A welding robot with adjustable welding head angle

Abstract

The invention relates to the technical field of laser welding, and in particular to a welding robot with an adjustable welding head angle, comprising a shell and a galvanometer scanning system, wherein the galvanometer scanning system comprises a first galvanometer assembly, a second galvanometer assembly and a driving block; gears and sensor assemblies are both provided on the first galvanometer assembly and the second galvanometer assembly; racks and a first clamping assembly are provided on the sides of the first galvanometer assembly and the second galvanometer assembly, and the driving block is clamped by the first clamping assembly so that the driving block can synchronously drive the first clamping assembly and the rack, and the gear is driven by the rack so that the first galvanometer assembly and the second galvanometer assembly rotate around an X-axis and a Y-axis respectively, and the rotation angle is monitored by the sensor assembly, so as to control the movement and positioning of a laser beam. Although the adjustment accuracy of this type is not as high as that of existing laser equipment, its low maintenance cost and simple structure enable the equipment to be better popularized in small processing enterprises, and have a good promotion effect on laser equipment.

Description

Technical Field

[0001] The invention relates to the technical field of laser welding, and in particular to a welding robot with an adjustable welding head angle. Background Art

[0002] Laser welding is an efficient and precise welding method. Compared with traditional welding, laser welding has significant advantages. Through its high energy density characteristics, it can quickly heat and melt materials to achieve high-speed and efficient welding. At the same time, it has high precision. The depth-to-width ratio of laser welding is high, which can form a deep and narrow weld, improving the strength and sealing of the weld. However, compared with traditional welding, laser welding has higher initial investment and maintenance costs. At the same time, the price of its laser and welding system accessories is relatively expensive, making it difficult to promote in some small and micro processing companies.

[0003] In the prior art, there are two ways to adjust the laser head for laser welding. One is to place it on a multi-axis manipulator and adjust the welding laser head by moving the manipulator. The other is to place a galvanometer scanning system 2 in two axis directions inside the welding head. The galvanometer changes the angle of the reflector 4 of the laser beam to control the direction and position of the laser beam, thereby realizing the change of the laser path. The existing galvanometer scanning system 2 is generally operated as follows: Figure 1 The laser emitter 3 shown in the figure emits a laser beam to the reflector 4, and then the laser beam is transmitted to two galvanometer mirrors of different axes in sequence through the reflector 4. Figure 1 The middle dotted line is the transmission path of the laser. The two galvanometers are generally driven by independent motors, so that the galvanometers perform reciprocating linear motion or axial rotation to adjust the path of the laser, thereby achieving high-precision adjustment. However, this will cause the cost of the laser equipment to further increase. In particular, for smaller processing companies, the use of laser equipment can greatly improve production efficiency during processing, but the cost is too high, and its processing accuracy will exceed its production requirements. Conversely, not using laser equipment will result in low production efficiency, and the processing accuracy of its production line is highly dependent on manual labor, which may not meet the processing requirements and cause product burden. Therefore, a low-cost laser processing equipment that can change the laser path through a galvanometer scanning system 2 is needed. Summary of the invention

[0004] In view of the above problems, a welding robot with an adjustable welding head angle is provided, in which the driving block is clamped by the first clamping assembly on the first galvanometer assembly and the second galvanometer assembly, so that the driving block drives the first clamping assembly, the rack is driven by the first clamping assembly, the gear is driven by the rack, and the first galvanometer assembly and the second galvanometer assembly are driven by the gear to rotate around the axis of the X-axis and the Y-axis respectively, and the rotation angle of the first galvanometer assembly and the second galvanometer assembly is monitored by the sensor assembly until the required angle is obtained, thereby controlling the movement and positioning of the laser beam and realizing complex graphics and path scanning. Although the adjustment accuracy of this type is not as high as that of an independently controlled driving source, its low maintenance cost and simple structure enable the equipment to be better popularized in small processing enterprises, and have a good promotion effect on laser equipment.

[0005] In order to solve the problems of the prior art, the present invention provides a welding robot with an adjustable welding head angle, comprising a shell and a galvanometer scanning system arranged in the shell, the galvanometer scanning system comprising a first galvanometer assembly that can rotate around an X-axis direction, a second galvanometer assembly that can rotate around a Y-axis direction and a driving block that slides along a Z-axis direction; the first galvanometer assembly and the second galvanometer assembly are both provided with gears that can drive them to rotate and a sensor assembly for monitoring their rotation angles; racks that are meshed with the gears are provided on the sides of the first galvanometer assembly and the second galvanometer assembly and on one side close to the driving block, and the sliding directions of the racks and the driving block are consistent; the two racks are provided with a first clamping assembly that can clamp the driving block.

[0006] Preferably, an inverted L-shaped slide rail is provided on the shell, and the slide rail extends along the Z-axis direction. A mounting plate is provided on the side of the rack of the first galvanometer assembly and the second galvanometer assembly away from the gear. Both mounting plates are slidably matched with the slide rail. The first clamping assembly is provided on the mounting plate, and the first clamping assembly includes two clamping blocks that can slide relative to each other.

[0007] Preferably, a slider slidably matched with the two clamping blocks is provided on the mounting plate, the sliding direction of the slider is perpendicular to the length direction of the mounting plate, a first wedge block is provided on one end of the slider close to the first clamping assembly, a first inclined surface matching the wedge block is provided on one side of the clamping block close to the first wedge block, and the two clamping blocks are connected by a first elastic member.

[0008] Preferably, a second clamping assembly that is mirror-symmetrical to the first clamping assembly is provided on the mounting plate, and two fixing bars that can extend along the Z-axis direction are provided on one side of the shell close to the second clamping assembly, and the second clamping assembly can clamp the fixing bars.

[0009] Preferably, a section of the sliding block close to the second clamping assembly is provided with a second wedge block which is mirror-symmetrical to the first wedge block.

[0010] Preferably, two guide rods are arranged between the first wedge block and the second wedge block of the slider, the two guide rods pass through the mounting plate and slideably cooperate with it, a second elastic member is arranged between the first wedge block and the mounting plate, a magnetic block is arranged on the side of the first wedge block close to the mounting plate, and an electromagnet is arranged on the mounting plate which can be magnetically connected to the magnetic block after power is supplied.

[0011] Preferably, a connecting rod hinged to it is provided at the end of the driving block, a rotating disk with an axis parallel to the axis of the X-axis is provided on the side of the connecting rod, a fixed shaft parallel to its axis is provided on the rotating disk, the other end of the connecting rod is hinged to the fixed shaft, and the rotating disk is driven by a rotating drive motor.

[0012] Preferably, both the first galvanometer assembly and the second galvanometer assembly are provided with a clamping seat, and the clamping seat is made of metal with good thermal conductivity.

[0013] Preferably, the sensor assembly is an angle sensor for monitoring the axial rotation angles of the first galvanometer assembly and the second galvanometer assembly.

[0014] Preferably, the shell is also provided with a multi-axis manipulator connected thereto.

[0015] Compared with the prior art, the present invention has the following beneficial effects:

[0016] The present invention clamps the driving block by the first clamping assembly on the first galvanometer assembly and the second galvanometer assembly, so that the driving block can drive the movement of the first clamping assembly, and the movement of the first clamping assembly drives the movement of the rack, and the movement of the rack drives the rotation of the gear, and the rotation of the gear drives the first galvanometer assembly and the second galvanometer assembly to rotate around the axis of the X-axis and the Y-axis respectively, and the rotation angle of the first galvanometer assembly and the second galvanometer assembly is monitored by the sensor assembly until the required angle is obtained, thereby controlling the movement and positioning of the laser beam and realizing complex graphics and path scanning. Although the adjustment accuracy of this type is not as high as that of an independently controlled driving source, its low maintenance cost and simple structure enable the equipment to be better popularized in small processing enterprises, and have a good promotion effect on laser equipment.

[0017] 2. The present invention clamps the fixing bar through the second clamping assembly, so that the mounting plate can immediately stop at the specified position. The fixing of the mounting plate drives the fixing of the rack, and the fixing of the rack prevents the gear from continuing to rotate, thereby allowing the first galvanometer assembly and the second galvanometer assembly to remain fixed. The above method ensures the stability of the first galvanometer assembly and the second galvanometer assembly after adjustment, which plays a decisive role in the laser beam finally formed by the equipment and can help improve the overall stability of the equipment and improve the accuracy of the equipment.

[0018] 3. By setting the first wedge block and the second wedge block on the slider, the slider can control the first clamping assembly and the second clamping assembly at the same time, so that the first galvanometer assembly and the second galvanometer assembly can be fixed immediately after the angle adjustment is completed, ensuring the accuracy of the equipment, thereby accurately controlling the movement and positioning of the laser beam and realizing complex graphics and path scanning. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 It is the working direction diagram of the laser beam of the existing laser welding equipment through the galvanometer scanning system.

[0020] Figure 2 The present invention is a three-dimensional structural diagram of the interior of a shell and a galvanometer scanning system of a welding robot with an adjustable welding head angle.

[0021] Figure 3 This is a three-dimensional structural diagram of a galvanometer scanning system in a welding robot with an adjustable welding head angle.

[0022] Figure 4 It is a top view of the galvanometer scanning system in a welding robot with an adjustable welding head angle.

[0023] Figure 5 It is a front view of a galvanometer scanning system in a welding robot with an adjustable welding head angle.

[0024] Figure 6 The present invention is a three-dimensional structural diagram of a galvanometer scanning system and a rack in a welding robot with an adjustable welding head angle.

[0025] Figure 7 A schematic diagram of the three-dimensional structure of the drive block and two racks in a welding robot with an adjustable welding head angle Figure 1 .

[0026] Figure 8 A schematic diagram of the three-dimensional structure of the drive block and two racks in a welding robot with an adjustable welding head angle Figure 2 .

[0027] Fig. 9 It is a front view of a driving block and two racks in a welding robot with an adjustable welding head angle.

[0028] Fig.10 The present invention is a three-dimensional structural schematic diagram of a rack and a first clamping component in a welding robot with an adjustable welding head angle.

[0029] Fig.11 The present invention is a three-dimensional structural schematic diagram of a first clamping component in a welding robot with an adjustable welding head angle.

[0030] Fig.12The present invention is a three-dimensional structural diagram of a multi-axis manipulator and a shell of a welding robot with an adjustable welding head angle.

[0031] The numbers in the figure are:

[0032] 1-housing; 11-slide rail; 12-fixing bar; 13-multi-axis manipulator; 2-galvanometer scanning system; 21-first galvanometer assembly; 211-rack; 2111-mounting plate; 212-first clamping assembly; 2121-clamping block; 21211-clamping rod; 21212-clamping plate; 21213-transmission block; 21214-first inclined plane; 21215-first elastic member; 2122-slider; 21221-first wedge Block; 21222-magnetic block; 21223-second wedge block; 21224-guide rod; 21225-second elastic member; 213-second clamping assembly; 214-gear; 215-sensor assembly; 2151-angle sensor; 216-clamping seat; 2161-plane mirror; 22-second galvanometer assembly; 23-driving block; 231-connecting rod; 232-rotating disk; 233-fixed shaft; 234-rotating drive motor. DETAILED DESCRIPTION

[0033] In order to further understand the features, technical means, specific objectives and functions of the present invention, the present invention is further described in detail below in conjunction with the accompanying drawings and specific implementation methods.

[0034] like Figures 1 to 5 and Fig. 9 As shown: A welding robot with an adjustable welding head angle, comprising a shell 1 and a galvanometer scanning system 2 arranged in the shell 1, the galvanometer scanning system 2 comprising a first galvanometer assembly 21 that can rotate around an X-axis, a second galvanometer assembly 22 that can rotate around a Y-axis direction and a driving block 23 that can slide along a Z-axis direction; the first galvanometer assembly 21 and the second galvanometer assembly 22 are both provided with a gear 214 that can drive them to rotate and a sensor assembly 215 for monitoring their rotation angle; a rack 211 meshingly connected to the gear 214 is provided on the side of the first galvanometer assembly 21 and the second galvanometer assembly 22 and close to the driving block 23, and the rack 211 is consistent with the sliding direction of the driving block 23; the two racks 211 are provided with a first clamping assembly 212 that can clamp the driving block 23.

[0035] Figure 3The directions of the middle arrows are the axial directions of the X-axis, Y-axis, and Z-axis, respectively. After the laser emitter 3 emits a laser beam, it is reflected by the reflector 4 and projected onto the first galvanometer assembly 21. At this time, the driving block 23 is started to slide along the direction of the Z-axis. The driving block 23 can be controlled by a servo motor or a cylinder. The driving block 23 is clamped by the first clamping assembly 212 on the first galvanometer assembly 21, so that the driving block 23 can drive the movement of the first clamping assembly 212, and the movement of the first clamping assembly 212 drives the movement of the rack 211, and the movement of the rack 211 drives the rotation of the gear 214 meshed with it, and the rotation of the gear 214 drives the first galvanometer assembly 21 to rotate around the axis of the X-axis, and the sensor assembly 215 is used to control the first galvanometer assembly 215. The rotation angle of the first galvanometer component 21 is monitored. When the first galvanometer component 21 reaches the required rotation angle, the sensor component 215 sends an electrical signal to the controller at the rear end, and the controller sends an electrical signal to the first clamping component 212, so that the first clamping component 212 releases the clamping of the driving block 23, thereby the first galvanometer component 21 stops rotating, so that the first galvanometer component 21 obtains the required angle, and the laser is transmitted to the second galvanometer component 22 after being reflected by the first galvanometer component 21. By repeating the above steps, the rotation angle of the second galvanometer component 22 around the Y-axis is adjusted, thereby completing the angle adjustment of the laser by the first galvanometer component 21 and the second galvanometer component 22, so that the movement and positioning of the laser beam can be controlled to achieve complex graphics and path scanning.

[0036] It should be noted that the first clamping assembly 212 can be driven by pneumatic or electromagnetic drive, which is relatively common and low-cost. There are many such structures, which are not described here one by one; since the first galvanometer assembly 21 and the second galvanometer assembly 22 need to be connected to the drive block 23 respectively to complete the final adjustment, its efficiency is not as high as the accuracy and efficiency of the device with an independent drive source. The first galvanometer assembly 21 and the second galvanometer assembly 22 can be used at the same time to connect the first clamping assembly 212 to the drive block 23, which can to a certain extent make up for the problem of fast adjustment speed of the device without an independent drive source when the device is driven by a single drive source. Although the adjustment accuracy of this type is not as high as that of the independently controlled drive source, its low maintenance cost and simple structure enable the equipment to be better popularized in small processing enterprises, and have a good promotion effect on laser equipment.

[0037] like Figures 2 to 9As shown: an inverted L-shaped slide rail 11 is provided on the shell 1, and the slide rail 11 extends along the Z-axis direction. A mounting plate 2111 is provided on the side of the rack 211 of the first galvanometer assembly 21 and the second galvanometer assembly 22 away from the gear 214. Both mounting plates 2111 are slidably matched with the slide rail 11. The first clamping assembly 212 is provided on the mounting plate 2111, and the first clamping assembly 212 includes two clamping blocks 2121 that can slide relative to each other.

[0038] Since the first galvanometer assembly 21 and the second galvanometer assembly 22 are respectively arranged along the X-axis and the Y-axis, the L-shaped slide rail 11 is arranged so that the mounting plates 2111 of the first galvanometer assembly 21 and the second galvanometer assembly 22 can be slidably arranged on the slide rail 11, and the movement of the mounting plate 2111 can drive the movement of the rack 211, and the mounting plate 2111 provides a support platform for the first clamping assembly 212, so that the clamping block 2121 of the first clamping assembly 212 can slide relatively on the mounting plate 2111, and the driving of the first clamping assembly 212 can be driven by pneumatic or electromagnetic driving, and its driving is relatively common and has low acquisition cost. There are many such structures. This will not be elaborated one by one; it should be noted that the cross-section of the driving block 23 is an L-shaped structure, and the two vertical end faces of the driving block 23 are respectively located between the two clamping blocks 2121 of the first clamping assembly 212 of the first galvanometer assembly 21 and the second galvanometer assembly 22, so that when the first galvanometer assembly 21 and the second galvanometer assembly 22 need to adjust the angle, the clamping block 2121 can be driven so that the clamping block 2121 can immediately clamp the driving block 23; at the same time, the clamping block 2121 is preferably in the shape of a long strip or a plurality of clamping blocks 2121 are arranged along the length direction of the Z axis, so that the clamping block 2121 can immediately remain connected to the moving driving block 23 when clamping it.

[0039] like Figures 3 to 11 As shown: a slider 2122 is provided on the mounting plate 2111 between the two clamping blocks 2121, and the sliding direction of the slider 2122 is perpendicular to the length direction of the mounting plate 2111. A first wedge block 21221 is provided on the end of the slider 2122 close to the first clamping assembly 212. A first inclined surface 21214 matching the wedge block is provided on the side of the clamping block 2121 close to the first wedge block 21221. The two clamping blocks 2121 are connected by a first elastic member 21215.

[0040] The clamping block 2121 includes a clamping rod 21211 extending along the Z-axis direction, and clamping plates 21212 are provided at both ends of the clamping rod 21211. The first elastic member 21215 is sleeved on the two clamping rods 21211, and the first elastic member 21215 is used to drive the two clamping rods 21211 to approach each other. A transmission block 21213 is provided in the center of the two clamping rods 21211, and a first inclined surface 21214 is provided on the two transmission blocks 2121 3, the movement of the slider 2122 can drive the movement of the first wedge block 21221, and the two sides of the first wedge block 21221 can simultaneously drive the first inclined surfaces 21214 on the two transmission blocks 21213 to slide, so that the two transmission blocks 21213 move away from each other, and the movement of the transmission block 21213 drives the movement of the clamping rod 21211, and the movement of the clamping rod 21211 drives the clamping plate 2121 2, thereby making the two clamping blocks 2121 move away from each other. When the slider 2122 is reset, the two clamping blocks 2121 can be reset under the elastic force of the first elastic member 21215, so that the two clamping blocks 2121 are close to each other again. Through the cooperation of the slider 2122 and the first elastic member 21215, the first clamping assembly 212 can clamp and release the driving block 23, thereby freely controlling the movement of the rack 211, and controlling the rotation of the gear 214 meshing with it through the movement of the rack 211, and driving the first galvanometer assembly 21 or the second galvanometer assembly 22 through the rotation of the gear 214, thereby controlling the movement and positioning of the laser beam and realizing complex graphics and path scanning. The slider 2122 can be driven by pneumatic or electromagnetic drive, which is more common and has low cost. There are many such structures, which are not described here one by one.

[0041] like Figures 3 to 9 As shown: a second clamping assembly 213 which is mirror-symmetrical to the first clamping assembly 212 is arranged on the mounting plate 2111, and two fixing bars 12 which can extend along the Z-axis direction are arranged on one side of the shell 1 close to the second clamping assembly 213, and the second clamping assembly 213 can clamp the fixing bars 12.

[0042] The clamping of the driving block 23 by the first clamping assembly 212 can realize the adjustment of the rotation angle of the first galvanometer assembly 21 and the second galvanometer assembly 22. After the angle adjustment is completed, the first clamping assembly 212 will release the clamping with the driving block 23. At this time, the first clamping assembly 212 will continue to slide a short distance under the action of inertia, thereby causing the rotation angle of the first galvanometer assembly 21 and the second galvanometer assembly 22 to deviate. In order to improve the accuracy of the equipment, a second clamping assembly 213 and a fixing bar 12 are arranged on the mounting plate 2111. When the first clamping assembly 212 drives the rack 211 to move, it will also drive the second clamping assembly 213. At this time, the second clamping assembly 213 is in contact with the fixing bar 12. The fixed bar 12 is in a loose state. After the first clamping component 212 releases the clamping of the driving block 23, the second clamping component 213 immediately clamps the fixed bar 12, so that the mounting plate 2111 can immediately stop at the specified position. The fixation of the mounting plate 2111 drives the fixation of the rack 211. The fixation of the rack 211 prevents the gear 214 from continuing to rotate, thereby allowing the first galvanometer component 21 and the second galvanometer component 22 to remain fixed. The above method is used to ensure the stability of the first galvanometer component 21 and the second galvanometer component 22 after adjustment, which plays a decisive role in the laser beam finally formed by the device, and can help improve the overall stability of the device and improve the accuracy of the device.

[0043] like Figures 3 to 11 As shown: a section of the sliding block 2122 close to the second clamping assembly 213 is provided with a second wedge block 21223 which is mirror-symmetrical to the first wedge block 21221 .

[0044] Since the second clamping assembly 213 and the first clamping assembly 212 are arranged in a mirror-symmetrical state, the structure of the second clamping assembly 213 is completely consistent with the structure of the first clamping assembly 212. Through the arrangement of the second wedge block 21223, the slider 2122 drives the movement of the second wedge block 21223 when driving the first wedge block 21221 to move. When the first wedge block 21221 drives the two clamping blocks 2121 of the first clamping assembly 212 away from each other, the second wedge block 21223 makes the two clamping blocks 2121 of the second clamping assembly 213 approach each other under the action of the first elastic member 21215, and vice versa. Likewise, when the first clamping component 212 clamps the driving block 23, the second clamping component 213 releases the clamping of the fixed bar 12, and when the first clamping component 212 releases the clamping of the driving block 23, the second clamping component 213 clamps the fixed bar 12. Through the above method, the slider 2122 can control the first clamping component 212 and the second clamping component 213 at the same time, so that the first galvanometer component 21 and the second galvanometer component 22 can be fixed immediately after the angle adjustment is completed, ensuring the accuracy of the equipment, thereby accurately controlling the movement and positioning of the laser beam and realizing complex graphics and path scanning.

[0045] like Figures 3 to 11 As shown: two guide rods 21224 are arranged between the first wedge block 21221 and the second wedge block 21223 of the slider 2122, and the two guide rods 21224 pass through the mounting plate 2111 and slide with it, a second elastic member 21225 is arranged between the first wedge block 21221 and the mounting plate 2111, a magnetic block 21222 is arranged on the side of the first wedge block 21221 close to the mounting plate 2111, and an electromagnet is arranged on the mounting plate 2111 which can be magnetically connected with the magnetic block 21222 after power is supplied.

[0046] By setting the guide rod 21224, the slider 2122 can be slidably set on the mounting plate 2111. By setting the second elastic member 21225, the first wedge block 21221 is always held toward the side of the driving block 23 under the force of the second elastic member 21225. After the electromagnet is energized, the electromagnet generates a magnetic force to adsorb the magnetic block 21222, so that the first wedge block 21221 is close to the mounting plate 2111, and the second elastic member 21225 is compressed at this time. The movement of the first wedge block 21221 makes the two clamping blocks 2121 close to each other under the force of the first elastic member 21215 until the driving block 23 is pressed against the first wedge block 21221. 23 is clamped, and the movement of the slider 2122 also drives the movement of the second clamping assembly 213, so that the second clamping assembly 213 releases the clamping of the fixed bar 12, thereby realizing that the slider 2122 can control the first clamping assembly 212 and the second clamping assembly 213 at the same time, and after the electromagnet is powered off, the second elastic member 21225 will drive the first wedge block 21221 to reset, so that the first clamping assembly 212 can release the clamping of the driving block 23, while the second clamping assembly 213 clamps the fixed bar 12, thereby ensuring the accuracy of the equipment, thereby accurately controlling the movement and positioning of the laser beam, and realizing complex graphics and path scanning.

[0047] like Figures 3 to 6 and Figure 8 As shown: a connecting rod 231 hinged to the end of the driving block 23 is provided, a rotating disk 232 whose axis is parallel to the axis direction of the X-axis is provided on the side of the connecting rod 231, a fixed shaft 233 parallel to the axis of the rotating disk 232 is provided, the other end of the connecting rod 231 is hinged to the fixed shaft 233, and the rotating disk 232 is driven by a rotating driving motor 234.

[0048] By starting the rotary drive motor 234, the output shaft of the rotary drive motor 234 drives the rotation of the rotating disk 232, and the rotation of the rotating disk 232 drives the fixed shaft 233 connected thereto to rotate around its axis, and the rotation of the fixed shaft 233 drives the connection to rotate, and the rotation of the connecting rod 231 drives the movement of the driving block 23, so that the driving block 23 slides back and forth along the Z-axis direction, and the first clamping assembly 212 on the first galvanometer assembly 21 and the second galvanometer assembly 22 is connected to the driving block 23, so that the rotation angle of the first galvanometer assembly 21 and the second galvanometer assembly 22 can be adjusted.

[0049] like Figures 2 to 6 As shown: the first galvanometer assembly 21 and the second galvanometer assembly 22 are both provided with a clamping seat 216 , and the clamping seat 216 is made of metal with good thermal conductivity.

[0050] The galvanometers used for laser reflection in the first galvanometer assembly 21 and the second galvanometer assembly 22 are plane mirrors 2161. Since the laser beam has a high energy density, it will generate a high temperature when irradiating the plane mirror 2161. If the heat cannot be dissipated in time, the service life of the plane mirror 2161 will be reduced. The clamping seat 216 is made of metal with good thermal conductivity, so that the heat of the plane mirror 2161 can be dissipated through the clamping seat 216. The clamping seat 216 is preferably arranged to embrace the plane mirror 2161, so that there are more contact angles between the clamping seat 216 and the plane mirror 2161, which can improve the stability of the plane mirror 2161 and the accuracy of the equipment.

[0051] like Figures 3 to 6 As shown: the sensor assembly 215 is an angle sensor 2151 for monitoring the axial rotation angle of the first galvanometer assembly 21 and the second galvanometer assembly 22 .

[0052] By setting the angle sensor 2151, the axial rotation angle of the first galvanometer assembly 21 and the second galvanometer assembly 22 can be monitored in real time to ensure that the first galvanometer assembly 21 and the second galvanometer assembly 22 can reach the angle required by the process, so that the first galvanometer assembly 21 and the second galvanometer assembly 22 have higher accuracy when adjusting the laser beam.

[0053] like Figure 2 and Fig.12 As shown: the housing 1 is also provided with a multi-axis manipulator 13 connected thereto.

[0054] By coordinating the multi-axis manipulator 13 with the galvanometer scanning system 2, the laser can be better adjusted through mutual compensation between the two, and the large-range adjustment capability of the multi-axis manipulator 13 and the small-range fine adjustment capability of the galvanometer scanning system 2 can be fully utilized to achieve high-precision and high-efficiency welding, and enable the equipment to adapt to the needs of different workpieces and welding positions, with higher flexibility. Through the programming control system, the welding process can be fully automated, human intervention can be reduced, work efficiency can be improved, and mechanical wear and maintenance requirements can be reduced.

[0055] The above embodiments only express one or several implementation modes of the present invention, and the description thereof is relatively specific and detailed, but it cannot be understood as limiting the scope of the present invention. It should be pointed out that, for those of ordinary skill in the art, several variations and improvements can be made without departing from the concept of the present invention, and these all belong to the protection scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the attached claims.

Claims

1. A welding robot with an adjustable welding head angle, comprising a housing (1) and a galvanometer scanning system (2) arranged in the housing (1), characterized in that: The galvanometer scanning system (2) comprises a first galvanometer assembly (21) that can rotate about an X-axis direction, a second galvanometer assembly (22) that can rotate about a Y-axis direction, and a driving block (23) that can slide along a Z-axis direction; The first galvanometer assembly (21) and the second galvanometer assembly (22) are both provided with a gear (214) capable of driving them to rotate and a sensor assembly (215) for monitoring their rotation angles; A rack (211) meshingly connected to a gear (214) is provided on the side of the first galvanometer assembly (21) and the second galvanometer assembly (22) and close to the driving block (23), and the sliding direction of the rack (211) and the driving block (23) are consistent; The two racks (211) are provided with a first clamping assembly (212) capable of clamping the driving block (23); An inverted L-shaped slide rail (11) is provided on the housing (1), the slide rail (11) extending in the Z-axis direction, a mounting plate (2111) is provided on the racks (211) of the first galvanometer assembly (21) and the second galvanometer assembly (22) on a side away from the gear (214), the two mounting plates (2111) are both slidably matched with the slide rail (11), a first clamping assembly (212) is provided on the mounting plate (2111), and the first clamping assembly (212) comprises two clamping blocks (2121) that can slide relative to each other; A sliding block (2122) is provided on the mounting plate (2111) between the two clamping blocks (2121) and is slidably matched with the two clamping blocks. The sliding direction of the sliding block (2122) is perpendicular to the length direction of the mounting plate (2111). A first wedge block (21221) is provided on one end of the sliding block (2122) close to the first clamping assembly (212). A first inclined surface (21214) matching the wedge block is provided on one side of the clamping block (2121) close to the first wedge block (21221). The two clamping blocks (2121) are connected via a first elastic member (21215). A second clamping assembly (213) is arranged on the mounting plate (2111) and is mirror-symmetrical to the first clamping assembly (212); two fixing bars (12) that can extend along the Z-axis direction are arranged on a side of the housing (1) close to the second clamping assembly (213); and the second clamping assembly (213) can clamp the fixing bars (12); A section of the sliding block (2122) close to the second clamping assembly (213) is provided with a second wedge block (21223) which is mirror-symmetrical to the first wedge block (21221); Two guide rods (21224) are arranged between the first wedge block (21221) and the second wedge block (21223) of the slider (2122); the two guide rods (21224) penetrate through the mounting plate (2111) and slidably cooperate with the latter; a second elastic member (21225) is arranged between the first wedge block (21221) and the mounting plate (2111); a magnetic block (21222) is arranged on one side of the first wedge block (21221) close to the mounting plate (2111); and an electromagnet is arranged on the mounting plate (2111) which can be magnetically connected to the magnetic block (21222) after being energized; A connecting rod (231) hingedly connected to the end of the driving block (23) is provided, a rotating disk (232) whose axis is parallel to the axis of the X-axis is provided beside the connecting rod (231), a fixed shaft (233) parallel to the axis of the rotating disk (232) is provided, the other end of the connecting rod (231) is hingedly connected to the fixed shaft (233), and the rotating disk (232) is driven by a rotating driving motor (234); The sensor assembly (215) is an angle sensor (2151) used to monitor the axial rotation angles of the first galvanometer assembly (21) and the second galvanometer assembly (22).

2. A welding robot with an adjustable welding head angle according to claim 1, characterized in that: A clamping seat (216) is provided on both the first galvanometer assembly (21) and the second galvanometer assembly (22); the clamping seat (216) is made of metal with good thermal conductivity.

3. A welding robot with an adjustable welding head angle according to claim 1, characterized in that: The housing (1) is also provided with a multi-axis manipulator (13) connected thereto.

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