rod comprises an outer sleeve and an inner penetrating rod, and the inner penetrating rod is movably penetrated in the outer sleeve and elastically connected through a spring.

[0010] In the further technical scheme of the present application, the first arbitrary angle joint comprises a support column I, and a spherical hinge cavity I is formed at the end of the support column I close to one end of the adsorption ring I; the hinge ball I is hingedly connected inside the spherical hinge cavity I, so that the one end of the hinge piece is hingedly connected to the first arbitrary angle joint; the second arbitrary angle joint comprises a support column II, and a spherical hinge cavity II is formed at the end of the support column II close to one end of the adsorption ring II; the hinge ball II is hingedly connected to the spherical hinge cavity II, so that the other end of the hinge piece is hingedly connected to the second arbitrary angle joint.

[0011] For many parts working normally, there will inevitably be work vibration, and the arbitrary angle arm body will inevitably be affected when penetrating in the complex and narrow welding environment, and the following scheme is proposed:

[0012] Please refer to the drawings: in the technical scheme of the present application, the unit adsorption block I and the unit adsorption block II are provided with the same structure; the unit adsorption block I comprises a unit adsorption block body, a plurality of electromagnetic coil plates are arranged on the unit adsorption block body, the plurality of electromagnetic coil plates are distributed in multiple rows and multiple columns, and a plurality of electromagnetic coils are arranged in the electromagnetic coil plates; the size of the magnetic adsorption force of the unit adsorption block I is adjusted by controlling the power-off of the local plurality of electromagnetic coil plates.

[0013] According to the above introduction, after the arbitrary angle adjustment of the arbitrary angle arm body, the size of the magnetic adsorption force of the unit adsorption block I is adjusted by controlling the power-off of the local plurality of electromagnetic coil plates, so as to stably adapt to the complex machine work vibration welding environment, and ensure that the laser welding head is accurately and stably located at the laser welding point.

[0014] In the technical scheme of the present application, the position adjustment mechanism comprises a Y-axis adjusting arm, a Z-axis adjusting arm and an X-axis adjusting arm; the Y-axis adjusting arm is used to adjust the position of the arbitrary angle mechanical arm and the laser welding head in the Y-axis direction; the Y-axis adjusting arm is assembled on the Z-axis adjusting arm; the Z-axis adjusting arm is used to adjust the position of the Y-axis adjusting arm, the arbitrary angle mechanical arm and the laser welding head in the Z-axis direction; the Z-axis adjusting arm is assembled on the X-axis adjusting arm; and the X-axis adjusting arm is used to adjust the position of the Z-axis adjusting arm, the Y-axis adjusting arm, the arbitrary angle mechanical arm and the laser welding head in the X-axis direction.

[0015] In the further technical scheme of the present application, the Y-axis adjusting arm comprises a hydraulic telescopic rod, the hydraulic telescopic rod is installed on a power shaft through a connecting piece, the power shaft is fixed on the output shaft of a power motor, the power motor is installed in a power machine box, a mounting plate is fixed on the side wall of the power machine box, a rotating shaft is fixed on the mounting plate, and the rotating shaft is fixed on the Z-axis adjusting arm.

[0016] In the optimized technical scheme of the present application, two fixed discs are arranged side by side on the connecting piece, a plurality of screws are arranged in an annular array on the fixed discs.

[0017] In the optimized technical scheme of the present application, the Z-axis adjusting arm comprises a motor I, the output shaft of the motor I is fixed on the rotating shaft, an external reinforcing shell is fixed on the motor I, the external reinforcing shell is reinforced on the rotating disc, the rotating disc is fixed on the output shaft of a motor II, the motor II is fixed on a hydraulic cylinder, and the hydraulic cylinder is slidably connected to the X-axis adjusting arm through a sliding block.

[0018] The X-axis adjusting arm comprises a guide table, a sliding groove is formed in the guide table, a sliding block is slidably connected to the sliding groove, and the sliding block is controlled by an electric telescopic rod in the sliding groove to slide on the sliding groove; and the guide table is fixed on a base table.

[0019] Advantages: Compared with the prior art, the multi-directional laser welding robot with automatic identification function has the following advantages:

[0020] 1) Adsorption ring I and adsorption ring II become magnetic after being energized, attracting each other. Multiple adsorption blocks I and II are magnetically adsorbed and attached one-to-one. Multiple limiting plates are used to limit each adsorption block II. After multiple adsorption rings I and II lose their magnetic attraction in a certain area, the elastic telescopic rod supports them and separates them, allowing joints I and II to bend at any angle at the adsorption point. By adjusting the multiple adsorption rings I and II at different locations after de-energization and loss of magnetic attraction, joints I and II can bend at any angle. Combined with the telescopic adjustment of the cylinder, the unit arm can be adjusted to any angle. The arm can then drive the elastic sleeve to adjust its shape at any angle and move through the complex and narrow welding environment, precisely adjusting the laser welding head to the laser welding point.

[0021] 2) After adjusting the shape of the arm body at any angle, it can move through the complex and narrow welding environment. By controlling the power off of multiple local electromagnetic coil plates, the magnetic attraction force of the unit adsorption block I can be adjusted to stably adapt to the complex machine working vibration welding environment and ensure that the laser welding head is accurately and stably located at the laser welding point. Attached Figure Description

[0022] Figure 1 This is a structural schematic diagram of the multi-directional laser welding robot with automatic recognition function of the present invention;

[0023] Figure 2 for Figure 1 A schematic diagram of the structure after removing the elastic sleeve and laser welding head;

[0024] Figure 3 for Figure 2 A schematic diagram of the structure of the arm at any angle in the middle;

[0025] Figure 4 for Figure 3 A schematic diagram of the structure of a unit arm at an arbitrary angle;

[0026] Figure 5 for Figure 4 A schematic diagram of the assembly structure of a joint and a hinge at any angle in the middle.

[0027] Figure 6 for Figure 4 A schematic diagram of the structure of joint 1 at any angle in the middle;

[0028] Figure 7 for Figure 4 A schematic diagram of the structure of joint two at any angle in the middle;

[0029] Figure 8 for Figure 4 Schematic diagram of the middle hinge component;

[0030] Figure 9 For Figure 6 The structural schematic diagram of the unit adsorption block I;

[0031] Figure 10 For Figure 1 The structural schematic diagram of the position adjustment mechanical body;

[0032] Figure 11 For Figure 10 The structural schematic diagram of the Y-axis adjusting arm;

[0033] Figure 12 For Figure 10 The assembly structural schematic diagram of the Z-axis adjusting arm and the X-axis adjusting arm;

[0034] Figure 13 For Figure 2 The demonstration diagram after the adjustment of the arbitrary angle arm body (wherein, A is the adjustment screw thread, B is the adjustment corrugated, C is the adjustment arc shape, and D is the adjustment irregular bending).

[0035] In the drawing mark:

[0036] Arbitrary angle mechanical arm 100;

[0037] Elastic sleeve 110, laser welding head 120, arbitrary angle arm body 130, unit arbitrary angle arm 140;

[0038] Cylinder telescopic rod 141, arbitrary angle joint one 142, arbitrary angle joint two 143, detachable connecting piece 144, hinged piece 145;

[0039] Support column I 1421, adsorption ring I 1422, unit adsorption block I 1423, limiting plate 1424, spherical hinge cavity I 1425;

[0040] Support column II 1431, adsorption ring II 1432, unit adsorption block II 1433, spherical hinge cavity II 1434;

[0041] Unit connecting piece 1441, connecting disc 1442, connecting column 1443, bolt 1444;

[0042] Hinged ball I 1451, elastic telescopic rod 1452, hinged ball II 1453;

[0043] Unit adsorption block body 1431, electromagnetic coil plate 1432;

[0044] Position adjustment mechanical body 200;

[0045] Y-axis adjusting arm 210, Z-axis adjusting arm 220, X-axis adjusting arm 230;

[0046] hydraulic telescopic rod 211, power machine box 212, mounting plate 213, rotating shaft 214, power shaft 215, connecting piece 216;

[0047] outer reinforcing shell 221, motor I 222, hydraulic cylinder 223, motor II 224, rotating disc 225;

[0048] sliding block 231, base table 232, sliding groove 233, guide table 234. DETAILED DESCRIPTION

[0049] In order to make the purpose, technical scheme and advantages of the present application more clear, the present application is further described in detail below in combination with specific examples. It should be understood that the specific examples described herein are only used to explain the present application and are not used to limit the present application. Based on the examples in the present application, all other examples obtained by those of ordinary skill in the art without creative labor fall within the scope of protection of the present application.

[0050] Embodiment of the present application

[0051] Please refer to Figure 1 and Figure 2 As shown in the figure: a multi-directional laser welding robot with automatic identification function, comprising an arbitrary angle mechanical arm 100 and a position adjustment mechanical body 200, the arbitrary angle mechanical arm 100 is installed on the position adjustment mechanical body 200, and a laser welding head 120 is installed on the arbitrary angle mechanical arm 100, the position adjustment mechanical body 200 is used for overall adjusting the positions of the arbitrary angle mechanical arm 100 and the laser welding head 120 in the X-axis direction, the Y-axis direction and the Z-axis direction; the arbitrary angle mechanical arm 100 is used for shuttling in a complex and narrow welding environment after adjusting the shape at an arbitrary angle;

[0052] According to the above description, it can be obtained that: at the automatic identification welding point (wherein the automatic identification function is achieved by the cooperation of the automatic identification module, the sensor and the camera of the robot, the automatic identification module, the sensor and the camera are all prior art, the detailed structure can be known from existing literature periodicals, and can also be directly purchased on the market, or the components can be purchased on the market to be composed, etc.; which is not protected by the present application, and is not described in detail here, nor is it drawn in the attached drawings), the position adjustment mechanical body 200 is used for overall adjusting the positions of the arbitrary angle mechanical arm 100 and the laser welding head 120 in the X-axis direction, the Y-axis direction and the Z-axis direction; on the basis of adjusting the position in a large range, the arbitrary angle mechanical arm 100 is used for shuttling in a complex and narrow welding environment after adjusting the shape at an arbitrary angle, and the laser welding head 120 is accurately adjusted to the laser welding point;

[0053] Please refer toFigure 2 and Figure 3 As shown: The arbitrary angle robotic arm 100 is composed of an elastic sleeve 110 and an arbitrary angle arm body 130 inserted inside the elastic sleeve 110; the arbitrary angle arm body 130 is composed of multiple detachably connected unit arbitrary angle arms 140.

[0054] Based on the above description, it can be concluded that after the arbitrary angle robotic arm 100 enters the complex and narrow welding environment, the unit arbitrary angle arm 140 performs multi-angle adjustments, forming a combination of multiple unit arbitrary angle arms 140 for self-adjustment. This allows the arbitrary angle arm body 130 to drive the elastic sleeve 110 to adjust its shape at any angle and then move through the complex and narrow welding environment, precisely adjusting the laser welding head 120 to the laser welding point.

[0055] Please refer to Figures 4-8 As shown: The unit arbitrary angle arm 140 includes a cylinder telescopic rod 141, an arbitrary angle joint one 142, and an arbitrary angle joint two 143; the cylinder telescopic rod 141 is mounted on the arbitrary angle joint one 142 and is used to adjust the length of the unit arbitrary angle arm 140 by its own telescopic adjustment; the arbitrary angle joint one 142 and the arbitrary angle joint two 143 are ball-jointed by a hinge 145.

[0056] An adsorption ring I 1422 is provided on the arbitrary angle joint 142. The adsorption ring I 1422 is composed of multiple adsorption blocks I 1423 arranged in a cross array and multiple limiting plates 1424. An adsorption ring II 1432 is provided on the arbitrary angle joint 143. The adsorption ring II 1432 is composed of multiple adsorption blocks II 1433 arranged in a ring array and hinged together. An elastic telescopic rod 1452 is provided on the hinge 145.

[0057] According to the above description, it can be obtained that the multiple unit adsorption blocks I 1423 and the multiple unit adsorption blocks II 1433 are attracted to each other and are adsorbed and attached one by one, and the multiple limiting plates 1424 are used to limit the unit adsorption blocks II 1433 one by one, so that the multiple adsorption rings I 1422 and the multiple adsorption rings II 1432 lose attraction, and the elastic expansion rods 1452 support them apart to form a disengaged state, so that the arbitrary angle joint one 142 and the arbitrary angle joint two 143 are bent at the adsorption point; by adjusting the multiple adsorption rings I 1422 and the multiple adsorption rings II 1432 to lose attraction at different positions, the arbitrary angle joint one 142 and the arbitrary angle joint two 143 are bent at any angle, and combined with the expansion of the cylinder expansion rod 141, the unit arbitrary angle arm 140 is further adjusted to realize the arbitrary angle arm body 130 driving the elastic sleeve 110 to adjust the shape at any angle, and the laser welding head 120 is precisely adjusted to the laser welding point in the complex and narrow welding environment.

[0058] Please refer to Figure 6 and Figure 7 It is shown that the unit adsorption block I 1423 and the unit adsorption block II 1433 are electromagnetic adsorption blocks, and the multiple unit adsorption blocks I 1423 and the multiple unit adsorption blocks II 1433 are independently powered (it should be noted that the wiring mode of the multiple unit adsorption blocks I 1423 and the multiple unit adsorption blocks II 1433 and the power supply control switch mode are prior art, and the detailed structure can be known from existing literature periodicals, and the parts can also be purchased on the market to be composed, etc.; which is not protected by the present application, and is not described in detail, and is not drawn in the attached drawings), and the unit adsorption block I 1423 and the unit adsorption block II 1433 have magnetism after being powered.

[0059] According to the above introduction, it can be obtained that the adsorption ring I 1422 and the adsorption ring II 1423 have magnetism after being electrified, are attracted to each other, and the plurality of unit adsorption blocks I 1423 and the plurality of unit adsorption blocks II 1423 are correspondingly magnetically adsorbed and attached together, and the plurality of limiting plates 1424 are used to limit the unit adsorption blocks II 1423 one by one, so that the plurality of adsorption rings I 1422 and the plurality of adsorption rings II 1423 lose magnetic adsorption in the local part, and the elastic expansion rod 1452 supports them to be separated, so that the arbitrary angle joint one 142 and the arbitrary angle joint two 143 are bent at the adsorption point; after the plurality of adsorption rings I 1422 and the plurality of adsorption rings II 1423 lose magnetic adsorption by adjusting the local part at different positions, the arbitrary angle joint one 142 and the arbitrary angle joint two 143 are bent at any angle, and the elastic sleeve 110 is further adjusted by the expansion rod 141 of the air cylinder to further adjust the unit arbitrary angle arm 140, so that the arbitrary angle arm body 130 drives the elastic sleeve 110 to adjust the shape at any angle and shuttle in the complex and narrow welding environment, and the laser welding head 120 is accurately adjusted to the laser welding point; the arbitrary angle adjustment form of the arbitrary angle arm body 130 of the arbitrary angle mechanical arm 100 includes a threaded shape, a corrugated shape, an arc shape and an irregular bending shape, and the like, which can be specifically referred to Figure 13 .

[0060] Embodiments of the present application

[0061] Please refer to Figure 3 and Figure 4 It is shown that the unit arbitrary angle arm 140 further comprises a detachable connecting piece 144, and the detachable connecting piece 144 is installed on the arbitrary angle joint two 143; the detachable connecting piece 144 is used for detachable connection of the plurality of unit arbitrary angle arms 140;

[0062] The detachable connecting piece 144 is composed of two symmetrical unit connecting pieces 1441, and the two unit connecting pieces 1441 are detachably connected through a plurality of bolts 1444; the unit connecting piece 1441 is composed of a connecting disc 1442 and a connecting column 1443.

[0063] The connecting disc 1442 and the connecting column 1443 are integrally fixedly connected.

[0064] Embodiments of the present application

[0065] Please refer to Figure 4 , 5 and 8, the hinge piece 145 comprises a hinge ball I 1451 and a hinge ball II 1453; the elastic expansion rod 1452 is fixed between the hinge ball I 1451 and the hinge ball II 1453.

[0066] Hinge ball I 1451 is hingedly connected to arbitrary angle joint one 142, and hinge ball II 1453 is hingedly connected to arbitrary angle joint two 143.

[0067] Embodiment of the present application

[0068] Please refer to Figure 8 As shown: the elastic telescopic rod 1452 comprises an outer sleeve and an inner plug-in rod, the inner plug-in rod is movably plugged in the outer sleeve, and is elastically connected by a spring.

[0069] Embodiment of the present application

[0070] Please refer to Figures 4-7 As shown: the arbitrary angle joint one 142 comprises a support column I 1421, the support column I 1421 is provided with a spherical hinge cavity I 1425 at the end near the adsorption ring I 1422, the hinge ball I 1451 is hingedly connected in the spherical hinge cavity I 1425, and the one end of the hinge piece 145 is hingedly connected to the arbitrary angle joint one 142.

[0071] The arbitrary angle joint two 143 comprises a support column II 1431, the support column II 1431 is provided with a spherical hinge cavity II 1434 at the end near the adsorption ring II 1432, and the hinge ball II 1453 is hingedly connected in the spherical hinge cavity II 1434, and the other end of the hinge piece 145 is hingedly connected to the arbitrary angle joint two 143.

[0072] According to the above introduction, after the partial multiple adsorption rings I 1422 and multiple adsorption rings II 1432 lose magnetic adsorption, the elastic telescopic rod 1452 supports them to form a disengagement, and the hinge piece 145 is used as a rotating point to provide a bending attraction force at the adsorption point of the arbitrary angle joint one 142 and the arbitrary angle joint two 143, so that the arbitrary angle joint one 142 and the arbitrary angle joint two 143 are turned; that is, the hinge ball I 1451 is hingedly connected in the spherical hinge cavity I 1425, the one end of the hinge piece 145 is hingedly connected to the arbitrary angle joint one 142, and the hinge ball II 1453 is hingedly connected in the spherical hinge cavity II 1434, the other end of the hinge piece 145 is hingedly connected to the arbitrary angle joint two 143, and the hinge piece 145 is used as a rotating point for the arbitrary angle rotation of the arbitrary angle joint one 142 and the arbitrary angle joint two 143.

[0073] Embodiment of the present application

[0074] For many parts working normally, it is inevitable to have working vibration, and the arbitrary angle arm body 130 is inevitably affected in the complex and narrow welding environment, and the following scheme is proposed.

[0075] Please refer to Figure 9As shown: the unit adsorption block I 1423 and the unit adsorption block II 1433 are provided with the same structure; the unit adsorption block I 1423 comprises a unit adsorption block body 14231, and a plurality of electromagnetic coil plates 14232 are arranged on the unit adsorption block body 14231; the plurality of electromagnetic coil plates 14232 are arranged in multiple rows and multiple columns, and a plurality of electromagnetic coils are arranged in the electromagnetic coil plates 14232 (it should be noted that the wiring mode of independent power supply of the electromagnetic coils and the mode of power supply control switch are prior art, and the detailed structure can be known from existing literature periodicals, and the parts can also be purchased on the market to be composed, etc.; which is not protected by the present application, and is not elaborated here, and is not drawn in the drawing);

[0076] The size of the magnetic adsorption force of the unit adsorption block I 1423 is adjusted by controlling the power-off of the plurality of electromagnetic coil plates 14232.

[0077] According to the above introduction, it can be obtained that: in the complex and narrow welding environment, the size of the magnetic adsorption force of the unit adsorption block I 1423 is adjusted by controlling the power-off of the plurality of electromagnetic coil plates 14232 after the arbitrary angle arm body 130 is adjusted at an arbitrary angle, so as to stably adapt to the complex machine working vibration welding environment, and ensure that the laser welding head 120 is accurately and stably located at the laser welding point.

[0078] Embodiment of the present application

[0079] Please refer to Figure 10 As shown: the position adjustment mechanical body 200 comprises a Y-axis adjusting arm 210, a Z-axis adjusting arm 220 and an X-axis adjusting arm 230;

[0080] The Y-axis adjusting arm 210 is used for adjusting the position of the arbitrary angle mechanical arm 100 and the laser welding head 120 in the Y-axis direction; the Y-axis adjusting arm 210 is assembled on the Z-axis adjusting arm 220;

[0081] The Z-axis adjusting arm 220 is used for adjusting the position of the Y-axis adjusting arm 210, the arbitrary angle mechanical arm 100 and the laser welding head 120 in the Z-axis direction; the Z-axis adjusting arm 220 is assembled on the X-axis adjusting arm 230;

[0082] The X-axis adjusting arm 230 is used for adjusting the position of the Z-axis adjusting arm 220, the Y-axis adjusting arm 210, the arbitrary angle mechanical arm 100 and the laser welding head 120 in the X-axis direction.

[0083] Embodiment of the present application

[0084] Please refer to Figure 10 and Figure 11As shown: the Y-axis adjusting arm 210 contains a hydraulic telescopic rod 211, the hydraulic telescopic rod 211 is installed on the power shaft 215 through a connecting piece 216, the power shaft 215 is fixed on the output shaft of the power motor;

[0085] The power motor is installed inside the power machine box 212; the side wall of the power machine box 212 is fixed with a mounting plate 213, the mounting plate 213 is fixed with a rotating shaft 214, and the rotating shaft 214 is fixed on the Z-axis adjusting arm 220.

[0086] Embodiments of the present application

[0087] Please refer to Figure 11 As shown: the connecting piece 216 is provided with two fixed discs arranged side by side, and a plurality of screws are arranged in annular array on the fixed discs.

[0088] Embodiments of the present application

[0089] Please refer to Figure 12 As shown: the Z-axis adjusting arm 220 contains a motor I 222, and the output shaft of the motor I 222 is fixed on the rotating shaft 214;

[0090] The motor I 222 is externally covered with an additional reinforcing shell 221, and the additional reinforcing shell 221 is reinforced on the rotating disc 225; the rotating disc 225 is fixed on the output shaft of the motor II 224, the motor II 224 is fixed on the hydraulic cylinder 223, and the hydraulic cylinder 223 is slidingly connected to the X-axis adjusting arm 230 through the sliding block 231.

[0091] Embodiments of the present application

[0092] Please refer to Figure 12 As shown: the X-axis adjusting arm 230 contains a guide table 234, the guide table 234 is provided with a sliding groove 233, the sliding block 231 is slidingly connected to the sliding groove 233, and the sliding block 231 is controlled by the electric telescopic rod in the sliding groove 233 to slide and adjust on the sliding groove 233; the guide table 234 is fixed on the base table 232.

[0093] According to the above introduction, it can be obtained that the electric telescopic rod is started to adjust the extension, the sliding block 231 is adjusted to slide on the sliding groove 233, the sliding block 231 is fixed on the Z-axis adjusting arm 220, the position of the Z-axis adjusting arm 220, the Y-axis adjusting arm 210, the arbitrary angle mechanical arm 100 and the laser welding head 120 in the X-axis direction is adjusted, the hydraulic cylinder 223 is started, the position of the Y-axis adjusting arm 210, the arbitrary angle mechanical arm 100 and the laser welding head 120 in the Z-axis direction is adjusted by the hydraulic cylinder 223, the Z-axis adjusting arm 220 is assembled on the X-axis adjusting arm 230, the rotating disc 225 is driven by the motor II 224, the rotating disc 225 drives the Y-axis adjusting arm 210, the arbitrary angle mechanical arm 100 and the laser welding head 120 to rotate through the motor I 222 and the outer reinforcing shell 221, the motor I 222 is started, the Y-axis adjusting arm 210 is driven to rotate by the rotating shaft 214, the telescopic adjustment of the hydraulic telescopic rod 211 is started, the position of the arbitrary angle mechanical arm 100 and the laser welding head 120 in the Y-axis direction is adjusted, the Y-axis adjusting arm 210 is assembled on the Z-axis adjusting arm 220, the position of the arbitrary angle mechanical arm 100 and the laser welding head 120 is adjusted in the X-axis direction, the Y-axis direction and the Z-axis direction of the position adjustment mechanical body 200, and the position of the arbitrary angle mechanical arm 100 and the laser welding head 120 is adjusted in multiple directions.

[0094] The working principle of the present application is as follows:

[0095] The adsorption ring I 1422 and the adsorption ring II 1432 have magnetism after being electrified, and are attracted to each other, a plurality of unit adsorption blocks I 1423 and a plurality of unit adsorption blocks II 1433 are magnetically adsorbed and attached one by one, and a plurality of limiting plates 1424 are used to limit the unit adsorption blocks II 1433 one by one, so that the local plurality of adsorption ring I 1422 and the plurality of adsorption ring II 1432 lose magnetic adsorption, and the elastic telescopic rod 1452 supports them apart to form a disengaged state, so that the arbitrary angle joint one 142 and the arbitrary angle joint two 143 are bent at the adsorption point; by adjusting the local plurality of adsorption ring I 1422 and the plurality of adsorption ring II 1432 at different positions to lose magnetic adsorption, the arbitrary angle joint one 142 and the arbitrary angle joint two 143 are bent at any angle, and the telescopic adjustment of the air cylinder 141 is further combined to adjust the unit arbitrary angle arm 140, so that the arbitrary angle arm body 130 drives the elastic sleeve 110 to adjust the shape at any angle, and the laser welding head 120 is precisely adjusted to the laser welding point in the complex and narrow welding environment.

[0096] After the arbitrary angle arm body 130 is adjusted at an arbitrary angle, the size of the magnetic attraction force of the unit adsorption block 1 1423 is adjusted by controlling the power-off of the local multiple electromagnetic coil plates 14232, so as to stably adapt to the complex machine working vibration welding environment, and ensure that the laser welding head 120 is accurately and stably positioned at the laser welding point.

[0097] Finally, it should be noted that: the above only for the preferred embodiments of the present application, and not for limiting the present application, although the foregoing embodiments of the present application are described in detail, for those skilled in the art, it still can be modified, or part of the technical features of the equivalent replacement, within the spirit and principles of the present application, any modification, equivalent replacement, improvement, etc., should be included within the scope of the present application.

Claims

1. A multi-directional laser welding robot with automatic identification function, characterized in that, comprising an arbitrary angle mechanical arm (100) and a position adjustment mechanical body (200), the arbitrary angle mechanical arm (100) is installed on the position adjustment mechanical body (200), and a laser welding head (120) is installed on the arbitrary angle mechanical arm (100); the position adjustment mechanical body (200) is used for adjusting the position of the arbitrary angle mechanical arm (100) and the laser welding head (120) in X, Y and Z directions; the arbitrary angle mechanical arm (100) is used for arbitrary angle adjustment and shuttle in a complex and narrow welding environment. The arbitrary angle mechanical arm (100) is composed of an elastic sleeve (110) and an arbitrary angle arm body (130) inserted in the elastic sleeve (110). The arbitrary angle arm body (130) is composed of a plurality of detachable unit arbitrary angle arms (140). The unit arbitrary angle arm (140) comprises a cylinder telescopic rod (141), an arbitrary angle joint one (142) and an arbitrary angle joint two (143); the cylinder telescopic rod (141) is installed on the arbitrary angle joint one (142) and used for adjusting the length of the unit arbitrary angle arm (140) through its telescopic adjustment; the arbitrary angle joint one (142) and the arbitrary angle joint two (143) are connected by a hinge (145) for spherical hinge connection. An adsorption ring I (1422) is arranged on the arbitrary angle joint one (142), and the adsorption ring I (1422) is composed of a plurality of unit adsorption blocks I (1423) and a plurality of limiting plates (1424) arranged in a cross array; an adsorption ring II (1432) is arranged on the arbitrary angle joint two (143), and the adsorption ring II (1432) is composed of a plurality of unit adsorption blocks II (1433) arranged in a ring array and connected by hinge connection; an elastic telescopic rod (1452) is arranged on the hinge (145). The unit adsorption blocks I (1423) and the unit adsorption blocks II (1433) are electromagnetic adsorption blocks, and the plurality of unit adsorption blocks I (1423) and the plurality of unit adsorption blocks II (1433) are independently powered and have magnetism after being powered on. The unit adsorption blocks I (1423) and the unit adsorption blocks II (1433) have the same structure; the unit adsorption blocks I (1423) comprise a unit adsorption block body (14231), a plurality of electromagnetic coil plates (14232) are arranged on the unit adsorption block body (14231), the plurality of electromagnetic coil plates (14232) are arranged in multiple rows and multiple columns, and a plurality of electromagnetic coils are arranged in the electromagnetic coil plates (14232); the size of the magnetic adsorption force of the unit adsorption blocks I (1423) is adjusted by controlling the power-off of the local plurality of electromagnetic coil plates (14232). 2.The multi-directional laser welding robot with automatic identification function according to claim 1, characterized in that, ​ The unit arbitrary angle arm (140) further comprises a detachable connecting piece (144) which is installed on the arbitrary angle joint two (143); the detachable connecting piece (144) is used for detachable connection of the plurality of unit arbitrary angle arms (140); The detachable connecting piece (144) is composed of two unit connecting pieces (1441) which are symmetrically buckled, and the two unit connecting pieces (1441) are detachably connected through a plurality of bolts (1444); the unit connecting piece (1441) is composed of a connecting disc (1442) and a connecting column (1443); The connecting disc (1442) and the connecting column (1443) are integrally fixedly connected.

3. The multi-directional laser welding robot with automatic identification function according to claim 1, wherein the hinge (145) comprises a hinge ball I (1451) and a hinge ball II (1453); and an elastic telescopic rod (1452) is fixed between the hinge ball I (1451) and the hinge ball II (1453). The hinge ball I (1451) is hingedly connected to the arbitrary angle joint one (142), and the hinge ball II (1453) is hingedly connected to the arbitrary angle joint two (143). The elastic telescopic rod (1452) comprises an outer sleeve and an inner penetrating rod, the inner penetrating rod is movably penetrated in the outer sleeve, and the elastic telescopic rod (1452) is elastically connected by a spring.

4. The multi-directional laser welding robot with automatic recognition function according to claim 3, characterized in that, 5. The multi-directional laser welding robot with automatic identification function according to claim 3, wherein the arbitrary angle joint one (142) comprises a support column I (1421), the support column I (1421) is provided with a spherical hinge cavity I (1425) at the end near the adsorption ring I (1422); the hinge ball I (1451) is hingedly connected in the spherical hinge cavity I (1425), thereby achieving hingedly connecting one end of the hinge (145) to the arbitrary angle joint one (142). The arbitrary angle joint two (143) comprises a support column II (1431), the support column II (1431) is provided with a spherical hinge cavity II (1434) at the end near the adsorption ring II (1432); the hinge ball II (1453) is hingedly connected to the spherical hinge cavity II (1434), thereby achieving hingedly connecting the other end of the hinge (145) to the arbitrary angle joint two (143).

6. The multi-directional laser welding robot with automatic identification function according to claim 1, wherein the position adjustment mechanism (200) comprises a Y-axis adjusting arm (210), a Z-axis adjusting arm (220) and an X-axis adjusting arm (230). The Y-axis adjusting arm (210) is used for adjusting the position of the arbitrary angle arm (100) and the laser welding head (120) in the Y-axis direction; the Y-axis adjusting arm (210) is arranged on the Z-axis adjusting arm (220). ​ ​ ​ The Z-axis adjusting arm (220) is used to adjust the position of the Y-axis adjusting arm (210), the arbitrary angle mechanical arm (100) and the laser welding head (120) in the Z-axis direction; the Z-axis adjusting arm (220) is assembled on the X-axis adjusting arm (230); The X-axis adjusting arm (230) is used to adjust the position of the Z-axis adjusting arm (220), the Y-axis adjusting arm (210), the arbitrary angle mechanical arm (100) and the laser welding head (120) in the X-axis direction.

7. The multi-directional laser welding robot with automatic identification function according to claim 6, wherein, The Y-axis adjusting arm (210) comprises a hydraulic telescopic rod (211), which is installed on a power shaft (215) through a connecting piece (216), and the power shaft (215) is fixed on the output shaft of a power motor; the connecting piece (216) is provided with two fixed discs arranged side by side, and a plurality of screws are arranged in a ring array on the fixed discs; The power motor is installed in a power box (212), and the side wall of the power box (212) is fixed with a mounting plate (213), and the mounting plate (213) is fixed with a rotating shaft (214), and the rotating shaft (214) is fixed on the Z-axis adjusting arm (220).

8. The multi-directional laser welding robot with automatic identification function according to claim 7, wherein, The Z-axis adjusting arm (220) comprises a motor I (222), and the output shaft of the motor I (222) is fixed on the rotating shaft (214); The motor I (222) is externally covered with an additional reinforcing shell (221), and the additional reinforcing shell (221) is reinforced on a rotating disc (225); the rotating disc (225) is fixed on the output shaft of a motor II (224), and the motor II (224) is fixed on a hydraulic cylinder (223), and the hydraulic cylinder (223) is slidably connected to the X-axis adjusting arm (230) through a sliding block (231).

9. The multi-directional laser welding robot with automatic recognition function according to claim 8, characterized in that, The X-axis adjusting arm (230) comprises a guide table (234), and the guide table (234) is provided with a sliding groove (233), and the sliding block (231) is slidably connected to the sliding groove (233) and controlled by an electric telescopic rod in the sliding groove (233) to drive the sliding block (231) to slide and adjust on the sliding groove (233); and the guide table (234) is fixed on a base table (232).

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