An anti-collision multi-axis welding robot with weld tracking

Abstract

The present invention discloses an anti-collision multi-axis welding robot with weld tracking, which relates to the technical field of welding equipment, including a welding table, a fixing frame symmetrically fixedly connected to the upper surface of the welding table, an active laser visual sensor slidably connected to the top of the fixing frame, a multi-axis motion control platform provided on the welding table, and a rotating seat provided on the multi-axis motion control platform. When the laser welding head moves downward excessively, the anti-collision cover will touch the workpiece before the laser welding head, and as the laser welding head continues to approach the workpiece, the switch at the top of the inner cavity of the lifting shell will contact the lifting plate after moving downward for a distance, and after the switch is triggered, the second electromagnet is energized through the controller and the multi-axis motion control platform is stopped, and the laser welding head is retracted upward under the action of the second spring, so as to avoid the vertical collision of the laser welding head with the workpiece due to calculation errors, and prevent the laser welding head from being damaged by collision.

Description

Technical Field

[0001] The present invention relates to the technical field of welding equipment, and in particular to an anti-collision multi-axis welding robot with weld tracking. Background Art

[0002] The mechanical body of the multi-axis welding robot can achieve flexible movement and is precisely commanded by the control system. The welding system provides energy and guides the welding wire. The sensor system senses the welding environment. The welding robot can use laser sensors to track welds. It is widely used in the fields of automobile manufacturing, machinery manufacturing, aerospace, and electronic appliances.

[0003] When using laser sensors for weld tracking, its accuracy will be affected by factors such as sensor resolution, weld surface roughness, weld surface color, weld surface reflectivity, smoke and welding arc. This may cause the equipment to be unable to accurately measure the position of the weld, resulting in calculation errors or system failures. If the path is calculated incorrectly during the welding process, the welding head may collide with the workpiece when aligning with the weld and moving along the weld. If the welding head continues to move after colliding with the workpiece, it will cause damage to the welding head of the welding robot, including wear and deformation, which will affect subsequent welding work and require replacement of a new welding head before welding can be performed, increasing unnecessary welding costs. Summary of the invention

[0004] In order to solve the above technical problems, the present invention provides an anti-collision multi-axis welding robot with weld tracking.

[0005] The technical solution is as follows:

[0006] A collision-proof multi-axis welding robot with weld tracking comprises a welding table, a fixed frame is symmetrically fixedly connected to the welding table, an active laser vision sensor is slidably connected to the top of the fixed frame, a multi-axis motion control platform is arranged on the welding table, a rotating seat is arranged on the multi-axis motion control platform, a welding seat is arranged on the rotating seat, a laser welding head is slidably connected to the welding seat, and an anti-collision component is arranged on the welding seat;

[0007] The anti-collision component includes two movable bins symmetrically opened on a welding seat, the inner cavity of each movable bin is symmetrically fixedly connected with four partition plates, the four corners of the top of each movable bin are fixedly connected with a first electromagnet, the bottom of each movable bin is movably provided with four lifting shells, a total of eight lifting shells are provided, and the top of the inner cavity of one of the lifting shells is fixedly connected with a switch 1, the top of the lifting shell is fixedly connected with a first iron block, the interior of the movable bin is slidably connected with a lifting frame, the lifting frame is fixedly connected with four lifting plates, and the lifting plate extends from one end of the lifting frame to the adjacent lifting frame Inside the lifting shell, the anti-collision component also includes a connecting frame, a connecting frame is fixedly connected between the bottoms of the two lifting frames, the connecting frame passes through the welding seat and is slidably connected to the welding seat, the bottom of the connecting frame is sleeved on the outside of the laser welding head, the bottom of the connecting frame is fixedly connected to a dislocation shell, a plurality of first springs are evenly fixedly connected inside the dislocation shell, an anti-collision cover is fixedly connected between one end of the first spring close to the laser welding head, the top of the anti-collision cover is movably arranged inside the dislocation shell, the anti-collision cover is sleeved on the outside of the bottom of the laser welding head, and a plurality of switches 2 are evenly fixedly connected inside the dislocation shell.

[0008] Furthermore, a retraction assembly is provided on the welding seat, the retraction assembly includes a connecting plate fixedly connected to the top of the laser welding head, a guide rod is fixedly connected to the upper surface of the welding seat, the connecting plate is slidably connected to the guide rod, a second spring is provided between the connecting plate and the welding seat, a locking assembly is provided on the outer side of the welding seat, the locking assembly includes a convex strip fixedly connected to the side wall of the laser welding head, a groove for the convex strip to slide is provided on the welding seat, a card slot is provided on the convex strip, a locking shell is fixedly connected to the side wall of the welding seat, a second electromagnet is fixedly connected to the side of the inner surface of the locking shell away from the convex strip, a third spring is fixedly connected to the inner surface of the locking shell close to the second electromagnet, a card block is fixedly connected to one end of the third spring close to the convex strip, the card block passes through the locking shell and is engaged with the card slot, and a second iron block is fixedly connected to the side of the card block close to the second electromagnet.

[0009] Furthermore, the lifting frame is slidably arranged between four adjacent partition plates, and the lifting frame is arranged in a cross shape.

[0010] Furthermore, two guide rods are fixedly connected to the upper surface of the welding seat, the connecting plate is slidably connected to the two guide rods, two second springs are arranged between the connecting plate and the welding seat, and the two second springs are respectively sleeved on the outside of the two guide rods.

[0011] Furthermore, the top of the card block close to one end of the card slot is set as an inclined surface.

[0012] Furthermore, a convex plate is arranged on the top of the guide rod.

[0013] The beneficial effects of the present invention are as follows:

[0014] When the laser welding head moves downward excessively, the anti-collision cover will touch the workpiece before the laser welding head. As the laser welding head continues to approach the workpiece, the switch on the top of the inner cavity of the lifting shell moves downward for a distance and then contacts the lifting plate. After the switch is triggered, the second electromagnet is energized through the controller and the multi-axis motion control platform stops running. The second electromagnet magnetically attracts the second iron block to disengage the block from the card slot. Under the elastic reset action of the second spring, the connecting plate moves upward along the guide rod. The connecting plate drives the laser welding head to move upward in the welding seat, thereby causing the laser welding head to retract upward, thereby avoiding vertical collision of the laser welding head with the workpiece due to calculation errors, preventing collision damage to the laser welding head, and improving the safety of the laser welding head during welding.

[0015] When the laser welding head moves to the corner of the weld, errors in the calculation of the moving path will cause the laser welding head to collide with the workpiece. At this time, the anti-collision cover will first touch the workpiece laterally. When the welding seat and the laser welding head continue to move, the connecting frame, the offset shell and other structures will continue to move, causing the anti-collision cover to contact switch two. After switch two is triggered, the second electromagnet is energized through the controller and the multi-axis motion control platform stops running. The second electromagnet is energized to disengage the card block from the card slot, and under the action of the second spring, the laser welding head is retracted upward to avoid lateral collision and cause bending and damage to the laser welding head. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 It is a three-dimensional schematic diagram of the overall structure of the present invention;

[0017] Figure 2 It is a three-dimensional schematic diagram of the movable compartment, the dislocation shell and the anti-collision cover and other components of the present invention;

[0018] Figure 3 It is a three-dimensional schematic diagram of the movable bin, partition plate, connecting frame and other components of the present invention;

[0019] Figure 4 For the present invention Figure 3 A schematic diagram of the structure enlargement in the middle;

[0020] Figure 5 It is a three-dimensional schematic diagram of the partition plate, lifting frame and lifting plate and other components of the present invention;

[0021] Figure 6 It is a three-dimensional schematic diagram of the lifting shell, the first iron block, the first electromagnet and other components of the present invention;

[0022] Figure 7 It is a three-dimensional schematic diagram of the dislocation shell, the anti-collision cover and the switch of the present invention;

[0023] Figure 8 It is a three-dimensional schematic diagram of the components such as the convex strip and the locking shell of the present invention;

[0024] Fig. 9 For the present invention Figure 8 Enlarged schematic diagram of the structure at point B in the middle.

[0025] The accompanying drawings in the present invention are:

[0026] 1, welding table; 2, fixed frame; 21, active laser vision sensor; 3, multi-axis motion control platform; 4, rotating seat; 5, welding seat; 6, laser welding head;

[0027] Anti-collision components: 71, movable compartment; 72, partition plate; 73, first electromagnet; 74, lifting shell; 75, switch 1; 76, first iron block; 77, lifting frame; 78, lifting plate; 79, connecting frame; 710, dislocation shell; 711, first spring; 712, anti-collision cover; 713, switch 2;

[0028] Retraction assembly: 81, connecting plate; 82, second spring; 83, guide rod;

[0029] Locking assembly: 91, convex strip; 92, slot; 93, locking shell; 94, second electromagnet; 95, third spring; 96, block; 97, second iron block. DETAILED DESCRIPTION

[0030] The technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of the present invention.

[0031] The embodiments provided by the present invention will be described in detail below:

[0032] like Figures 1 to 6As shown, a collision-proof multi-axis welding robot with weld tracking includes a welding table 1, the upper surface of the welding table 1 is symmetrically fixedly connected to two fixing frames 2, the tops of the two fixing frames 2 are symmetrically slidably connected to two active laser vision sensors 21, a multi-axis motion control platform 3 is provided on the welding table 1, a rotating seat 4 is provided on the multi-axis motion control platform 3, a welding seat 5 is provided on the rotating seat 4, a laser welding head 6 is slidably connected to the middle of the welding seat 5, the active laser vision sensor 21, the multi-axis motion control platform 3, the rotating seat 4 and the laser welding head 6 are all existing known technologies, and are all electrically connected to an external known controller, and the multi-axis motion control platform 3 is used to drive the rotating seat 4 and the welding seat 5 to move, and the rotating seat 4 is used to drive the welding seat 5 to rotate to adjust the angle of the laser welding head 6, the active laser vision sensor 21 is used to obtain the characteristics of the welding area of ​​the workpiece, and the weld tracking path of the laser welding head 6 is planned by a data acquisition and analysis system, the working principles of the active laser vision sensor 21, the multi-axis motion control platform 3 and the rotating seat 4 are not repeated here, and an anti-collision component is provided on the welding seat 5;

[0033] The anti-collision component includes two movable bins 71 symmetrically opened on the welding seat 5, the inner cavity of each movable bin 71 is symmetrically fixedly connected with four partition plates 72, the four corners of the top of each movable bin 71 are fixedly connected with a first electromagnet 73, and the bottom of each movable bin 71 is movably provided with four lifting shells 74 corresponding to the positions of the first electromagnet 73, and a total of eight lifting shells 74 are provided, and the top of the inner cavity of one of the lifting shells 74 is fixedly connected with a switch 1 75, and the top of the lifting shell 74 is fixedly connected with a first iron block 76, and the first iron block 76 can drive the lifting shell 74 upward after being magnetically attracted by the first electromagnet 73 The movable bin 71 is internally slidably connected with a lifting frame 77, which is arranged in a cross shape. The lifting frame 77 is slidably arranged between four partition plates 72 to improve the stability of the lifting frame 77 when it slides up and down. The lifting frame 77 is fixedly connected with four lifting plates 78, which are arranged corresponding to the positions of the lifting shells 74. The end of the lifting plate 78 away from the lifting frame 77 extends to the inside of the adjacent lifting shells 74. When the lifting shells 74 move upward, the lifting plates 78 will be driven to move upward, and a gap is left between the lifting plates 78 and the switch 75 to prevent the lifting plates 78 from accidentally touching the switch 75 due to slight shaking.

[0034] like Figures 1 to 7As shown, the anti-collision assembly also includes a connecting frame 79, and the connecting frame 79 is fixedly connected between the bottoms of the two lifting frames 77. The connecting frame 79 passes through the bottom of the welding seat 5 and is slidably connected to the welding seat 5. The bottom of the connecting frame 79 is sleeved on the outside of the laser welding head 6 and is slidably connected to the laser welding head 6, and the top of the connecting frame 79 will slide into the movable bin 71 after moving upward. The bottom of the connecting frame 79 is fixedly connected to a misaligned shell 710, and the interior of the misaligned shell 710 is fixedly connected to multiple first springs 711 in an annular array at equal intervals. The multiple first springs 711 are fixedly connected between one end of the laser welding head 6. An anti-collision cover 712 is connected, and the top of the anti-collision cover 712 is movably arranged inside the offset shell 710. The anti-collision cover 712 is sleeved on the outside of the bottom of the laser welding head 6, and a gap is left between the anti-collision cover 712 and the laser welding head 6. When the anti-collision cover 712 is collided, it can move relative to the offset shell 710. The interior of the offset shell 710 is fixedly connected with multiple switches 713 in a circular array, and the gap between the anti-collision cover 712 and the laser welding head 6 is larger than the gap between the anti-collision cover 712 and the switch 713, so that the anti-collision cover 712 can contact the switch 713 when moving in the offset shell 710.

[0035] like Figure 2 , Figure 3 , Figure 6 and Figure 8 As shown, the welding seat 5 is provided with a retracting assembly for retracting the laser welding head 6, and the retracting assembly includes a connecting plate 81 fixedly connected to the top of the laser welding head 6, and two second springs 82 are fixedly connected to the bottom of the connecting plate 81, and two guide rods 83 corresponding to the positions of the second springs 82 are fixedly connected to the upper surface of the welding seat 5, and the guide rods 83 are used to guide the movement of the connecting plate 81, and one end of the second spring 82 away from the connecting plate 81 is fixedly connected to the welding seat 5, and the second spring 82 is sleeved on the outside of the corresponding guide rod 83. The top of the guide rod 83 passes through the connecting plate 81, and the connecting plate 81 is slidably connected to the guide rod 83. The top of the guide rod 83 is provided with a convex plate to prevent the connecting plate 81 from detaching when sliding upward on the guide rod 83.

[0036] like Figure 5 , Figure 8 and Fig. 9As shown, a locking assembly is provided on the outer side of the welding seat 5, and the locking assembly includes a convex strip 91 fixedly connected to the side wall of the laser welding head 6, a notch for the convex strip 91 to slide is provided on the welding seat 5, and a card slot 92 is provided on the convex strip 91. The side wall of the welding seat 5 is fixedly connected to a locking shell 93 by bolts, and a second electromagnet 94 is fixedly connected to the inner surface of the locking shell 93 away from the convex strip 91. A third spring 95 is fixedly connected to the inner surface of the locking shell 93 close to the second electromagnet 94, and the third spring 95 is fixedly connected to the end away from the end connected to the locking shell 93. A block 96 is fixedly connected, and the block 96 passes through the locking shell 93 and is engaged with the slot 92. The engagement between the block 96 and the slot 92 is used to limit and fix the convex strip 91, and the top of the block 96 close to one end of the slot 92 is set as an inclined surface. The downward movement of the convex strip 91 will push the block 96 through the inclined surface, so that the block 96 moves toward the inside of the locking shell 93. The side of the block 96 close to the second electromagnet 94 is fixedly connected to the second iron block 97. The second electromagnet 94, the first electromagnet 73, the switch 1 75 and the switch 2 713 are all electrically connected to an external known controller.

[0037] The following is the entire working process and working principle of the above embodiment:

[0038] The initial state is:

[0039] The lifting frame 77 is located at the lowest position in the movable warehouse 71. At this time, the height of the bottom of the anti-collision cover 712 is lower than the height of the bottom of the laser welding head 6. The anti-collision cover 712 can protect the laser welding head 6 when it is not in use, preventing the operator from colliding with the laser welding head 6 during the process of fixing the workpiece. At the same time, it can also avoid the problem of dust falling when the laser welding head 6 is not in use. The first spring 711 is not compressed, the anti-collision cover 712 and the laser welding head 6 are coaxial, the third spring 95 makes the block 96 engage with the slot 92, and the second spring 82 is in a compressed state.

[0040] When working:

[0041] The operator clamps the workpiece to be welded on the welding table 1 through the existing clamp, and then the operator starts the active laser vision sensor 21. The active laser vision sensor 21 obtains the characteristics of the welding area of ​​the workpiece through the camera thereon. After the active laser vision sensor 21 identifies the characteristics of the welding area of ​​the workpiece, the weld tracking path of the laser welding head 6 is planned through the data acquisition and analysis system. At this time, the controller controls the multi-axis motion control platform 3 to operate, and the multi-axis motion control platform 3 can drive the rotating seat 4 and the welding seat 5 to move synchronously, and the welding seat 5 drives the laser welding head 6 to move synchronously. When the laser welding head 6 moves to the weld position of the workpiece to be welded, the controller starts the laser welding head 6, and welds the workpiece weld through the laser welding head 6. At the same time, through the layered weld tracking path planning algorithm, combined with the local path planning and the global path planning, the multi-axis motion control platform 3 and the rotating seat 4 drive the laser welding head 6 to weld the weld.

[0042] The anti-collision component prevents vertical collision of the laser welding head 6 during welding:

[0043] When the multi-axis motion control platform 3 makes the laser welding head 6 approach the workpiece and align the weld, if there is a problem of path calculation error, the laser welding head 6 may move downward excessively, causing the laser welding head 6 to collide with the workpiece. In this case, since the height of the bottom of the anti-collision cover 712 of the device is lower than the height of the bottom of the laser welding head 6 at the beginning, the anti-collision cover 712 will touch the workpiece before the laser welding head 6. After the anti-collision cover 712 collides with the workpiece, it will not be able to move downward any further, making the structures such as the offset shell 710, the connecting frame 79 and the lifting frame 77 also unable to move downward any further. However, at this time, the laser welding head 6 will continue to approach the workpiece, and the welding seat 5 will also continue to approach the workpiece. Under the action of gravity, the lifting shell 74 moves downward along with the welding seat 5, so that the top of the inner cavity of the lifting shell 74 will approach the lifting plate 78, and the switch 75 at the top of the inner cavity of the lifting shell 74 will contact the lifting plate 78 after moving downward for a distance. After one 75 is triggered, the controller energizes the second electromagnet 94 and stops the multi-axis motion control platform 3. After the second electromagnet 94 is energized, a magnetic field is generated, and then the second electromagnet 94 will magnetically attract the second iron block 97, so that the second iron block 97 moves toward the side close to the second electromagnet 94, and the second iron block 97 drives the clamping block 96 to move synchronously toward the side close to the second electromagnet 94, and further compresses the third spring 95. At this time, the clamping block 96 will be separated from the clamping relationship with the clamping slot 92. When the clamping block 96 is separated from the clamping relationship with the clamping slot 92, the elastic reset action of the second spring 82 will make the connecting plate 81 move upward along the guide rod 83, and the connecting plate 81 will drive the laser welding head 6 to move upward in the welding seat 5, so that the laser welding head 6 retracts upward, avoiding the laser welding head 6 from vertically colliding with the workpiece due to calculation errors, preventing the laser welding head 6 from being damaged by collision, and improving the safety of the laser welding head 6 during welding.

[0044] After the laser welding head 6 is retracted upward, the connecting plate 81 will contact the convex plate on the top of the guide rod 83, and the convex strip 91 will be located above the block 96. At this time, the operator uses the controller to make the multi-axis motion control platform 3 drive the welding seat 5 and the laser welding head 6 to move upward, and the welding seat 5 will drive the lifting shell 74 to move upward synchronously. When the lifting shell 74 moves upward, the switch 1 75 will no longer contact the lifting plate 78, and then the second electromagnet 94 will be powered off through the controller, and the second electromagnet 94 will no longer magnetically attract the second iron block 97. The seat 5 and the lifting shell 74 continue to move upward, the bottom of the lifting shell 74 will contact the lifting plate 78, and drive the lifting frame 77 to move upward through the lifting plate 78, and the lifting frame 77 drives the connecting frame 79, the offset shell 710 and the anti-collision cover 712 and other structures to move upward synchronously, so that the anti-collision cover 712 is no longer in contact with the workpiece, and when the second electromagnet 94 no longer magnetically attracts the second iron block 97, the elastic reset action of the third spring 95 makes the block 96 move to the side away from the second electromagnet 94, so that the block 96 moves to the side directly below the convex strip 91.

[0045] After the anti-collision cover 712 is no longer in contact with the workpiece, the operator can press the connecting plate 81 downward to drive the connecting plate 81 to slide downward along the guide rod 83, so that the laser welding head 6 slides downward in the welding seat 5 and compresses the second spring 82 at the same time. When the laser welding head 6 moves downward, the laser welding head 6 drives the convex strip 91 to move downward synchronously. When the convex strip 91 moves downward, it pushes the inclined surface of the card block 96, so that the card block 96 moves to the side close to the second electromagnet 94. At this time, the card block 96 will further compress the third spring 95. When the convex strip 91 continues to move downward until the card slot 92 is flush with the card block 96 Under the elastic reset action of the third spring 95, the block 96 moves to the side close to the slot 92. At this time, the block 96 will be reinserted into the slot 92 and engaged with the slot 92, so as to limit and fix the position of the laser welding head 6. At this time, the operator can restart the active laser vision sensor 21. After the active laser vision sensor 21 recognizes the characteristics of the welding area of ​​the workpiece through the camera, the weld tracking path of the laser welding head 6 is re-planned through the data acquisition and analysis system, and the laser welding head 6 is driven to move through the multi-axis motion control platform 3 again to weld the workpiece.

[0046] When no collision occurs during the process of the laser welding head 6 being aligned with the weld of the workpiece, the first electromagnet 73 is first energized through the controller. After the first electromagnet 73 is energized, the magnetic field generated will magnetically attract the first iron block 76, so that the first iron block 76 moves upward in the movable bin 71. The upward movement of the first iron block 76 will drive the lifting shell 74 to move upward. The lifting shell 74 drives the lifting frame 77, the connecting frame 79, the offset shell 710 and the anti-collision cover 712 to move upward synchronously through the lifting plate 78. After the anti-collision cover 712 moves upward, the height of the bottom of the laser welding head 6 will be lower than the height of the bottom of the anti-collision cover 712. Then, the laser welding head 6 is started through the controller, and the laser welding head 6 starts to weld the weld of the workpiece, and the anti-collision cover 712 after rising will not affect the welding work of the laser welding head 6.

[0047] The anti-collision component prevents horizontal collision of the laser welding head 6 during welding:

[0048] When the laser welding head 6 moves along the weld of the workpiece, if the moving path is calculated incorrectly, the laser welding head 6 is likely to collide with the workpiece during the movement. Here, taking the welding between steel sections as an example, when the laser welding head 6 moves to the corner of the workpiece (i.e., the corner of the weld), the moving path calculation error will cause the laser welding head 6 to collide with the workpiece. At this time, the anti-collision cover 712 will first touch the workpiece laterally. After the anti-collision cover 712 touches the workpiece, it cannot continue to move. When the welding seat 5 and the laser welding head 6 continue to move, the connecting frame 79 and the dislocation shell 710 and other structures will continue to move, so that the dislocation shell 710 moves relative to the anti-collision cover 712, and the dislocation shell 710 will collide with the anti-collision cover 712. 12, at this time, the misalignment between the misaligned shell 710 and the anti-collision cover 712 will cause the corresponding first spring 711 to be compressed and deformed, and the anti-collision cover 712 will contact the switch 2 713 in the misaligned shell 710. After the switch 2 713 is triggered, the second electromagnet 94 is energized through the controller and the multi-axis motion control platform 3 stops running. After the second electromagnet 94 is energized, the second iron block 97 is magnetically attracted, and the second iron block 97 drives the block 96 to disengage from the card slot 92. Under the elastic reset action of the second spring 82, the connecting plate 81 and the laser welding head 6 move upward, so that the laser welding head 6 retracts upward, avoiding lateral collision and causing bending and damage of the laser welding head 6.

[0049] 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 principle of the present invention should be included in the protection scope of the present invention.

Claims

1. A collision-proof multi-axis welding robot with weld tracking, comprising a welding table (1), a fixing frame (2) symmetrically fixedly connected to the welding table (1), an active laser vision sensor (21) slidably connected to the top of the fixing frame (2), a multi-axis motion control platform (3) arranged on the welding table (1), a rotating seat (4) arranged on the multi-axis motion control platform (3), and a welding seat (5) arranged on the rotating seat (4), characterized in that: The welding seat (5) is slidably connected to a laser welding head (6), and an anti-collision component is provided on the welding seat (5); The anti-collision component comprises two movable bins (71) symmetrically opened on a welding seat (5), the inner cavity of each movable bin (71) is symmetrically fixedly connected to four partition plates (72), the four corners of the top of each movable bin (71) are fixedly connected to a first electromagnet (73), the bottom of each movable bin (71) is movably provided with four lifting shells (74), a total of eight lifting shells (74) are provided, and the top of the inner cavity of one of the lifting shells (74) is fixedly connected to a switch 1 (75), the top of the lifting shell (74) is fixedly connected to a first iron block (76), the interior of the movable bin (71) is slidably connected to a lifting frame (77), the lifting frame (77) is fixedly connected to four lifting plates (78), and the lifting plate (78) extends from one end of the lifting frame (77) to the interior of an adjacent lifting shell (74). The anti-collision component also includes a connecting frame (79), the connecting frame (79) is fixedly connected between the bottoms of the two lifting frames (77), the connecting frame (79) passes through the welding seat (5) and is slidably connected to the welding seat (5), the bottom of the connecting frame (79) is sleeved on the outside of the laser welding head (6), the bottom of the connecting frame (79) is fixedly connected to a dislocation shell (710), a plurality of first springs (711) are evenly fixedly connected inside the dislocation shell (710), an anti-collision cover (712) is fixedly connected between one end of the first spring (711) close to the laser welding head (6), the top of the anti-collision cover (712) is movably arranged inside the dislocation shell (710), the anti-collision cover (712) is sleeved on the outside of the bottom of the laser welding head (6), and a plurality of switches (713) are evenly fixedly connected inside the dislocation shell (710); The welding seat (5) is provided with a retracting assembly, the retracting assembly comprising a connecting plate (81) fixedly connected to the top of the laser welding head (6), a guide rod (83) fixedly connected to the upper surface of the welding seat (5), the connecting plate (81) and the guide rod (83) are slidably connected, a second spring (82) is provided between the connecting plate (81) and the welding seat (5), a locking assembly is provided on the outer side of the welding seat (5), the locking assembly comprising a convex strip (91) fixedly connected to the side wall of the laser welding head (6), a notch for the convex strip (91) to slide is provided on the welding seat (5), and a The locking groove (92) is fixedly connected to a locking shell (93) on a side wall of the welding seat (5); a second electromagnet (94) is fixedly connected to an inner surface of the locking shell (93) on a side away from the convex strip (91); a third spring (95) is fixedly connected to an inner surface of the locking shell (93) on a side close to the second electromagnet (94); a clamping block (96) is fixedly connected to one end of the third spring (95) close to the convex strip (91); the clamping block (96) passes through the locking shell (93) and is clamped and matched with the locking groove (92); and a second iron block (97) is fixedly connected to a side of the clamping block (96) close to the second electromagnet (94).

2. The anti-collision multi-axis welding robot with weld tracking according to claim 1, characterized in that: The lifting frame (77) is slidably disposed between four adjacent partition plates (72), and the lifting frame (77) is arranged in a cross shape.

3. The anti-collision multi-axis welding robot with weld tracking according to claim 1, characterized in that: Two guide rods (83) are fixedly connected to the upper surface of the welding seat (5); the connecting plate (81) is slidably connected to the two guide rods (83); two second springs (82) are arranged between the connecting plate (81) and the welding seat (5); the two second springs (82) are respectively sleeved on the outside of the two guide rods (83).

4. The anti-collision multi-axis welding robot with weld tracking according to claim 1, characterized in that: The top of the clamping block (96) close to one end of the clamping slot (92) is arranged as an inclined surface.

5. The anti-collision multi-axis welding robot with weld tracking according to claim 3, characterized in that: A convex plate is provided on the top of the guide rod (83).

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