Mechanical arm

Abstract

The invention provides a manipulator, and relates to the technical field of laser welding, according to the manipulator, a focal length adjusting assembly is arranged in the middle of the top of a cabinet assembly, a side frame assembly is arranged on the periphery of the top of the cabinet assembly, and a two-shaft main seat assembly is located above a base assembly and installed on the top of the side frame assembly. The focal length adjusting assembly and the two-axis main base assembly form a three-axis module of the mechanical arm, and the space occupied by the mechanical arm can be reduced. According to the mechanical arm of the two-shaft main seat assembly, layer-by-layer superposition of loads of all shaft modules can be effectively avoided, the overall load of the mechanical arm is reduced, the light weight of the mechanical arm is achieved, all actions of the mechanical arm can be kept in a stable state, and the operation precision of the mechanical arm is improved.

Description

Technical Field

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

[0002] The existing three-axis manipulators that use lasers for welding, cutting, and engraving are mostly superpositions of X-axis modules, Y-axis modules, and Z-axis modules. The Z-axis module carries the terminal equipment (such as a laser welding gun and mounting and fixing components), the Z-axis module is set on the Y-axis module, and the Y-axis module is set on the X-axis module. The X-axis module needs to bear the weight of the terminal equipment, the weight of the Z-axis module, and the weight of the Y-axis module, resulting in a large load weight that the X-axis module needs to bear, reducing the flexibility and control accuracy of the three-axis manipulator. Moreover, the cross-building of the three-axis modules also causes the three-axis manipulator to occupy a large space, and it is easy to touch other objects during operation, reducing the operational safety of the three-axis manipulator. Summary of the invention

[0003] In order to solve the above problems, the present invention provides a manipulator suitable for operating a laser welding gun, the manipulator comprising: a focal length adjustment component that can be telescopically extended up and down, a rotatable full-circle drive component, a two-axis main seat component that can move on a plane, a base component that carries a jig, a cabinet component and a side frame component; The focal length adjustment component is arranged in the middle of the top of the cabinet component, the full-circle drive component is arranged on the top of the focal length adjustment component, and the base component is arranged on the full-circle drive component; The side frame assembly is arranged around the top of the cabinet assembly, and the two-axis main seat assembly is located above the base assembly and installed on the top of the side frame assembly.

[0004] Optionally, it also includes: a foot cup; The foot cup is arranged at the bottom of the cabinet assembly; the foot cup is used to adjust the height of the cabinet assembly.

[0005] Optionally, the focus adjustment assembly includes: a bearing plate, a focus servo motor and a ball screw; The nut of the ball screw is fixedly arranged on the top of the cabinet assembly; one end of the screw of the ball screw is connected to the nut, and the other end is fixedly connected to the rotating shaft of the focal servo motor; the focal servo motor is fixedly connected to the bearing plate; The bearing plate is used for fixedly connecting with the full-circle drive assembly.

[0006] Optionally, the focal length adjustment assembly further comprises: a linear guide rail and a linear bearing; One end of the linear guide is fixedly connected to the bearing plate, and the other end passes through the guide hole on the top of the cabinet assembly and extends to the interior of the cabinet assembly; the linear bearing is arranged at the junction of the linear guide and the cabinet assembly.

[0007] Optionally, the full-circle drive assembly comprises: a full-circle servo motor, a reducer and a hollow rotating platform; The full-circle servo motor is fixedly connected to the focal length adjustment assembly; the rotating shaft of the full-circle servo motor is fixedly connected to the input shaft of the reducer; and the output shaft of the reducer is fixedly connected to the hollow rotating platform.

[0008] Optionally, the base assembly comprises: a base plate and a positioning pin; The base plate is fixedly connected to the full-circle servo motor; a plurality of positioning holes are arranged on the base plate, and one positioning pin can be arranged in each positioning hole.

[0009] Optionally, the side frame assembly includes: equal height columns, drag chains, drag chain slot supports, and slot support lockers; There are at least four equal-height columns, and both ends of each equal-height column are fixedly connected to the cabinet assembly and the two-axis main seat assembly respectively; Two adjacent equal-height columns are each provided with the slot support locker; the two ends of the drag chain slot support are respectively provided on the two slot support lockers, and the drag chain slot support is provided with the drag chain.

[0010] Optionally, the side frame assembly further comprises: a side window mounting profile; The two ends of the side window installation profile are respectively fixedly connected to two adjacent equal-height columns; the side window installation profile is used for installing the side windows.

[0011] Optionally, the two-axis main seat assembly includes: a fixed angle seat, a synchronous belt, a synchronous wheel, an X-direction guide rail, an X-direction movable seat, a Y-direction guide rail, a Y-direction movable seat and a driving servo motor; The X-direction guide rail is arranged on the top of the side frame assembly; an X-direction moving seat which moves along the X-direction guide rail is arranged on the X-direction guide rail; The X-axis moving seat is provided with a driven synchronous wheel; the X-axis guide rail is provided with an active synchronous wheel; the driving servo motor is connected to the active synchronous wheel; the synchronous belt connects the active synchronous wheel and the driven synchronous wheel; The X-direction moving seat is provided with the Y-direction guide rail; the Y-direction moving seat moving along the Y-direction guide rail is provided on the Y-direction moving seat; the Y-direction moving seat is provided with a fixed angle seat for mounting a laser welding gun; the Y-direction moving seat is fixedly connected to the synchronous belt via a synchronous belt clamp.

[0012] Optionally, the two-axis main seat assembly further includes: a tensioning synchronous wheel, an X-guide rail slider and a Y-guide rail slider; The tensioning synchronous wheel is arranged on the X-guide rail, and the synchronous belt connects the tensioning synchronous wheel, the active synchronous wheel and the driven synchronous wheel; The X-direction guide rail slider is arranged on the X-direction moving seat, and the X-direction guide rail slider is connected to the X-direction guide rail and moves along the X-direction guide rail; The Y-direction guide rail slider is arranged on the Y-direction moving seat, and the Y-direction guide rail slider is connected to the Y-direction guide rail and moves along the Y-direction guide rail.

[0013] The manipulator of the present invention is provided with a focus adjustment component in the middle of the top of the cabinet component, and a two-axis main seat component is provided on the top of the side frame component. The functions of the focus adjustment component and the two-axis main seat component are equivalent to the three-axis module of the manipulator. The two are not superimposed, but are independently arranged. Therefore, the occupied space is smaller than that of the three-axis module formed by stacking three modules in sequence, and the weight of each module is also smaller. Therefore, the manipulator using the focus adjustment component and the two-axis main seat component can effectively avoid the layered superposition of the loads of each axis module, thereby reducing the overall load of the manipulator, realizing the lightweight of the manipulator, and allowing each movement of the manipulator to operate in a stable state, thereby improving the operation accuracy of the manipulator. In addition, the manipulator of the present invention also includes a full-circle drive component, which can make the bearing fixture on the two-axis main seat component and the workpiece to be processed rotate within a range of 360 degrees, thereby improving the adaptability of the laser welding operation. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] Figure 1 The figure is a schematic diagram of the structure of a manipulator according to an embodiment of the present invention.

[0015] Figure 2 A structural schematic diagram of a focus adjustment component of a manipulator is provided for an embodiment of the present invention.

[0016] Figure 3 A structural schematic diagram of a base assembly of a manipulator is provided for an embodiment of the present invention.

[0017] Figure 4 A schematic structural diagram of a side frame assembly of a manipulator is provided for an embodiment of the present invention.

[0018] Figure 5 A schematic structural diagram of a two-axis main seat assembly of a manipulator is provided for an embodiment of the present invention.

[0019] Figure 6 A schematic diagram of the movement direction of a two-axis main seat assembly driven by a servo motor in a robot is provided for an embodiment of the present invention. DETAILED DESCRIPTION

[0020] In order to make the above-mentioned objects, features and advantages of the present invention more obvious and easy to understand, the specific embodiments of the present invention are described in detail below in conjunction with the accompanying drawings. Although certain embodiments of the present invention are shown in the accompanying drawings, it should be understood that the present invention can be implemented in various forms and should not be interpreted as being limited to the embodiments described herein. On the contrary, these embodiments are provided to provide a more thorough and complete understanding of the present invention. It should be understood that the drawings and embodiments of the present invention are only for exemplary purposes and are not intended to limit the scope of protection of the present invention.

[0021] It should be understood that the various steps described in the method embodiments of the present invention may be performed in different orders and / or in parallel. In addition, the method embodiments may include additional steps and / or omit the steps shown. The scope of the present invention is not limited in this respect.

[0022] The term "including" and its variations used in this document are open inclusions, that is, "including but not limited to"; the term "based on" means "based at least in part on"; the term "one embodiment" means "at least one embodiment"; the term "another embodiment" means "at least one other embodiment"; the term "some embodiments" means "at least some embodiments"; the term "optionally" means "optional embodiments". The relevant definitions of other terms will be given in the following description. It should be noted that the concepts of "first", "second", etc. mentioned in the present invention are only used to distinguish different devices, modules or units, and are not used to limit the order or interdependence of the functions performed by these devices, modules or units.

[0023] It should be noted that the modifications of "one" and "plurality" mentioned in the present invention are illustrative rather than restrictive, and those skilled in the art should understand that, unless otherwise clearly indicated in the context, it should be understood as "one or more".

[0024] The names of the messages or information exchanged between multiple devices in the embodiments of the present invention are only used for illustrative purposes, and are not used to limit the scope of these messages or information.

[0025] like Figure 1 As shown, a manipulator provided by an embodiment of the present invention is suitable for operating a laser welding gun, and the manipulator includes: a focal length adjustment component 1 that can be extended up and down, a rotatable full-circle drive component 2, a two-axis main seat component 3 that can move on a plane, a base component 4 for carrying a fixture, a cabinet component 5 and a side frame component 6.

[0026] The cabinet assembly 5 is the basis of the manipulator, and the inner cavity of the cabinet assembly 5 is used to accommodate the laser generator and control motherboard of the laser welding gun. A focus adjustment assembly 1 is arranged in the middle of the top of the cabinet assembly 5. The focus adjustment assembly 1 has the function of being able to extend and retract up and down, realizing the function of the Z-axis module of the existing three-axis manipulator. A full-circle drive assembly 2 is arranged on the top of the focus adjustment assembly 1. The full-circle drive assembly 2 is arranged to be rotatable, and can make the base assembly 4 located on the two-axis main seat assembly 3 rotate within a range of 360 degrees. The rotation of the base assembly 4 can drive the workpiece to be processed on the base assembly 4 to rotate, so that the laser welding gun performs welding work on the workpiece to be processed on the base assembly 4 within a range of 360 degrees, thereby improving the adaptability of the manipulator. A base assembly 4 is arranged on the full-circle drive assembly 2, and the base assembly 4 is used to carry the fixture.

[0027] Specifically, the support fixture is used to position and fix the workpiece to be processed. The focus adjustment component 1 and the rotatable full-circle drive component 2 are used to drive the fixture and the workpiece to be processed to move up and down or rotate along the Z axis, and the two-axis main seat component 3 is used to drive the laser welding gun to move in the XY plane, thereby realizing the relative movement of the workpiece to be processed and the laser welding gun in multiple dimensions, so as to facilitate the laser welding operation.

[0028] Furthermore, foot cups are provided at the bottom of the cabinet assembly 5, and there are four groups of foot cups, which are respectively provided at four sides of the bottom of the cabinet assembly 5. The foot cups are used to adjust the height of the cabinet assembly 5, so that the cabinet assembly 5 is easy to move and the upper plane of the top of the cabinet assembly 5 is horizontal.

[0029] The side frame assembly 6 is arranged around the top of the cabinet assembly 5, and the two-axis main seat assembly 3 is located above the base assembly 4 and installed on the top of the side frame assembly 6. The two-axis main seat assembly 3 is located above the base assembly 4 that carries the fixture, and a laser welding gun is installed on the two-axis main seat assembly 3. The two-axis main seat assembly 3 can move the laser welding gun in a two-dimensional plane, that is, the two-axis main seat assembly 3 realizes the functions of the X-axis module and the Y-axis module of the existing three-axis manipulator.

[0030] like Figure 2As shown, the focus adjustment assembly 1 includes: a carrier plate 11, a focus servo motor 13 and a ball screw 12; the nut of the ball screw 12 is fixedly arranged on the top of the cabinet assembly 5; one end of the screw of the ball screw 12 is connected to the nut, and the other end is fixedly connected to the rotating shaft of the focus servo motor 13; the focus servo motor 13 is fixedly connected to the carrier plate 11; the carrier plate 11 is used to be fixedly connected to the full-circle drive assembly 2. When the rotating shaft of the focus servo motor 13 rotates, it can drive the ball screw 12 to rotate, and the rotation of the ball screw 12 enables the nut of the ball screw 12 to move up and down on the ball screw 12. Since the nut of the ball screw 12 is fixed to the cabinet assembly 5, when the rotating shaft of the focus servo motor 13 rotates, the ball screw 12 can be moved up and down, thereby driving the focus servo motor 13 to move up and down, and then the carrier plate 11 fixedly connected to the focus servo motor 13 moves up and down.

[0031] Optionally, the focus adjustment component 1 may adopt a ball screw 12 integrated with a servo motor. The ball screw 12 integrated with the servo motor makes the structure of the focus adjustment component 1 more compact and can effectively reduce the space occupied by the focus adjustment component 1.

[0032] Furthermore, the focal length adjustment component 1 also includes: a linear guide 14 and a linear bearing 15; one end of the linear guide 14 is fixedly connected to the supporting plate 11, and the other end extends through the guide hole at the top of the cabinet component 5 to the interior of the cabinet component 5; the linear bearing 15 is arranged between the linear guide 14 and the guide hole of the cabinet component 5.

[0033] By providing the linear guide rail 14, the load-bearing plate 11 that moves up and down is guided to avoid the load-bearing plate 11 from moving around or rotating. The linear bearing 15 can effectively reduce the friction between the load-bearing plate 11 and the guide rail hole at the top of the cabinet assembly 5, avoiding the reduction of the height of the load-bearing plate 11 rising or falling due to the friction between the linear bearing 15 and the guide rail hole, thereby improving the control accuracy of the manipulator.

[0034] like Figure 2 As shown, the full-circle drive assembly 2 includes: a full-circle servo motor 21, a reducer 22 and a hollow rotating platform 23. The full-circle servo motor 21 is fixedly connected to the focal length adjustment assembly 1; the rotating shaft of the full-circle servo motor 21 is fixedly connected to the input shaft of the reducer 22; and the output shaft of the reducer 22 is fixedly connected to the hollow rotating platform 23. The full-circle servo motor 21 can be specifically fixedly connected to the carrier plate 11 of the focal length adjustment assembly 1, and the speed of the full-circle servo motor 21 can be controlled by the controller of the servo motor. The speed of the full-circle servo motor 21 is reduced by the reducer 22, so that the speed of the hollow rotating platform 23 connected to the reducer 22 reaches the expected speed.

[0035] like Figure 3As shown, the base assembly 4 includes: a base plate 41 and a positioning pin 42; the base plate 41 is fixedly connected to the hollow rotating platform 23; a plurality of positioning holes are arranged on the base plate 41, and a positioning pin 42 can be arranged in each positioning hole.

[0036] The base plate 41 can rotate with the hollow rotating platform 23, and the fixture is installed on the base plate 41. The number and position of the positioning pins 42 on the base plate 41 can be adjusted according to the characteristics of the fixture, and the positioning pins 42 are designed into multiple groups of adjustable forms to achieve the limit and positioning of the fixture.

[0037] like Figure 4 As shown, the side frame assembly 6 includes: equal-height columns 61, drag chains 62, drag chain slot supports 63 and slot support locks 64.

[0038] There are at least four equal-height columns 61, and the two ends of each equal-height column 61 are fixedly connected to the cabinet assembly 5 and the two-axis main seat assembly 3 respectively. The two-axis main seat assembly 3 is supported by the equal-height columns 61. Two adjacent equal-height columns 61 are each provided with a slot support locker 64. The slot support locker 64 can move up and down on the equal-height column 61, and is fixedly connected to the equal-height column 61 after reaching a preset position on the equal-height column 61. The two ends of the drag chain slot support 63 are respectively arranged on two slot support lockers 64, and the drag chain slot support 63 is lifted by the slot support locker 64. A drag chain 62 is arranged on the drag chain slot support 63, and a cable for controlling the two-axis main seat assembly 3 is arranged in the drag chain 62. The cable is arranged in the drag chain 62, so that the cable moves back and forth without being easily worn, thereby reducing the failure rate of the cable. The drag chain has high flexibility, can remain stable under frequent bending, and is not easy to break or damage. It has excellent bending resistance and can withstand long-term bending movements, allowing the cables in the drag chain to remain unchanged during long-term working conditions, thereby extending the service life of the cables.

[0039] Furthermore, the side frame assembly 6 further includes: a side window mounting profile 65. Both ends of the side window mounting profile 65 are respectively fixedly connected to two adjacent equal-height columns 61; the side window mounting profile 65 is used to mount the side windows. After the side windows are installed, all movements of the manipulator can be operated in a confined space, avoiding injuries to operators who put their hands into the displacement space of the manipulator, reducing safety hazards in the production process and improving the safety of the manipulator.

[0040] like Figure 5 As shown, the two-axis main seat assembly 3 includes: a fixed angle seat 51, a synchronous belt 52, a synchronous wheel, an X-direction guide rail 55, an X-direction movable seat 56, a Y-direction guide rail 57, a Y-direction movable seat 58 and a driving servo motor 59.

[0041] The synchronous wheels include: a tensioning synchronous wheel, a driving synchronous wheel and a driven synchronous wheel.

[0042] The X-direction guide rail 55 is arranged on the top of the side frame assembly 6; an X-direction moving seat 56 moving along the X-direction guide rail 55 is arranged on the X-direction guide rail 55; a driven synchronous wheel is arranged on the X-direction moving seat 56; an active synchronous wheel 53 is arranged on the X-direction guide rail 55; a driving servo motor 59 is connected to the active synchronous wheel 53; a synchronous belt 52 connects the active synchronous wheel 53 and the driven synchronous wheel; a Y-direction guide rail 57 is arranged on the X-direction moving seat 56; a Y-direction moving seat 58 moving along the Y-direction guide rail 57 is arranged on the Y-direction guide rail 57; a fixed angle seat 51 for mounting a laser welding gun is arranged on the Y-direction moving seat 58; the Y-direction moving seat 58 is fixedly connected to the synchronous belt 52 through a synchronous belt clamp, specifically, a synchronous belt clamp is fixedly connected on the Y-direction moving seat 58 and at the junction with the Y-direction guide rail 57, the synchronous belt clamp is used to clamp the synchronous belt 52, and when the synchronous belt 52 moves, the Y-direction moving seat 58 is driven to move on the Y-direction guide rail 57 through the synchronous belt clamp.

[0043] Furthermore, the two-axis main seat assembly 3 also includes: a tensioning synchronous wheel 60, an X-guide rail slider and a Y-guide rail slider.

[0044] The tensioning synchronous wheel 60 is arranged on the X-direction guide rail 55, and the synchronous belt 52 connects the tensioning synchronous wheel 60, the active synchronous wheel 53 and the driven synchronous wheel; the X-direction guide rail slider is fixedly arranged on the X-direction moving seat 56, the X-direction guide rail slider is in contact with the X-direction guide rail 55, and the X-direction guide rail slider can move along the X-direction guide rail 55; the Y-direction guide rail slider is arranged on the Y-direction moving seat 58, the Y-direction guide rail slider is in contact with the Y-direction guide rail 57, and the Y-direction guide rail slider can move along the Y-direction guide rail 57. In this embodiment, an X-direction guide rail slider and a Y-direction guide rail slider are arranged, and the contact area between the guide rail and the moving seat is reduced by the guide rail slider, thereby reducing the friction coefficient between the guide rail and the moving seat, so that the moving seat can move smoothly on the guide rail, and can reduce impact and vibration, thereby achieving the positioning accuracy of the moving seat. In addition, the friction between the guide rail and the moving seat is very small, and only a small power is needed to move the moving seat, thereby greatly reducing the driving rate.

[0045] In this embodiment, Figure 6As shown, the driving servo motor 59 includes two servo motors, namely, servo motor FA and servo motor FB. Two X-direction guide rails are arranged on both sides of the top of the side frame assembly 6, and each X-direction guide rail is arranged with an active synchronous wheel. The servo motor FA and the servo motor FB are respectively connected to the two active synchronous wheels, and the servo motor FA and the servo motor FB can rotate and drive the active synchronous wheels connected thereto to rotate. The active synchronous wheel drives the driven synchronous wheel to rotate through the synchronous belt. The rotation of the driven synchronous wheel will cause the X-direction moving seat connected thereto to move along the X-axis direction. In addition, the synchronous belt is clamped by the synchronous belt clamp, and the synchronous belt will drive the synchronous belt clamp to move during the movement, thereby causing the Y-direction moving seat fixedly connected to the synchronous belt clamp to move along the Y-axis direction.

[0046] Specifically, the servo motor FA and the servo motor FB have three motion states, namely, counterclockwise rotation, stop, and clockwise rotation.

[0047] The operation logic of the servo motor FA and the servo motor FB on the second-axis main seat assembly is shown in the following table:

[0048] As shown in the table above, servo motor FA and servo motor FB are in different motion states, which will cause the two-axis main seat assembly to move in different directions. Among them, the black filled arrow and the white filled arrow both indicate the movement direction of the two-axis main seat, and the text description under the black filled arrow defines the direction indicated by the black filled arrow.

[0049] The movement direction of the two-axis main seat assembly is explained below by way of examples.

[0050] Note 1: like Figure 6 As shown, when the servo motor FA rotates counterclockwise and the servo motor FB rotates clockwise and the two rotate at the same speed, the running trajectory of the two-axis main seat assembly (including the laser welding gun) is in the -Y direction.

[0051]

[0052] Note 2: When the servo motor FA rotates clockwise and the servo motor FB is locked, the running trajectory of the two-axis main seat assembly (laser welding gun) is the composite direction of the +Y direction and the -X direction, that is, the direction that is 45° at an angle to the +Y direction and the -X direction respectively (the displacements in the +Y direction and the -X direction are equal).

[0053]

[0054] In this embodiment, a focal length adjustment component is arranged in the middle of the top of the cabinet component, and a two-axis main seat component is arranged on the top of the side frame component. The functions of the focal length adjustment component and the two-axis main seat component are equivalent to the three-axis module of the manipulator. The two are not superimposed, but are independently arranged. Therefore, the occupied space is smaller than that of the three-axis module formed by superimposing three modules in sequence, and each of them has a smaller weight. Therefore, the manipulator using the focal length adjustment component and the two-axis main seat component can effectively avoid the layered superposition of the loads of each axis module, thereby reducing the overall load of the manipulator, realizing the lightweight of the manipulator, and allowing each movement of the manipulator to operate in a stable state, thereby improving the operation accuracy of the manipulator. In addition, the manipulator of the present invention also includes a full-circle drive component, which can enable the bearing fixture on the two-axis main seat component and the workpiece to be processed to rotate within a range of 360 degrees, thereby improving the adaptability of the laser welding operation.

[0055] Although the present invention is disclosed as above, the protection scope of the present invention is not limited thereto. Those skilled in the art may make various changes and modifications without departing from the spirit and scope of the present invention, and these changes and modifications will fall within the protection scope of the present invention.

Claims

1. A manipulator, suitable for operating a laser welding gun, characterized in that: The manipulator comprises: a focal length adjustment component that can be extended up and down, a rotatable full-circle drive component, a two-axis main seat component that can move on a plane, a base component that carries a fixture, a cabinet component and a side frame component; The focal length adjustment component is arranged in the middle of the top of the cabinet component, the full-circle drive component is arranged on the top of the focal length adjustment component, and the base component is arranged on the full-circle drive component; The side frame assembly is arranged around the top of the cabinet assembly, and the two-axis main seat assembly is located above the base assembly and installed on the top of the side frame assembly.

2. The robot according to claim 1, characterized in that: Also includes: Foot cup; The foot cup is arranged at the bottom of the cabinet assembly; the foot cup is used to adjust the height of the cabinet assembly.

3. The robot according to claim 1, characterized in that: The focal length adjustment assembly comprises: a bearing plate, a focal length servo motor and a ball screw; The nut of the ball screw is fixedly arranged on the top of the cabinet assembly; one end of the screw of the ball screw is connected to the nut, and the other end is fixedly connected to the rotating shaft of the focal servo motor; the focal servo motor is fixedly connected to the bearing plate; The bearing plate is used for fixedly connecting with the full-circle drive assembly.

4. The robot according to claim 3, characterized in that: The focal length adjustment assembly also includes: a linear guide rail and a linear bearing; One end of the linear guide is fixedly connected to the bearing plate, and the other end passes through the guide hole on the top of the cabinet assembly and extends to the interior of the cabinet assembly; the linear bearing is arranged at the junction of the linear guide and the cabinet assembly.

5. The robot according to claim 1, characterized in that: The full-circle drive assembly includes: a full-circle servo motor, a reducer and a hollow rotating platform; The full-circle servo motor is fixedly connected to the focal length adjustment assembly; the rotating shaft of the full-circle servo motor is fixedly connected to the input shaft of the reducer; and the output shaft of the reducer is fixedly connected to the hollow rotating platform.

6. The robot according to claim 1, characterized in that: The base assembly includes: a base plate and a positioning pin; The base plate is fixedly connected to the full-circle servo motor; a plurality of positioning holes are arranged on the base plate, and one positioning pin can be arranged in each positioning hole.

7. The robot according to claim 1, characterized in that: The side frame assembly includes: equal height columns, drag chains, drag chain slot supports and slot support lockers; There are at least four equal-height columns, and both ends of each equal-height column are fixedly connected to the cabinet assembly and the two-axis main seat assembly respectively; Two adjacent equal-height columns are each provided with the slot support locker; the two ends of the drag chain slot support are respectively provided on the two slot support lockers, and the drag chain slot support is provided with the drag chain.

8. The robot according to claim 7, characterized in that: The side frame assembly also includes: a side window mounting profile; The two ends of the side window installation profile are respectively fixedly connected to two adjacent equal-height columns; the side window installation profile is used for installing the side windows.

9. The robot according to claim 1, characterized in that: The two-axis main seat assembly includes: a fixed angle seat, a synchronous belt, a synchronous wheel, an X-direction guide rail, an X-direction movable seat, a Y-direction guide rail, a Y-direction movable seat and a driving servo motor; The X-direction guide rail is arranged on the top of the side frame assembly; an X-direction moving seat which moves along the X-direction guide rail is arranged on the X-direction guide rail; The X-axis moving seat is provided with a driven synchronous wheel; the X-axis guide rail is provided with an active synchronous wheel; the driving servo motor is connected to the active synchronous wheel; the synchronous belt connects the active synchronous wheel and the driven synchronous wheel; The X-direction moving seat is provided with the Y-direction guide rail; the Y-direction moving seat moving along the Y-direction guide rail is provided on the Y-direction moving seat; the Y-direction moving seat is provided with a fixed angle seat for mounting a laser welding gun; the Y-direction moving seat is fixedly connected to the synchronous belt via a synchronous belt clamp.

10. The robot according to claim 1, characterized in that: The two-axis main seat assembly also includes: a tensioning synchronous wheel, an X-guide rail slider and a Y-guide rail slider; The tensioning synchronous wheel is arranged on the X-guide rail, and the synchronous belt connects the tensioning synchronous wheel, the active synchronous wheel and the driven synchronous wheel; The X-direction guide rail slider is arranged on the X-direction moving seat, and the X-direction guide rail slider is connected to the X-direction guide rail and moves along the X-direction guide rail; The Y-direction guide rail slider is arranged on the Y-direction moving seat, and the Y-direction guide rail slider is connected to the Y-direction guide rail and moves along the Y-direction guide rail.

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