A laser welding device for grabbing manipulator

Abstract

The present invention discloses a grabbing robot laser welding device, which specifically relates to the field of robot production technology, including a base plate, the upper end of the base plate is fixedly connected with a heat preservation sleeve, the upper end of the base plate is fixedly connected with two groups of support frames, a blanking mechanism is fixedly connected between the two groups of support frames, the upper end of the base plate is fixedly connected with a limited welding mechanism, the upper end of the base plate is fixedly connected with a cylinder, one end of the cylinder is extended with a telescopic rod, one end of the telescopic rod is fixedly connected with a sliding seat, the upper end of the base plate is provided with a first slide groove, and the sliding seat is slidably connected to the first slide groove; the cylinder can drive the sliding seat to slide left and right in the first slide groove through the telescopic rod, and can drive the rotating shaft to rotate when the laser welder passes through the limiting groove, there is damping between the rotating shaft and the sliding seat, and it cannot rotate in the normal state, and when the laser welder slides in the limiting groove, the laser welder starts to weld the workpiece to be welded.

Description

Technical Field

[0001] The present invention relates to the technical field of robot production, and more specifically, to a grabbing robot laser welding device. Background Art

[0002] The grabbing robot usually grasps by clamping. The mechanical gripper needs welding. The existing grabbing robot laser welding device only has a single welding function, and cannot realize automatic loading, preheating and unloading. Summary of the invention

[0003] In order to overcome the above-mentioned defects of the prior art, an embodiment of the present invention provides a grasping robot laser welding device. The technical problem to be solved by the present invention is that the existing grasping robot laser welding device only has a single welding function, and cannot realize automatic loading, preheating and unloading.

[0004] To achieve the above-mentioned objectives, the present invention provides the following technical solutions: a grasping robot laser welding device, comprising a base plate, the upper end of the base plate is fixedly connected to a thermal insulation sleeve, the upper end of the base plate is fixedly connected to two groups of support frames, a blanking mechanism is fixedly connected between the two groups of support frames, the upper end of the base plate is fixedly connected to a limited welding mechanism, the upper end of the base plate is fixedly connected to a cylinder, a telescopic rod is extended from one end of the cylinder, one end of the telescopic rod is fixedly connected to a sliding seat, a first slide groove is provided at the upper end of the base plate, and the sliding seat is slidably connected to the first slide groove, a rotating shaft is rotatably connected to the sliding seat, and there is a certain damping between the rotating shaft and the sliding seat, one end of the rotating shaft is fixedly connected to a movable mechanism, and the cylindrical outer surface of the rotating shaft is fixedly connected to a laser welder.

[0005] In a preferred embodiment, the limiting welding mechanism includes a limiting sleeve, the limiting sleeve is fixedly connected to the base plate, a limiting groove is arranged on the limiting sleeve, the limiting groove is divided into ABC segments, wherein the AB segment is a straight line and the BC segment is a spiral arc, and the laser welder is slidably connected to the limiting groove.

[0006] In a preferred embodiment, the blanking mechanism includes a blanking frame, and the blanking frame is fixedly connected to two groups of support frames, a second notch is provided on one side of the blanking frame, and a third notch is provided on the side of the blanking frame opposite to the second notch, and multiple groups of parts to be welded are installed in the blanking frame, and the height of the parts to be welded is equal to the height difference between the second notch and the third notch, multiple groups of first springs are fixedly connected to one side of the blanking frame, one end of the multiple groups of first springs is fixedly connected to a connecting plate, one end of the connecting plate is fixedly connected to a third oblique stopper, and the third oblique stopper is slidably connected to the second notch, one side of the connecting plate is fixedly connected to the second oblique stopper, one side of the connecting plate is fixedly connected to a connecting rod, one side of the connecting rod is fixedly connected to the first oblique stopper, and the first oblique stopper is slidably connected to the third notch.

[0007] In a preferred embodiment, the movable mechanism includes a movable frame, and a second slide groove is provided on the front and rear sides of the movable frame, and the second slide groove corresponds to the position of the second oblique stop block, the inner wall of the movable frame is fixedly connected with an arc block, and the arc block is fixedly connected to the rotating shaft, and the cylindrical outer side surface of the arc block is adapted to the cylindrical inner side surface of the part to be welded, one side of the movable frame is fixedly connected with an extension plate, and the front and rear sides of the movable frame are fixedly connected with limiting blocks, each group of the limit blocks is slidably connected with an oblique clamping block, a third spring is fixedly connected between the oblique clamping block and the limit block, and one side of the movable frame is fixedly connected with a conductive block.

[0008] In a preferred embodiment, a plurality of groups of supporting legs are fixedly connected to the lower end of the base plate, a first notch groove is provided on the base plate, and a preheating mechanism is fixedly connected to the inner wall of the first notch groove.

[0009] In a preferred embodiment, the preheating mechanism includes a preheating frame, an upper cover is clamped on the upper end of the preheating frame, a heating block is fixedly connected to the four corners of the inner wall of the preheating frame, a plurality of groups of second springs are fixedly connected to one side of the inner wall of the preheating frame, one end of the plurality of second springs is fixedly connected to a movable plate, a limiting rod is fixedly connected to one side of the movable plate, and the limiting rod is connected through the preheating frame, a second wire is fixedly connected to one side of the movable plate, a first wire is fixedly connected to one side of the movable plate, and the first wire is connected to the power supply line of the heating block.

[0010] Technical effects and advantages of the present invention:

[0011] 1. The cylinder can drive the sliding seat to slide left and right in the first slide slot through the telescopic rod. When the laser welder passes through the limit slot, it can drive the shaft to rotate (there is damping between the shaft and the sliding seat, and it cannot rotate in the normal state). When the laser welder slides in the limit slot, the laser welder starts to weld the workpiece to be welded; first open the upper cover and put the first group of workpieces to be welded in the movable mechanism in advance. Figure 1The telescopic rod is in the initial state, and the sliding seat is driven to move leftward by contraction, thereby driving the movable mechanism to move leftward through the rotating shaft. When the movable mechanism is completely moved to the position directly below the blanking mechanism, the edge of the welded part in the movable frame will contact the second oblique stopper of the blanking mechanism ( Fig.13 As the movable mechanism moves to the left, the welded part in the movable frame will push the second oblique stopper, and the second oblique stopper will move backward (to Figure 1 As a reference), the second oblique block drives the third oblique block to move backward through the connecting plate, and at the same time, the connecting plate drives the first oblique block to insert into the third notch groove through the connecting rod. At this time, a group of parts to be welded in the blanking mechanism falls from above the third oblique block to between the third oblique block and the first oblique block ( Fig.14 When the workpiece to be welded completely passes through the second inclined stopper, the second inclined stopper returns to its initial position (at this time, the second inclined stopper is flush with the second slide groove), and the second inclined stopper is reset under the action of the first spring. At this time, the third inclined stopper is inserted into the gap between the two groups of workpieces to be welded in the blanking mechanism, preventing the workpiece to be welded above the third inclined stopper in the blanking mechanism from falling. At the same time, due to the reset of the first inclined stopper, the workpiece to be welded below the third inclined stopper is blocked by the extension plate on one side of the movable frame and cannot continue to fall. Subsequently, the cylinder drives the telescopic rod to extend. At this time, the wedge-shaped structure of the second inclined stopper 18 will block the workpiece to be welded in the movable mechanism from retreating, so that the workpiece to be welded will not move right with the movable mechanism (with Figure 1 As a reference), when the movable mechanism passes directly below the blanking mechanism again, the workpieces to be welded will press the oblique clamping blocks under the action of gravity, and the oblique clamping blocks will separate to both sides, and a group of workpieces to be welded will fall into the movable mechanism. As the movable mechanism moves to the right, the movable mechanism enters the preheating mechanism, and when the conductive block contacts the movable plate (at this time the laser welder just moves to point B), the second wire and the first wire are connected by the conductive block, and the heating block starts to preheat the workpieces to be welded. Since the laser welder moves in the BC section, it will drive the rotating shaft to rotate, which can make the workpieces to be welded as evenly as possible to avoid damage to some heating blocks causing unsatisfactory preheating. Repeating the above operations can complete the welding of the workpieces to be welded; the device realizes automatic blanking and loading, automatic preheating, and automatic unloading of the workpieces to be welded while welding. BRIEF DESCRIPTION OF THE DRAWINGS

[0012] Figure 1 It is a stereogram of the present invention.

[0013] Figure 2 The three-dimensional diagram of the present invention is removed from the insulation cover.

[0014] Figure 3 This is a three-dimensional diagram of the present invention without the workpiece to be welded and the preheating mechanism.

[0015] Figure 4 It is a front cross-sectional view of the present invention.

[0016] Figure 5 It is a three-dimensional diagram of the blanking mechanism of the present invention.

[0017] Figure 6 It is a three-dimensional diagram of the first part of the blanking mechanism of the present invention.

[0018] Figure 7 It is a three-dimensional diagram of the second part of the blanking mechanism of the present invention.

[0019] Figure 8 It is a three-dimensional diagram of the movable mechanism of the present invention.

[0020] Fig. 9 It is a first stereoscopic view of the position limiting welding mechanism of the present invention.

[0021] Fig.10 This is a second stereoscopic view of the position limiting welding mechanism of the present invention.

[0022] Fig.11 It is a right side cross-sectional view of the present invention.

[0023] Fig.12 for Figure 4 Enlarged view of D in the middle.

[0024] Fig.13 It is a first cross-sectional schematic diagram of the present invention.

[0025] Fig.14 It is a second cross-sectional schematic diagram of the present invention.

[0026] Fig.15 It is a three-dimensional diagram of the parts to be welded according to the present invention.

[0027] Fig.16 It is a partial stereoscopic view of the workpiece to be welded according to the present invention.

[0028] Fig.17 It is a workbench diagram of the present invention.

[0029] The accompanying drawings are marked as follows:

[0030] 1. Bottom plate; 2. Cylinder; 3. Telescopic rod; 4. First slide; 5. Insulation sleeve; 6. Blanking mechanism; 7. Preheating mechanism; 8. First notch groove; 9. Part to be welded; 10. Rotating shaft; 11. Limit welding mechanism; 12. Sliding seat; 13. Movable mechanism; 14. Support frame; 15. Blanking frame; 16. First oblique block; 17. Connecting rod; 18. Second oblique block; 19. First spring; 20. Connecting plate; 21. Third oblique block; 22. Second notch slot; 23, third notch slot; 24, arc block; 25, movable frame; 26, oblique clamping block; 27, second slide slot; 28, limit block; 29, third spring; 30, extension plate; 31, laser welder; 32, support leg; 33, limit sleeve; 34, limit slot; 35, conductive block; 36, limit rod; 37, heating block; 38, preheating frame; 39, second spring; 40, movable plate; 41, first wire; 42, second wire; 43, upper cover. DETAILED DESCRIPTION

[0031] Depend on Figure 1-17 The present invention provides a grabbing manipulator laser welding device, a grabbing manipulator laser welding device, comprising a base plate 1, a thermal insulation sleeve 5 is fixedly connected to the upper end of the base plate 1, two groups of support frames 14 are fixedly connected to the upper end of the base plate 1, a blanking mechanism 6 is fixedly connected between the two groups of support frames 14, a limited welding mechanism 11 is fixedly connected to the upper end of the base plate 1, a cylinder 2 is fixedly connected to the upper end of the base plate 1, a telescopic rod 3 is extended to one end of the cylinder 2, a sliding seat 12 is fixedly connected to one end of the telescopic rod 3, a first slide groove 4 is provided at the upper end of the base plate 1, and the sliding seat 12 is slidably connected to the first slide groove 4, a rotating shaft 10 is rotatably connected to the sliding seat 12, and there is a certain damping between the rotating shaft 10 and the sliding seat 12, one end of the rotating shaft 10 is fixedly connected to a movable mechanism 13, and a laser welder 31 is fixedly connected to the cylindrical outer surface of the rotating shaft 10. The cylinder 2 can drive the sliding seat 12 to slide left and right in the first sliding groove 4 through the telescopic rod 3, and can drive the rotating shaft 10 to rotate when the laser welder 31 passes through the limit groove 34B-C section (there is damping between the rotating shaft 10 and the sliding seat 12, and it cannot rotate in the normal state).

[0032] The limiting welding mechanism 11 includes a limiting sleeve 33, which is fixedly connected to the base plate 1. A limiting groove 34 is arranged on the limiting sleeve 33. The limiting groove 34 is divided into ABC segments, wherein the AB segment is a straight line and the BC segment is a spiral arc. The laser welder 31 is slidably connected to the limiting groove 34. When the laser welder 31 moves to the BC segment, the rotating shaft 10 is driven to rotate. The laser welder 31 is started when it moves to the limiting groove 34 to weld the workpiece 9 to be welded.

[0033] The blanking mechanism 6 includes a blanking frame 15, and the blanking frame 15 is fixedly connected to the two groups of support frames 14, a second notch groove 22 is provided on one side of the blanking frame 15, and a third notch groove 23 is provided on the side of the blanking frame 15 opposite to the second notch groove 22, and multiple groups of parts to be welded 9 are installed in the blanking frame 15, the parts to be welded 9 are divided into two parts and are fixed in advance by spot welding, and the height of the parts to be welded 9 is equal to the height difference between the second notch groove 22 and the third notch groove 23, multiple groups of first springs 19 are fixedly connected to one side of the blanking frame 15, one end of the multiple groups of first springs 19 is fixedly connected to a connecting plate 20, one end of the connecting plate 20 is fixedly connected to a third oblique stopper 21, and the third oblique stopper 21 is slidably connected to the second notch groove 22, one side of the connecting plate 20 is fixedly connected to the second oblique stopper 18, one side of the connecting plate 20 is fixedly connected to a connecting rod 17, one side of the connecting rod 17 is fixedly connected to the first oblique stopper 16, and the first oblique stopper 16 is slidably connected to the third notch groove 23. The movable mechanism 13 includes a movable frame 25, and the front and rear sides of the movable frame 25 are both provided with second slide grooves 27, and the second slide grooves 27 correspond to the positions of the second oblique stopper 18. The inner wall of the movable frame 25 is fixedly connected with an arc block 24, and the arc block 24 is fixedly connected to the rotating shaft 10, and the cylindrical outer side surface of the arc block 24 is adapted to the cylindrical inner side surface of the welded part 9. An extension plate 30 is fixedly connected to one side of the movable frame 25. The front and rear sides of the movable frame 25 are both fixedly connected with limit blocks 28. Each group of limit blocks 28 is slidably connected with an oblique clamping block 26 (the limit block 28 is connected with the clamping block 26 through, and the limit block 28 is fixedly connected with the movable frame 25). A third spring 29 is fixedly connected between the oblique clamping block 26 and the limit block 28 (the third spring 29 is sleeved with the limit block 28). A conductive block 35 is fixedly connected to one side of the movable frame 25. (With Figure 4 The movable mechanism 13 moves leftward first, and the welded part 9 in the movable frame 25 pushes the second oblique stopper 18, and the second oblique stopper 18 moves backward (with the position as the reference). Figure 1 As a reference), the second oblique stopper 18 drives the third oblique stopper 21 to move backward through the connecting plate 20, and at the same time, the connecting plate 20 drives the first oblique stopper 16 to be inserted into the third notch groove 23 through the connecting rod 17. At this time, a group of welded parts 9 in the blanking mechanism 6 fall from above the third oblique stopper 21 to between the third oblique stopper 21 and the first oblique stopper 16 ( Fig.14The second inclined stopper 18 is reset under the action of the first spring 19. At this time, the third inclined stopper 21 is inserted into the gap between the two groups of parts to be welded 9 in the blanking mechanism 6 to prevent the parts to be welded 9 above the third inclined stopper 21 in the blanking mechanism 6 from falling. At the same time, due to the reset of the first inclined stopper 16, the parts to be welded 9 below the third inclined stopper 21 continue to fall. The parts to be welded 9 below the third inclined stopper 21 are blocked by the extension plate 30 on one side of the movable frame 25 and cannot continue to fall. Subsequently, the cylinder 2 drives the telescopic rod 3 to extend. At this time, the wedge-shaped structure of the second inclined stopper 18 will block the parts to be welded 9 in the movable mechanism 13 from retreating in the opposite direction, so that the parts to be welded 9 will not move right with the movable mechanism 13 (with Figure 1 As a reference), when the movable mechanism 13 passes directly under the blanking mechanism 6 again, the workpiece 9 to be welded will press the oblique clamping block 26 under the action of gravity, and the oblique clamping block 26 will separate to both sides, and a group of workpieces to be welded 9 will fall into the movable mechanism 13 (the gravity of the workpiece 9 to be welded is greater than the spring force of the third spring 29 acting on the oblique clamping block 26).

[0034] A plurality of groups of supporting legs 32 are fixedly connected to the lower end of the bottom plate 1, a first notch groove 8 is provided on the bottom plate 1, and a preheating mechanism 7 is fixedly connected to the inner wall of the first notch groove 8. The preheating mechanism 7 includes a preheating frame 38, an upper cover 43 is clamped on the upper end of the preheating frame 38, a heating block 37 is fixedly connected to the four corners of the inner wall of the preheating frame 38, a plurality of groups of second springs 39 are fixedly connected to one side of the inner wall of the preheating frame 38, a movable plate 40 is fixedly connected to one end of the plurality of second springs 39, a limiting rod 36 is fixedly connected to one side of the movable plate 40, and the limiting rod 36 is connected through the preheating frame 38, a second wire 42 is fixedly connected to one side of the movable plate 40, a first wire 41 is fixedly connected to one side of the movable plate 40, and the first wire 41 is connected to the power supply line of the heating block 37. (With Figure 4 The movable mechanism 13 moves to the right, and the movable mechanism 13 enters the preheating mechanism 7. When the conductive block 35 contacts the movable plate 40 (the laser welder 31 just moves to point B at this time), the second wire 42 and the first wire 41 are connected by the conductive block 35, and the heating block 37 starts to preheat the workpiece 9 to be welded (the welding quality is better when the material is preheated and welded). Since the laser welder 31 moves in the BC section, it will drive the rotating shaft 10 to rotate, so that the workpiece 9 to be welded can be heated as evenly as possible, avoiding damage to some heating blocks 37 and causing unsatisfactory preheating. The above operations can be repeated to complete the welding of the workpiece 9 to be welded. The device realizes automatic blanking and loading, automatic preheating, and automatic unloading of the workpiece 9 to be welded while welding.

[0035] The device is used for welding of the grasping manipulator. When the laser welder 31 slides in the limit groove 34, the laser welder 31 starts to weld the workpiece 9. Figure 1 In the initial state, the upper cover 43 is first opened, and the first group of welded parts 9 are pre-placed in the movable mechanism 13. The cylinder 2 drives the telescopic rod 3 to contract and drives the sliding seat 12 to move leftward, thereby driving the movable mechanism 13 to move leftward through the rotating shaft 10. When the movable mechanism 13 is completely moved to the bottom of the blanking mechanism 6, the edge of the welded parts 9 in the movable frame 25 will contact the second inclined stopper 18 of the blanking mechanism 6 ( Fig.13 As the movable mechanism 13 moves to the left, the welded part 9 in the movable frame 25 pushes the second oblique stopper 18, and the second oblique stopper 18 moves backward (to Figure 1 As a reference), the second oblique stopper 18 drives the third oblique stopper 21 to move backward through the connecting plate 20, and at the same time, the connecting plate 20 drives the first oblique stopper 16 to be inserted into the third notch groove 23 through the connecting rod 17. At this time, a group of welded parts 9 in the blanking mechanism 6 fall from above the third oblique stopper 21 to between the third oblique stopper 21 and the first oblique stopper 16 ( Fig.14 State), when the workpiece 9 to be welded completely passes through the second inclined block 18, the second inclined block 18 returns to its initial position (at this time, the second inclined block 18 is flush with the second slide groove 27), and the second inclined block 18 is reset under the action of the first spring 19. At this time, the third inclined block 21 is inserted into the gap between the two groups of workpieces to be welded 9 in the blanking mechanism 6, preventing the workpieces to be welded 9 above the third inclined block 21 in the blanking mechanism 6 from falling. At the same time, due to the reset of the first inclined block 16, the workpieces to be welded 9 below the third inclined block 21 are blocked by the extension plate 30 on one side of the movable frame 25 and cannot continue to fall. Then the cylinder 2 drives the telescopic rod 3 to extend, and at this time the wedge-shaped structure of the second inclined block 18 will prevent the workpieces to be welded 9 in the movable mechanism 13 from retreating, so that the workpieces to be welded 9 will not move right with the movable mechanism 13 (with Figure 1 As a reference), when the movable mechanism 13 passes directly below the blanking mechanism 6 again, the workpiece 9 to be welded will press the oblique clamping block 26 under the action of gravity, and the oblique clamping block 26 will separate to both sides, and a group of workpieces 9 to be welded will fall into the movable mechanism 13 (the gravity of the workpiece 9 to be welded is greater than the spring force of the third spring 29 on the oblique clamping block 26). As the movable mechanism 13 moves to the right, the movable mechanism 13 enters the preheating mechanism 7. When the conductive block 35 contacts the movable plate 40 (at this time, the laser welder 31 just moves to point B), the second wire 42 and the first wire 41 are connected by the conductive block 35, and the heating block 37 starts to preheat the workpiece 9 to be welded. Since the laser welder 31 moves in the BC section, it will drive the rotating shaft 10 to rotate, so that the workpiece 9 to be welded can be heated as evenly as possible to avoid damage to the heating block 37 and cause unsatisfactory preheating. Repeating the above operations can repeatedly complete the welding of the workpiece 9 to be welded.

[0036] The laser welder 31 of the grabbing manipulator laser device not only realizes the welding function during operation, but also drives the rotating shaft 10 to rotate when the limit groove 34B-C section moves, so that the movable mechanism 13 can rotate during preheating, so that the heating is more uniform. The cylinder 2 can drive the sliding seat 12 to move left and right by controlling the contraction of the telescopic rod 3, thereby driving the movable mechanism 13 to move left and right through the rotating shaft 10. The left and right movement of the movable mechanism 13 can firstly control the automatic blanking of the weldment 9 in the blanking frame 15 by cooperating with the second oblique stopper 18, and secondly, when the conductive block 35 contacts the movable plate 40, the power supply of the heating block 37 is turned on to preheat the weldment 9, and can also push the weldment 9 to be welded to the left through the weldment 9 in the movable mechanism 13 when moving left, so that the weldment 9 to be welded moves to the top of the limit sleeve 33, thereby pushing the welded weldment 9 to move left.

[0037] Finally: The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention should be included in the protection scope of the present invention.

Claims

1. A gripping manipulator laser welding device, comprising a base plate (1), characterized in that: The upper end of the base plate (1) is fixedly connected to a heat preservation sleeve (5), the upper end of the base plate (1) is fixedly connected to two groups of support frames (14), a blanking mechanism (6) is fixedly connected between the two groups of support frames (14), the upper end of the base plate (1) is fixedly connected to a limited position welding mechanism (11), the upper end of the base plate (1) is fixedly connected to a cylinder (2), one end of the cylinder (2) is extended with a telescopic rod (3), one end of the telescopic rod (3) is fixedly connected to a sliding seat (12), the upper end of the base plate (1) is provided with a first slide groove (4), and the sliding seat (12) is slidably connected to the first slide groove (4), a rotating shaft (10) is rotatably connected to the sliding seat (12), and there is a certain damping between the rotating shaft (10) and the sliding seat (12), one end of the rotating shaft (10) is fixedly connected to a movable mechanism (13), and the cylindrical outer surface of the rotating shaft (10) is fixedly connected to a laser welder (31); The blanking mechanism (6) comprises a blanking frame (15), and the blanking frame (15) is fixedly connected to two groups of support frames (14), a second notch groove (22) is arranged on one side of the blanking frame (15), and a third notch groove (23) is arranged on the side of the blanking frame (15) opposite to the second notch groove (22), a plurality of groups of parts to be welded (9) are arranged in the blanking frame (15), the height of the parts to be welded (9) is equal to the height difference between the second notch groove (22) and the third notch groove (23), and a plurality of groups of first springs (23) are fixedly connected to one side of the blanking frame (15). 19), one end of the plurality of groups of the first springs (19) is fixedly connected to a connecting plate (20), one end of the connecting plate (20) is fixedly connected to a third oblique stopper (21), and the third oblique stopper (21) is slidably connected to the second notch groove (22), one side of the connecting plate (20) is fixedly connected to the second oblique stopper (18), one side of the connecting plate (20) is fixedly connected to a connecting rod (17), one side of the connecting rod (17) is fixedly connected to the first oblique stopper (16), and the first oblique stopper (16) is slidably connected to the third notch groove (23); The movable mechanism (13) comprises a movable frame (25), the front and rear sides of the movable frame (25) are both provided with second slide grooves (27), and the second slide grooves (27) correspond to the positions of the second oblique stopper (18), the inner wall of the movable frame (25) is fixedly connected with an arc block (24), the arc block (24) is fixedly connected with the rotating shaft (10), and the cylindrical outer side surface of the arc block (24) is adapted to the cylindrical inner side surface of the welded part (9), one side of the movable frame (25) is fixedly connected with an extension plate (30), the front and rear sides of the movable frame (25) are both fixedly connected with limit blocks (28), each group of the limit blocks (28) is slidably connected with an oblique clamping block (26), a third spring (29) is fixedly connected between the oblique clamping block (26) and the limit block (28), and one side of the movable frame (25) is fixedly connected with a conductive block (35); A plurality of groups of supporting legs (32) are fixedly connected to the lower end of the bottom plate (1), a first notch groove (8) is provided on the bottom plate (1), and a preheating mechanism (7) is fixedly connected to the inner wall of the first notch groove (8); The preheating mechanism (7) comprises a preheating frame (38), the upper end of the preheating frame (38) is clamped with an upper cover (43), the four corners of the inner wall of the preheating frame (38) are fixedly connected to a heating block (37), one side of the inner wall of the preheating frame (38) is fixedly connected to a plurality of groups of second springs (39), one end of the plurality of groups of second springs (39) is fixedly connected to a movable plate (40), one side of the movable plate (40) is fixedly connected to a limiting rod (36), and the limiting rod (36) is connected to the preheating frame (38) through, one side of the movable plate (40) is fixedly connected to a second wire (42), one side of the movable plate (40) is fixedly connected to a first wire (41), and the first wire (41) is connected to a power supply line of the heating block (37).

2. A grabbing manipulator laser welding device according to claim 1, characterized in that: The limiting welding mechanism (11) comprises a limiting sleeve (33), the limiting sleeve (33) is fixedly connected to the bottom plate (1), a limiting groove (34) is arranged on the limiting sleeve (33), the limiting groove (34) is divided into ABC segments, wherein the AB segment is a straight line and the BC segment is a spiral arc, and the laser welder (31) is slidably connected to the limiting groove (34).

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