A multi-degree-of-freedom laser processing robot

Abstract

The present invention relates to the technical field of multi-axis robots, and discloses a multi-degree-of-freedom laser processing robot, comprising a workbench, a bracket arranged on the workbench, a laser generator installed at the bottom of the bracket, and a basic light guide arm connected to the laser generator, the other end of the basic light guide arm is connected in series with a plurality of rotating light guide units that can rotate relatively, and a light emitter is installed at the end of the last rotating light guide unit; the rotating light guide unit comprises a rotating joint, a light guide arm, and an "L"-shaped curved pipe, one end of the rotating joint is coaxially connected to the light guide arm, and the rotating joint and the light guide arm are relatively rotated by a rotating drive module, and the other end of the light guide arm is connected to one end of the curved pipe. The present invention can move the laser generator from the end of the robot arm to the workbench through the above design, thereby reducing the load, making the structure lighter, and making the robot arm work more convenient and reliable.

Description

Technical Field

[0001] The invention relates to the technical field of multi-axis robots, and in particular to a multi-degree-of-freedom laser processing robot. Background Art

[0002] Nuclear facility decommissioning is an important part of energy transformation and is crucial to national economy, people's livelihood and environmental safety. At present, my country's research in this field is still shallow, but with the peak of nuclear facility decommissioning approaching in 2030, the demand for key technologies such as cutting and disassembly, surface cleaning, etc. is prominent. Therefore, we need to accelerate the pace of technology research and development to ensure the safety and efficiency of decommissioning work.

[0003] Laser cleaning is a core step in the clean treatment of nuclear facility decommissioning, and laser robots play a key role in it. Existing laser robots usually achieve laser cleaning and ablation in decommissioned nuclear facilities by installing a laser generator on the end effector. Installing the laser generator at the end of the robot arm will cause the robot end effector to have a large load and large inertia, and may limit the range of motion of the end of the robot arm, which will cause the robot to run too slowly, behave abnormally, or run unstable. Summary of the invention

[0004] In order to solve the technical problems raised in the background technology, the present invention provides a multi-degree-of-freedom laser processing robot.

[0005] The present invention is implemented by the following technical scheme: a multi-degree-of-freedom laser processing robot, comprising a workbench, a bracket arranged on the workbench, a laser generator installed at the bottom of the bracket, a basic light guide arm connected to the laser generator, the other end of the basic light guide arm is connected in series with a plurality of rotating light guide units capable of relatively rotating, and a light emitter is installed at the end of the last rotating light guide unit;

[0006] The rotating light guide unit includes a rotating joint, a light guide arm and an "L"-shaped curved pipe. One end of the rotating joint is coaxially connected to the light guide arm. The rotating joint and the light guide arm are relatively rotated by a rotating drive module. The other end of the light guide arm is connected to one end of the curved pipe. The other end of the curved pipe is used to connect to the rotating joint in another group of rotating light guide units. A laser reflection module is also provided at the bend of the curved pipe.

[0007] Among them: the rotating joint, the light guide arm, the bent pipe and the laser reflection module constitute an optical path for the laser to pass through, so that the laser beam is finally emitted through the light emitter.

[0008] As a further improvement of the above scheme, one end of the light guide arm has a rotating connection part, which is rotatably sleeved with the rotating joint. The rotating drive module includes a servo motor fixed on the outer wall of the rotating joint and a gear ring fixed on the outer wall of the rotating joint. The output end of the servo motor is connected to a spur gear that can mesh with the gear ring.

[0009] Through the above solution, a plurality of rotating light guide units can be connected in series, and adjacent rotating light guide units can rotate relatively, thereby achieving multi-degree-of-freedom adjustment.

[0010] As a further improvement of the above solution, a light guide arm flange is provided at one end of the light guide arm, and bent pipe flanges are provided at both ends of the bent pipe, and the bent pipe flange is connected to the light guide arm flange.

[0011] Through the above structure, the catheter arm and the bent pipe can be easily installed, and the installation and disassembly are more efficient.

[0012] As a further improvement of the above scheme, the light guide arm includes a first telescopic tube and a second telescopic tube, wherein an insertion groove is provided on one end face of the first telescopic tube, and an insertion portion coaxial therewith is fixed on one end face of the second telescopic tube, the insertion portion is movably connected to the insertion groove, and the first telescopic tube and the second telescopic tube are relative to each other in the axial direction through a telescopic adjustment module.

[0013] Through the above solution, axial adjustment can be achieved, thereby making the working range larger and the applicability wider.

[0014] As a further improvement of the above scheme, the telescopic adjustment module includes a sleeve movably mounted on the outside of the first telescopic tube, an annular plate fixed at one end of the sleeve, a servo motor 2 fixed on one side of the annular plate, and a gear ring 2 fixed on the outer ring surface of the light guide arm flange. The output end of the servo motor 2 is connected to a spur gear 2, which can mesh with the gear ring 2. One end of the sleeve extends to the outside of the plug-in part, and a plurality of guide units are evenly fixed on the inner wall of one side of the sleeve. The outer wall of the plug-in part is provided with guide grooves which are respectively slidably matched with the guide units, and the guide grooves are spirally arranged.

[0015] Through the above structure, the servo motor 2 can be used to drive the spur gear 2 to make the guide unit move along the spirally arranged guide groove, so that the plug-in part moves axially in the plug-in groove.

[0016] As a further improvement of the above solution, a mounting hole is opened in the middle of the outer wall of the curved pipe, and the laser reflection module is installed at the mounting hole.

[0017] As a further improvement of the above scheme, the laser reflection module includes a mirror base shell fixed in the mounting hole and a laser reflection lens installed therein, the outer end of the mirror base shell is open, the other end of the mirror base shell is provided with a through hole for laser injection, an annular fixed platform is fixed at the bottom of the mirror base shell, a movable platform that can move in its depth direction is also movably provided in the mirror base shell, and the movable platform and the fixed platform are connected by a plurality of connecting springs;

[0018] The laser reflection module also includes a positioning unit for fixing the reflection lens.

[0019] Through the above structure, the laser reflection lens can be fixed, so that the laser is reflected by the laser reflection lens and transmitted in each rotating light guide unit, thereby realizing the successful emission of the laser.

[0020] As a further improvement of the above solution, a plurality of guide slots extending along the depth direction are provided on the inner wall of the mirror base housing, and a sliding block slidably matched with the guide slots is fixed on the outer peripheral side of the movable platform.

[0021] The positioning unit comprises a bottom rod fixed on the top of the slider, a pressing rod rotatably connected to the top of the bottom rod through a pin shaft, and a torsion spring is installed on the pin shaft to keep the pressing rod in a downward rotating trend.

[0022] The structure can drive the movable platform to move down to a suitable position when the laser reflective lens is pressed down, and the laser reflective lens can be automatically pressed down to fix the laser reflective lens by the pressing rod.

[0023] As a further improvement of the above scheme, the positioning unit also includes a limit plate fixed at the top of the guide slide groove, a guide rod fixed at the bottom end of the limit plate, and a movable block slidably mounted on the outside of the guide rod. The limit plate is arranged along the extension direction of the guide slide groove, and the guide rod and the lower pressure rod are staggered so that the guide rod will not hinder the lower pressure rod from flipping downward. A protrusion is fixed on the side of the lower pressure rod close to the bottom rod, and a bayonet is provided on the side of the movable block close to the bottom rod, and the protrusion can enter the bayonet and the two are interference fit.

[0024] Through the above scheme, before installing the laser reflective lens, the pressing rod can be blocked by the limit plate, and the laser reflective lens can be pressed down continuously so that the limit plate no longer blocks the pressing rod from flipping, thereby automatically fixing the laser reflective lens and making installation more convenient.

[0025] As a further improvement of the above scheme, the mirror seat shell consists of an outer shell and an inner shell which are spirally connected to each other, and the top of the inner shell has an extension portion, and a plurality of rod insertion seats arranged along the depth direction of the inner shell are fixed in the shell, and a connecting rod is movably inserted at each rod insertion seat, and the other end of the connecting rod is clamped with the movable table, and a plurality of radially arranged through holes are distributed along the circumferential direction in the shell of the inner shell, and a clamping rod is movably arranged at the through holes, and a spiral guide groove is provided at the bottom of the inner wall of the outer shell, and the end of the clamping rod contacts the bottom surface of the spiral guide groove, and the bottom surface of the spiral guide groove is an undulating wavy surface, thereby pushing the other end of the clamping rod to press against the outer wall of the connecting rod to fix the position of the connecting rod.

[0026] Through the above solution, the position of the movable table can be fixed after the laser reflecting lens is fixed, thereby further stabilizing the depth position of the laser reflecting lens in the lens seat housing, so that it can stably reflect laser.

[0027] Compared with the prior art, the present invention has the following beneficial effects:

[0028] The present invention provides a multi-degree-of-freedom laser processing robot, comprising a workbench, a bracket arranged on the workbench, a laser generator installed at the bottom of the bracket, and a basic light guide arm connected to the laser generator, wherein the other end of the basic light guide arm is connected in series to a plurality of relatively rotatable rotating light guide units, and a light emitter is installed at the end of the last rotating light guide unit;

[0029] The present invention can move the laser generator from the end of the robot arm to the workbench through the above design, thereby reducing the load, making the structure lighter, and making the robot arm work more conveniently and reliably.

[0030] The rotating light-guiding unit proposed in the present invention comprises a rotating joint, a light-guiding arm and an "L"-shaped bent pipe, one end of the rotating joint is coaxially connected to the light-guiding arm, the rotating joint and the light-guiding arm realize relative rotation through a rotating driving module, the other end of the light-guiding arm is connected to one end of the bent pipe, the other end of the bent pipe is used to connect to the rotating joint in another group of rotating light-guiding units, and a laser reflection module is also provided at the bending part of the bent pipe; wherein: the rotating joint, the light-guiding arm, the bent pipe and the laser reflection module constitute an optical path through which the laser can pass, so that the laser beam is finally emitted through the light emitter.

[0031] The present invention can realize stable laser transmission through the above structure, and can adjust the position of its execution end with multiple degrees of freedom, adapt to more complex working environments, and has wide applicability. BRIEF DESCRIPTION OF THE DRAWINGS

[0032] Figure 1 This is a schematic diagram of the overall structure of a multi-degree-of-freedom laser processing robot proposed by the present invention;

[0033] Figure 2A structural diagram of a rotating light guide unit proposed in Embodiment 1 of the present invention;

[0034] Figure 3 A three-dimensional diagram of a rotating light guide unit according to Embodiment 2 of the present invention;

[0035] Figure 4 A three-dimensional diagram of the rotating light guide unit proposed in Embodiment 2 of the present invention when viewed from the other side;

[0036] Figure 5 A schematic diagram of the connection structure of the rotating light guide unit proposed in Embodiment 2 of the present invention;

[0037] Figure 6 This is a schematic structural diagram of the laser reflection module proposed in Embodiment 2 of the present invention;

[0038] Figure 7 For the present invention Figure 6 A magnified image of point A;

[0039] Figure 8 For the present invention Figure 7 A schematic diagram of the structure after the downward pressure rod is flipped;

[0040] Fig. 9 For the present invention Figure 8 A schematic diagram of the structure after the movable platform in the figure continues to move downward for a certain distance;

[0041] Fig.10 This is a schematic structural diagram of a laser reflection module proposed in Embodiment 3 of the present invention;

[0042] Fig.11 For the present invention Fig.10 A magnified view of point B;

[0043] Fig.12 This is a schematic diagram of the movable block and the matching structure of the movable blocks proposed in the present invention.

[0044] Description of main symbols:

[0045] In the figure: workbench 1, bracket 2, laser generator 3, basic light guide arm 4, rotating light guide unit 5, rotating drive module 6, light emitter 7, laser reflection module 8, telescopic adjustment module 9; plug-in part 10, plug-in slot 11, guide unit 12, guide slot 13, annular slot 14, through hole 15, rotating joint 51, light guide arm 52, light guide arm flange 521, rotating connection part 522, elbow 53, elbow flange 531, mounting hole 532, first telescopic tube 523, second telescopic tube 524; servo motor 161, spur gear 162, gear ring 16 3. Limiting unit 64; mirror base shell 81, perforation 82, laser reflecting lens 83, fixed platform 84, movable platform 85, connecting spring 86, slider 88, guide slide groove 89, bottom rod 810, movable block 811, lower pressure rod 812, limiting plate 813, protrusion 814, guide rod 815, extension part 816, outer shell 817, inner shell 818, connecting rod 819, rod seat 820, slot 821, clamping rod 822, spiral guide groove 823; servo motor 2 91, spur gear 2 92, gear ring 2 93, sleeve 95, annular plate 96. DETAILED DESCRIPTION

[0046] The present invention is further described below in conjunction with the accompanying drawings and specific implementation methods. It should be noted that, under the premise of no conflict, the various embodiments or technical features described below can be arbitrarily combined to form a new embodiment.

[0047] Example 1

[0048] Reference Figure 1-12 The present invention proposes a multi-degree-of-freedom laser processing robot, comprising a workbench 1, a bracket 2 arranged on the workbench 1, a laser generator 3 installed at the bottom of the bracket 2, a basic light guide arm 4 connected to the laser generator 3, and the other end of the basic light guide arm 4 is connected in series with a plurality of relatively rotatable rotating light guide units 5, and a light emitter 7 is installed at the end of the last rotating light guide unit 5;

[0049] The rotating light guide unit 5 includes a rotating joint 51, a light guide arm 52 and an "L"-shaped curved pipe 53. One end of the rotating joint 51 is coaxially rotatably connected to the light guide arm 52. The rotating joint 51 and the light guide arm 52 are relatively rotated by a rotating driving module 6. The other end of the light guide arm 52 is connected to one end of the curved pipe 53. The other end of the curved pipe 53 is used to connect to the rotating joint 51 in another group of rotating light guide units 5. A laser reflection module 8 is also provided at the bend of the curved pipe 53.

[0050] The rotating joint 51 , the light guide arm 52 , the curved tube 53 and the laser reflection module 8 form a light path through which the laser can pass, so that the laser beam is finally emitted through the light emitter 7 .

[0051] Please refer to Figure 2 As an optional embodiment of the present invention, one end of the light guide arm 52 has a rotating connection part 522, and the rotating connection part 522 is relatively rotatably sleeved with the rotating joint 51. The rotating driving module 6 includes a servo motor 161 fixed to the outer wall of the rotating joint 51, a gear ring 163 fixedly sleeved on the outer wall of the rotating joint 51, and the output end of the servo motor 161 is connected to a spur gear 162 that can mesh with the gear ring 163. Through the above scheme, multiple rotating light guide units 5 can be connected in series, and adjacent rotating light guide units 5 can rotate relatively, thereby realizing multi-degree-of-freedom adjustment.

[0052] More specifically, the rotating connection part 522 and the rotating joint 51 can be connected by a bearing, and a circle of annular grooves 14 can be provided on the outer wall of the rotating connection part 522, and a plurality of through holes 15 are opened on the outer wall of the rotating joint 51, and a limiting unit 64 is installed at each through hole. The limiting unit 64 includes a bolt passing through the through hole and a guide wheel rotatably installed at the bottom of the bolt. The outer annular surface of the guide wheel and the opposite side walls of the annular groove 14 are in rolling contact, thereby achieving a more stable connection between the two.

[0053] In this solution, one end of the light guide arm 52 is provided with a light guide arm flange 521, and both ends of the curved pipe 53 are provided with curved pipe flanges 531, and the curved pipe flanges 531 are connected to the light guide arm flange 521. The above structure can facilitate the installation of the duct arm and the curved pipe, and the installation and disassembly are more efficient.

[0054] Example 2

[0055] The difference from Example 1 is that the specific Figure 3-5 In this solution, the length of the light guide arm 52 is adjustable, which is specifically achieved through the following solution: the light guide arm 52 includes a first telescopic tube 523 and a second telescopic tube 524, wherein one end surface of the first telescopic tube 523 is provided with a plug-in slot 11, and one end surface of the second telescopic tube 524 is fixed with a plug-in portion 10 coaxial therewith, the plug-in portion 10 is movably plugged with the plug-in slot 11, and the first telescopic tube 523 and the second telescopic tube 524 are axially relatively movable through a telescopic adjustment module 9. Through the above solution, axial adjustment can be achieved, thereby making the working range larger and the applicability wider.

[0056] As a preferred implementation of the above scheme, the telescopic adjustment module 9 includes a sleeve 95 movably sleeved on the outside of the first telescopic tube 523, an annular plate 96 fixed at one end of the sleeve 95, a servo motor 91 fixed on one side of the annular plate 96, and a gear ring 93 fixed on the outer ring surface of the light guide arm flange 521. The output end of the servo motor 91 is connected to a spur gear 92, which can mesh with the gear ring 93. One end of the sleeve 95 extends to the outside of the plug-in part 10, and a plurality of guide units 12 are evenly fixed on the inner wall of one side of the sleeve 95. The outer wall of the plug-in part 10 is provided with guide grooves 13 which are respectively slidably matched with the guide units 12, and the guide grooves 13 are spirally arranged.

[0057] It can be seen that, through the above structure, the servo motor 91 can be used to drive the spur gear 92 to make the guide unit 12 move along the spirally arranged guide groove 13, so that the plug-in part 10 moves axially in the plug-in groove.

[0058] In order to facilitate the installation of the laser reflection lens, the lens is set at an angle of 45 degrees to the axis of the corresponding rotation key. A mounting hole 532 is opened in the middle of the outer wall of the curved pipe, and the laser reflection module 8 is installed at the mounting hole 532.

[0059] In this solution, the laser reflection module 8 includes a mirror base housing 81 fixed in the mounting hole 532 and a laser reflection lens 83 installed therein. The outer end of the mirror base housing 81 is open, and the other end of the mirror base housing 81 is provided with a through hole 82 for laser injection. An annular fixed platform 84 is fixed to the bottom of the mirror base housing 81. A movable platform 85 that can move in the depth direction thereof is also movably provided in the mirror base housing 81, and the movable platform 85 and the fixed platform 84 are connected by a plurality of connecting springs 86.

[0060] The laser reflection module 8 further includes a positioning unit for fixing the reflection lens 83 .

[0061] Through the above structure, the laser reflection lens 83 can be fixed, so that the laser is reflected by the laser reflection lens 83 and transmitted in each rotating light guide unit 5, thereby realizing the successful emission of the laser.

[0062] In order to facilitate the installation and removal of the laser reflective lens, the inner wall of the lens holder shell 81 is provided with a plurality of guide grooves 89 extending along its depth direction, and a slider 88 slidably matched with the guide grooves 89 is fixed to the outer peripheral side of the movable platform 85 .

[0063] The positioning unit includes a bottom rod 810 fixed to the top of the slider 88, and a pressing rod 812 rotatably connected to the top of the bottom rod 810 via a pin, and a torsion spring is installed on the pin to keep the pressing rod 812 in a downward rotation trend.

[0064] The above structure can drive the movable platform 85 to move down to a suitable position when the laser reflective lens 83 is pressed down, and the laser reflective lens 83 can be automatically pressed down by the pressing rod 812 to fix it.

[0065] As a further improvement of the above scheme, the positioning unit also includes a limit plate 813 fixed at the top of the guide slot 89, a guide rod 815 fixed at the bottom end of the limit plate 813, and a movable block 811 slidably sleeved on the outside of the guide rod 815. The limit plate 813 is arranged along the extension direction of the guide slot 89, and the guide rod 815 and the lower pressure rod 812 are staggered so that the guide rod 815 will not hinder the lower pressure rod 812 from flipping downward. A protrusion 814 is fixed on the side of the lower pressure rod 812 close to the bottom rod 88, and a bayonet is provided on the side of the movable block 811 close to the bottom rod 88, and the protrusion 814 can enter the bayonet and the two are interference fit.

[0066] Through the above scheme, before installing the laser reflective lens 83, the pressing rod 812 can be blocked by the limiting plate 813, and the laser reflective lens 83 can be continuously pressed down so that the limiting plate 813 no longer blocks the pressing rod 812 from flipping, thereby automatically fixing the laser reflective lens 83 and making installation more convenient.

[0067] For details, please refer to Figure 6-9 , when the above scheme is working, initially, if Figure 7 As shown, when the laser reflective lens is just placed on the movable platform 85, the pressing rod 812 is blocked by the limit plate 813 and will not turn down. It continues to be pressed down for a distance. When the limit plate 813 is no longer in contact with the pressing rod, the pressing rod automatically turns down under the action of the torsion spring so as to be pressed against the surface of the laser reflective lens. In addition, since the guide rod 815 and the pressing rod 812 are misaligned, the guide rod 815 will not hinder the pressing rod 812 from turning down. At this time, the installation is completed. When the laser reflective lens needs to be removed, the movable platform 85 is continued to be pressed down. Figure 8 and Fig.12 , so that the protrusion 814 on the outside of the pressing rod 812 is stuck in the slot on the side of the movable block. Due to the interference fit between the two, continuing to press down can make the pressing rod return to the vertical state under the obstruction of the movable block, and because the movable block 811 is always slidably sleeved with the guide rod 815, the downward pressure is removed at this time, and under the elastic action of the connecting spring 86, the movable platform 85 can rise to the initial position, and the pressing rod 812 is blocked by the limit plate 813 again, and after the movable block 811 slides and collides with the bottom surface of the limit plate 813, it separates from the protrusion 814 and drops to the initial position under the action of gravity, which is convenient for the next use.

[0068] Example 3

[0069] Reference Figure 10-11The mirror base shell 81 is composed of an outer shell 817 and an inner shell 818 which are spirally connected to each other, and the top of the inner shell 818 has an extension portion 816. A plurality of rod seats 820 arranged along the depth direction of the inner shell 818 are fixed in the shell of the inner shell 818, and a connecting rod 819 is movably inserted at each rod seat 820. The other end of the connecting rod 819 is clamped with the movable platform 85. A plurality of radially arranged through holes are distributed along the circumferential direction in the shell of the inner shell 818, and a clamping rod 822 is movably arranged at the through holes. A spiral guide groove 823 is provided at the bottom of the inner wall of the outer shell 817, and the end of the clamping rod 822 contacts the bottom surface of the spiral guide groove 823, and the bottom surface of the spiral guide groove 823 is an undulating wavy surface, thereby pushing the other end of the clamping rod 822 to press against the outer wall of the connecting rod 819 to fix the position of the connecting rod 819.

[0070] Through the above solution, the position of the movable platform can be fixed after the laser reflective lens 83 is fixed by the downward pressure rod, thereby further stabilizing the depth position of the laser reflective lens 83 in the lens base housing 81, so that it can stably reflect the laser. Specifically, the inner shell 818 is driven to rotate relative to the outer shell 817 by the hand-held extension 816, thereby changing the contact point between the clamping rod 822 and the bottom surface of the spiral guide groove 823, and finally pushing the clamping rod 822 to move and clamp the connecting rod 819.

[0071] The above-mentioned embodiments are only preferred embodiments of the present invention and cannot be used to limit the scope of protection of the present invention. Any non-substantial changes and substitutions made by technicians in this field on the basis of the present invention shall fall within the scope of protection required by the present invention.

Claims

1. A multi-degree-of-freedom laser processing robot, It is characterized in that It includes a workbench, a bracket arranged on the workbench, a laser generator installed at the bottom of the bracket, and a basic light guide arm connected to the laser generator, wherein the other end of the basic light guide arm is connected in series with a plurality of relatively rotatable rotating light guide units, and a light emitter is installed at the end of the last rotating light guide unit; The rotating light guide unit includes a rotating joint, a light guide arm and an "L"-shaped curved pipe, one end of the rotating joint is coaxially rotatably connected to the light guide arm, the rotating joint and the light guide arm are relatively rotated by a rotating driving module, the other end of the light guide arm is connected to one end of the curved pipe, the other end of the curved pipe is used to connect to the rotating joint in another group of rotating light guide units, and a laser reflection module is also provided at the bend of the curved pipe; Wherein: the rotating joint, the light guide arm, the curved tube and the laser reflection module form an optical path through which the laser can pass, so that the laser beam is finally emitted through the light emitter; A mounting hole is provided in the middle of the outer wall of the curved pipe, and the laser reflection module is mounted at the mounting hole; The laser reflection module comprises a mirror base shell fixed in the mounting hole and a laser reflection lens installed therein, the outer end of the mirror base shell is open, the other end of the mirror base shell is provided with a through hole for laser injection, an annular fixed platform is fixed at the bottom of the mirror base shell, a movable platform that can move in the depth direction thereof is also movably arranged in the mirror base shell, and the movable platform and the fixed platform are connected by a plurality of connecting springs; The laser reflection module also includes a positioning unit for fixing the reflection lens; The inner wall of the mirror base housing is provided with a plurality of guide slots extending in the depth direction thereof, and a slider which is slidably matched with the guide slots is fixed on the outer peripheral side of the movable platform; The positioning unit includes a bottom rod fixed to the top of the slider, a pressing rod rotatably connected to the top of the bottom rod through a pin, and a torsion spring is installed on the pin to keep the pressing rod in a downward rotation trend; The positioning unit also includes a limit plate fixed at the top of the guide slide groove, a guide rod fixed at the bottom end of the limit plate, and a movable block slidably sleeved on the outside of the guide rod. The limit plate is arranged along the extension direction of the guide slide groove, and the guide rod and the lower pressure rod are staggered so that the guide rod will not hinder the lower pressure rod from flipping downward. A protrusion is fixed on the side of the lower pressure rod close to the bottom rod, and a bayonet is provided on the side of the movable block close to the bottom rod, and the protrusion can enter the bayonet and the two are interference fit.

2. A multi-degree-of-freedom laser processing robot as claimed in claim 1, It is characterized in that One end of the light guide arm has a rotating connection part, which is rotatably sleeved with the rotating joint. The rotating drive module includes a servo motor fixed on the outer wall of the rotating joint and a gear ring fixed on the outer wall of the rotating joint. The output end of the servo motor is connected to a spur gear that can mesh with the gear ring.

3. A multi-degree-of-freedom laser processing robot as claimed in claim 2, It is characterized in that A light guide arm flange is arranged at one end of the light guide arm, and bent pipe flanges are arranged at both ends of the bent pipe, and the bent pipe flanges are connected to the light guide arm flange.

4. A multi-degree-of-freedom laser processing robot as claimed in claim 3, It is characterized in that The light guide arm includes a first telescopic tube and a second telescopic tube, wherein an insertion groove is provided on one end face of the first telescopic tube, and an insertion portion coaxial therewith is fixed on one end face of the second telescopic tube, the insertion portion is movably plugged into the insertion groove, and the first telescopic tube and the second telescopic tube are able to move relative to each other in the axial direction through a telescopic adjustment module.

5. A multi-degree-of-freedom laser processing robot as claimed in claim 4, It is characterized in that The telescopic adjustment module includes a sleeve movably mounted on the outside of the first telescopic tube, an annular plate fixed at one end of the sleeve, a servo motor 2 fixed on one side of the annular plate, and a gear ring 2 fixed on the outer ring surface of the light guide arm flange. The output end of the servo motor 2 is connected to a spur gear 2, which can mesh with the gear ring 2. One end of the sleeve extends to the outside of the plug-in part, and a plurality of guide units are evenly fixed on the inner wall of one side of the sleeve in the circumferential direction. The outer wall of the plug-in part is provided with guide grooves which are respectively slidably matched with the guide units, and the guide grooves are spirally arranged.

6. A multi-degree-of-freedom laser processing robot as claimed in claim 1, It is characterized in that The mirror seat shell is composed of an outer shell and an inner shell which are spirally connected to each other, and the top of the inner shell has an extension portion, and a plurality of rod insertion seats arranged along the depth direction of the inner shell are fixed in the shell, and a connecting rod is movably inserted at each rod insertion seat, and the other end of the connecting rod is clamped with the movable table, and a plurality of radially arranged through holes are distributed along the circumferential direction in the shell of the inner shell, and a clamping rod is movably arranged at the through holes, and a spiral guide groove is provided at the bottom of the inner wall of the outer shell, and the end of the clamping rod contacts the bottom surface of the spiral guide groove, and the bottom surface of the spiral guide groove is an undulating wavy surface, thereby pushing the other end of the clamping rod to press against the outer wall of the connecting rod to fix the position of the connecting rod.

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