Self-adaptive welding head of welding robot arm

Abstract

The invention relates to the technical field of automatic welding equipment, and discloses a welding robot arm self-adaptive welding head which comprises a welding head shell, a metal strip block is fixedly connected to the top of the welding head shell, an inner cavity of the welding head shell is hollow, welding wire penetrating holes are formed in the front side and the rear side of the welding head shell, and connecting plates are fixedly connected to the upper ends of the two sides of the welding head shell; driving buttons are arranged on the two sides of the metal strip block correspondingly, first connecting pieces are fixedly connected to the opposite angles of the inner walls of the two sides of the welding head shell correspondingly, two symmetrically-arranged basic connecting plates are fixedly connected to one ends of the first connecting pieces correspondingly, welding wire clamping devices are arranged on the basic connecting plates correspondingly, and a reset mounting empty groove is formed in an inner cavity of the metal strip block; according to the welding head, welding wires can be rapidly and accurately clamped and placed, the welding head is adaptive to different welding wires, the welding quality is guaranteed, operation is simplified, maintenance is convenient, efficiency can be improved, and the diversified welding requirements of the modern industry are met.

Description

Technical Field

[0001] The invention relates to the technical field of automatic welding equipment, in particular to an adaptive welding head of a welding robot arm. Background Art

[0002] In the field of modern industrial manufacturing, welding is a key process for connecting metal components. Its quality and efficiency directly affect the overall performance and production cost of the product. With the rapid development of automation technology, welding robots have become an important tool for achieving efficient and precise welding. With the rapid development of science and technology and the advent of the Industrial 4.0 era, automated welding technology has gradually become an important means to improve production efficiency, reduce labor costs, and ensure welding quality. As the core equipment of automated welding technology, welding robots have been widely used in many fields such as automobile manufacturing, aerospace, shipbuilding, and construction due to their high precision, high efficiency, high stability, and programmability.

[0003] When clamping welding wire, the welding head of the traditional welding robot arm usually adopts a fixed clamping mechanism or a clamping device that needs to be manually adjusted. The fixed clamping mechanism can only adapt to welding wires of a specific diameter and cannot effectively clamp welding wires of different specifications, which greatly limits the versatility of the welding robot. Secondly, although the clamping device that needs to be manually adjusted expands the clamping range to a certain extent, the adjustment process is time-consuming and labor-intensive, and it is easy to introduce human errors, affecting the welding quality and efficiency. For this reason, the present invention proposes an adaptive welding head of a welding robot arm. Summary of the invention

[0004] In view of the deficiencies in the prior art, the present invention provides an adaptive welding head for a welding robot arm, which solves the above-mentioned problems.

[0005] To achieve the above-mentioned objectives, the present invention provides the following technical solutions: an adaptive welding head of a welding robot arm, comprising a welding head shell, a metal bar fixedly connected to the top of the welding head shell, the inner cavity of the welding head shell is hollow and has welding wire insertion holes on the front and back sides, connecting plates fixedly connected to the upper ends of both sides of the welding head shell, driving buttons are provided on both sides of the metal bar, first connecting pieces are fixedly connected to the diagonals of the inner walls of both sides of the welding head shell, two ends of the two first connecting pieces away from the inner walls of the welding wire insertion holes are fixedly connected to two symmetrically arranged basic connecting plates, two groups of the basic connecting plates are provided with welding wire clamping devices, reset installation slots are provided in the inner cavity of the metal bar corresponding to the upper sides of the two first connecting pieces, and a press-reset mechanism is provided in the reset installation slot.

[0006] Preferably, a sliding groove for opening and closing arms is provided on the side surface of the basic connecting plate close to the first connecting member, and a rotating shaft hole is provided on the side surface of the basic connecting plate corresponding to the upper side of the sliding groove for opening and closing arms. The end of the basic connecting plate away from the first connecting member is a symmetrically distributed arc pair plate, and the end of the arc pair plate of the basic connecting plate away from the first connecting member is provided with two second clamping arm sliding grooves symmetrically distributed up and down, and the end of the arc pair plate of the basic connecting plate close to the first connecting member is provided with two first clamping arm sliding grooves symmetrically distributed up and down.

[0007] Preferably, the welding wire clamping device includes a sleeve one, a limit plate, a movable shaft, an expansion spring and a sleeve two. Sleeve one is fixedly connected to the side of the first connecting member away from the inner wall of the welding wire insertion hole, a limit plate is fixedly connected to the corresponding opening and closing arm slide groove between the two basic connecting plates at one end close to the first connecting member, a circular through groove is provided on the limit plate, a movable shaft is movably clamped in the corresponding opening and closing arm slide groove between the two basic connecting plates, a sleeve two is fixedly connected to the side of the movable shaft, an expansion spring is movably sleeved on the sleeve one and the sleeve two, and the two ends of the expansion spring are respectively fixed on the side surfaces of the sleeve one and the sleeve two.

[0008] Preferably, two rotating clamps symmetrically distributed about the sleeve are fixedly connected between the two corresponding base connecting plates on the side of the movable shaft, and the diameter of the rotating clamp is larger than the width between the upper and lower inner walls of the sliding groove for the opening and closing arm.

[0009] Preferably, the welding wire clamping device also includes a double-leg connecting rod, a welding wire clamping claw and a sliding limit rod, the two rotating clamps are rotatably connected to the double-leg connecting rods, and the sliding limit rods are movably inserted into the plurality of the first clamping arm sliding grooves and the second clamping arm sliding grooves, and the welding wire clamping claws are fixedly connected to the side surfaces of the two sliding limit rods located at the upper end of the basic connecting plate, and the number of the welding wire clamps is four, which are distributed on the front and rear sides of the two basic connecting plates, and the end of the double-leg connecting rod away from the moving axis is hinged to the welding wire clamping claw, and the structure on the two sliding limit rods at the lower end is symmetrical with the two sliding limit rods at the upper end.

[0010] Preferably, the end of the welding wire clamp away from the movable axis is arc-shaped, and the ends of the upper and lower welding wire clamps away from the movable axis can form an open circular ring through-hole, and three arc-shaped welding wire clamping rollers equidistantly distributed are fixedly connected between the two welding wire clamps located on the same basic connecting plate.

[0011] Preferably, a swing arm shaft is fixedly connected above the slide groove corresponding to the opening and closing arm between the two basic connecting plates, and two ends of the side surfaces of the swing arm shaft are rotatably connected with a toggle swing arm corresponding to the opposite back surfaces of the two basic connecting plates. Operation windows are provided at two diagonal points on the upper side of the welding head shell, and one end of the toggle swing arm is hook-shaped and movably sleeved on the outer end of the movable shaft.

[0012] Preferably, the press-reset mechanism comprises a first sliding square frame plate, a rotating seat, a reset spindle, a reset connecting plate and a second sliding square frame plate, wherein one end of the toggle swing arm away from the base connecting plate passes through the operating window and extends to the reset installation slot and is hinged on the first sliding square frame plate, the toggle swing arm is hinged on the lower side surface of the first sliding square frame plate, the first sliding square frame plate is slidably clamped on the bottom inner wall of the reset installation slot, and the second sliding square frame plate is slidably clamped on the top inner wall of the reset installation slot, and the first sliding square frame plate and the second sliding square frame plate are fixedly connected to the rotating seat at the midpoint of the inner wall of the first sliding square frame plate and the second sliding square frame plate. The two rotating seats are relatively distributed, and the upper and lower inner walls of the reset installation slot are rotatably connected with the reset spindle, and a reset connecting plate is rotatably sleeved between the second sliding square frame plate and the first sliding square frame plate on the side surface of the reset spindle, and one end of the second sliding square frame plate is fixedly connected to the driving button.

[0013] Preferably, the press-reset mechanism also includes a spring sleeve and a reset spring, and the end of the lower side surface of the second sliding square frame plate away from the driving button and the end of the upper side surface of the first sliding square frame plate away from the driving button are both fixedly connected to the spring sleeve, and the two spring sleeves are arranged opposite to each other, and the two spring sleeves are fixedly sleeved with reset springs.

[0014] Preferably, the reset spindle is located close to a rotating seat fixed on the second sliding square frame plate, and the two rotating seats are hinged at both ends of the reset connecting plate.

[0015] Compared with the prior art, the present invention provides an adaptive welding head for a welding robot arm, which has the following beneficial effects: The adaptive welding head of the welding robot arm realizes the fast and precise clamping and releasing of the welding wire through the pressing reset mechanism and the welding wire clamping device. The operator only needs to press the drive button to complete the welding wire clamping process, which greatly improves the automation degree of welding operation. At the same time, the device can adapt to welding wires of different diameters and materials without tedious manual adjustment, which significantly improves the flexibility and versatility of welding operations and meets the diversified and efficient welding needs in modern industrial manufacturing.

[0016] The adaptive welding head of the welding robot arm ensures the stability and reliability of the welding wire during the clamping process. The addition of the wire clamping roller not only increases the clamping contact area, but also further improves the stability of the welding wire during the welding process, effectively avoiding loosening or damage of the welding wire, thereby ensuring the stability and consistency of the welding quality.

[0017] The welding robot arm's adaptive welding head can quickly clamp and release the welding wire through one-button operation, greatly simplifying the operation process and reducing the labor intensity of the operator. At the same time, the design of the press-reset mechanism enables the welding head to automatically return to its initial state after the operator releases the drive button, preparing for the next welding operation, which not only improves work efficiency, but also reduces the operator's workload and improves the comfort and convenience of work.

[0018] The modular design of the adaptive welding head of the welding robot arm makes the various components both independent and closely coordinated, which facilitates rapid positioning and replacement when a fault occurs, reduces maintenance difficulty and cost, greatly shortens the welding cycle, and improves production efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 It is a schematic diagram of the structure of the present invention; Figure 2 It is a schematic diagram of a cross-section of a welding head shell in the present invention; Figure 3 It is a schematic diagram of the overall structure of the welding wire clamping device and the pressing and resetting mechanism in the present invention; Figure 4 It is a structural schematic diagram of the basic connecting plate in the present invention; Figure 5 It is a structural schematic diagram of the welding wire clamping device in the present invention; Figure 6 It is a structural schematic diagram of the movable axis in the present invention; Figure 7 It is a structural schematic diagram of the welding wire clamping roller in the present invention; Figure 8 It is a structural schematic diagram of the pressing and resetting mechanism in the present invention; Fig. 9 It is a schematic diagram of the structure of the disassembled pressing and resetting mechanism in the present invention.

[0020] In the figure: 1. welding head shell; 2. metal bar; 3. welding wire insertion hole; 4. connecting plate; 5. driving button; 6. first connecting piece; 7. basic connecting plate; 8. toggle swing arm; 9. welding wire clamping device; 10. reset installation slot; 11. sliding slot for opening and closing arm; 12. rotating shaft hole; 13. sliding slot of first clamping arm; 14. sliding slot of second clamping arm; 15. sleeve one; 16. limit plate; 17. moving shaft; 18. expansion spring; 19. double-leg connecting rod; 20. welding wire clamping claw; 21. sleeve two; 22. rotating retaining ring; 23. sliding limit rod; 24. welding wire clamping roller; 25. swing arm rotating shaft; 26. operating window; 27. first sliding square frame plate; 28. spring sleeve seat; 29. ​​rotating seat; 30. reset spindle; 31. reset connecting plate; 32. second sliding square frame plate; 33. reset spring. DETAILED DESCRIPTION

[0021] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0022] See also Figure 1-9 , an adaptive welding head of a welding robot arm, comprising a welding head shell 1, a metal bar 2 is fixedly connected to the top of the welding head shell 1, the inner cavity of the welding head shell 1 is hollow and welding wire insertion holes 3 are opened on the front and back sides, connecting plates 4 are fixedly connected to the upper ends of both sides of the welding head shell 1, driving buttons 5 are arranged on both sides of the metal bar 2, first connecting pieces 6 are fixedly connected to the diagonals of the inner walls of both sides of the welding head shell 1, two ends of the two first connecting pieces 6 away from the inner wall of the welding wire insertion hole 3 are fixedly connected to two symmetrically arranged basic connecting plates 7, and two groups of basic connecting plates 7 are provided with welding wire clamping devices 9, and reset installation slots 10 are opened in the inner cavity of the metal bar 2 corresponding to the upper sides of the two first connecting pieces 6, and a press reset mechanism is arranged in the reset installation slot 10.

[0023] Furthermore, a sliding groove 11 for opening and closing arms is provided on the side of the basic connecting plate 7 near the end of the first connecting member 6, and a rotating shaft hole 12 is provided on the side of the basic connecting plate 7 corresponding to the upper part of the sliding groove 11 for opening and closing arms. The end of the basic connecting plate 7 away from the first connecting member 6 is a symmetrically distributed arc-shaped pair of plates, and the end of the arc-shaped pair of plates of the basic connecting plate 7 away from the first connecting member 6 is provided with two second clamping arm sliding grooves 14 symmetrically distributed up and down, and the end of the arc-shaped pair of plates of the basic connecting plate 7 near the first connecting member 6 is provided with two first clamping arm sliding grooves 13 symmetrically distributed up and down. The basic connecting plate 7 not only serves as a supporting structure for the welding wire clamping device 9, but also provides a precise sliding and rotating track for the welding wire clamping device 9 through the sliding groove 11 for opening and closing arms, the rotating shaft hole 12, the first clamping arm sliding groove 13 and the second clamping arm sliding groove 14 thereon, ensuring that the welding wire clamping claw 20 can maintain a stable motion trajectory during the opening and closing process, thereby improving the accuracy and stability of welding.

[0024] Furthermore, the welding wire clamping device 9 includes a sleeve 15, a limit plate 16, a movable shaft 17, an expansion spring 18 and a sleeve 21. The sleeve 15 is fixedly connected to the side of the first connecting member 6 away from the inner wall of the welding wire insertion hole 3. The limit plate 16 is fixedly connected to the end of the first connecting member 6 near the corresponding opening and closing arm slide groove 11 between the two basic connecting plates 7. A circular through groove is provided on the limit plate 16. The movable shaft 17 is movably connected in the corresponding opening and closing arm slide groove 11 between the two basic connecting plates 7. The side of the movable shaft 17 is fixedly connected to the sleeve 2. 21, an expansion spring 18 is movably sleeved on the sleeve 15 and the sleeve 21, and the two ends of the expansion spring 18 are respectively fixed on the side surfaces of the sleeve 15 and the sleeve 21. The sleeve 15, the sleeve 21 and the expansion spring 18 in the welding wire clamping device 9 together constitute an elastic force transmission system. When the movable shaft 17 slides in the slide groove 11 for the opening and closing arm, the elastic force of the expansion spring 18 will change accordingly, thereby controlling the opening and closing force of the welding wire clamping claw 20, simplifying the structure of the welding head, and improving its ability to accurately control the welding wire clamping force.

[0025] Furthermore, two rotating clamps 22 symmetrically distributed about the sleeve 21 are fixedly connected between the two corresponding base connecting plates 7 on the side of the movable shaft 17, and the diameter of the rotating clamp 22 is larger than the width between the upper and lower inner walls of the sliding groove 11 for the opening and closing arm, ensuring that the rotating clamp 22 can be firmly clamped in the sliding groove 11 for the opening and closing arm, while leaving enough gap for the movable shaft 17 to slide smoothly in the sliding groove 11 for the opening and closing arm.

[0026] Furthermore, the welding wire clamping device 9 also includes a double-leg connecting rod 19, a welding wire clamping claw 20 and a sliding limit rod 23. The two rotating clamping rings 22 are rotatably connected to the double-leg connecting rods 19, and the sliding limit rods 23 are movably inserted in the multiple first clamping arm sliding grooves 13 and the second clamping arm sliding grooves 14. The welding wire clamps 20 are fixedly connected to the side surfaces of the two sliding limit rods 23 located at the upper end of the basic connecting plate 7. The number of welding wire clamps 20 is four, distributed on the front and rear sides of the two basic connecting plates 7. The end of the double-leg connecting rod 19 away from the movable shaft 17 is hinged on the welding wire clamping claw 20, and the structure on the two sliding limit rods 23 at the lower end is symmetrical with the two sliding limit rods 23 at the upper end. The two rotating clamping rings 22 are rotatably connected to the double-leg connecting rods 19, so that when the movable shaft 17 slides in the sliding groove 11 for the opening and closing arm, the rotating clamping ring 22 can drive the double-leg connecting rod 19 to rotate.

[0027] Furthermore, the end of the welding wire clamp 20 away from the movable axis 17 is arc-shaped, and the ends of the upper and lower welding wire clamps 20 away from the movable axis 17 can form an open circular ring through-hole, and three arc-shaped welding wire clamping rollers 24 equidistantly distributed are fixedly connected between the two welding wire clamps 20 located on the same basic connecting plate 7.

[0028] Furthermore, a swing arm shaft 25 is fixedly connected above the slide groove 11 for the opening and closing arm between the two basic connecting plates 7, and the two ends of the side of the swing arm shaft 25 are rotatably connected with a toggle swing arm 8 corresponding to the opposite back sides of the two basic connecting plates 7. Operation windows 26 are provided at the two diagonal positions on the upper side of the welding head shell 1, and one end of the toggle swing arm 8 is hook-shaped and movably sleeved on the outer end of the movable shaft 17.

[0029] Furthermore, the pressing and resetting mechanism includes a first sliding square frame plate 27, a rotating seat 29, a resetting spindle 30, a resetting connecting plate 31 and a second sliding square frame plate 32. The end of the swing arm 8 away from the base connecting plate 7 passes through the operating window 26 and extends into the resetting installation slot 10 and is hinged with the first sliding square frame plate 27. The swing arm 8 is hinged to the lower side of the first sliding square frame plate 27. The first sliding square frame plate 27 is slidably connected to the bottom inner wall of the resetting installation slot 10. The top of the resetting installation slot 10 is hinged to the bottom inner wall of the resetting installation slot 10. A second sliding square frame plate 32 is slidably connected to the side inner wall, and a rotating seat 29 is fixedly connected at the midpoint of the inner wall of the first sliding square frame plate 27 and the second sliding square frame plate 32. The two rotating seats 29 are relatively distributed, and the upper and lower inner walls of the reset installation slot 10 are rotatably connected to the reset spindle 30. A reset connecting plate 31 is rotatably sleeved on the side of the reset spindle 30 corresponding to the second sliding square frame plate 32 and the first sliding square frame plate 27. One end of the second sliding square frame plate 32 is fixedly connected to the driving button 5.

[0030] Furthermore, the press-reset mechanism also includes a spring sleeve 28 and a reset spring 33. The lower side of the second sliding square frame plate 32, which is away from the end of the driving button 5, and the upper side of the first sliding square frame plate 27, which is away from the end of the driving button 5, are fixedly connected to the spring sleeve 28. The two spring sleeves 28 are arranged opposite to each other, and the reset springs 33 are fixedly sleeved on the two spring sleeves 28.

[0031] Furthermore, the position of the reset spindle 30 is located close to the rotating seat 29 fixed on the second sliding square frame plate 32 , and the two rotating seats 29 are hinged at both ends of the reset connecting plate 31 .

[0032] Working principle: The welding head housing 1 serves as the supporting frame of the entire mechanism, providing a connection foundation for the installation of the internal structure. The inner cavity of the welding head housing 1 is hollow, and welding wire insertion holes 3 are provided on both the front and rear sides to facilitate the insertion and delivery of welding wires. At the same time, the upper ends of both sides of the welding head housing 1 are also fixedly connected with connecting plates 4, which facilitates the connection with other components.

[0033] When the welding wire needs to be clamped, the operator presses the two driving buttons 5 at the same time. This action is transmitted to the pressing and resetting mechanism through the resetting connecting plate 31 and the resetting spindle 30. The resetting spindle 30, as the core component of the pressing and resetting mechanism, its rotation drives the relative movement of the first sliding square frame plate 27 and the second sliding square frame plate 32 closely connected thereto. The first sliding square frame plate 27 slides to one side under the action of the driving force, and the second sliding square frame plate 32 moves to the other side accordingly. The relative displacement of the two square frame plates is converted into the translational force of the toggle swing arm 8. The swing arm rotating shaft 25 serves as the connection point between the toggle swing arm 8 and the basic connecting plate 7. Its stability and flexibility ensure the smooth progress of the entire transmission process. When the toggle swing arm 8 rotates, the other end of the toggle swing arm 8 drives the moving shaft 17 to slide in the sliding groove 11 for the opening and closing arm through the hook shape. When the square frame plates slide relatively When the two welding wire clamps 20 are moved, the two welding wire clamps 20 are opened under the restriction of sliding in the first clamping arm sliding groove 13 and the second clamping arm sliding groove 14 through the sliding limit rod 23, and the welding wire is placed between the two welding wire clamps 20. Then, the two driving buttons 5 are released, and the second sliding square frame plate 32 and the first sliding square frame plate 27 are restored to their initial positions under the action of the reset spring 33. At the same time, under the action of the expansion spring 18, the moving shaft 17 is restored to its position away from the first connecting member 6, so that the two welding wire clamps 20 are closed to complete the clamping of the welding wire.

[0034] After the welding wire is clamped, it is located between the plurality of welding wire clamping rollers 24, which increase the clamping stability and contact area, and ensure that the welding wire will not loosen or be damaged during the welding process. The design of the entire welding head fully considers adaptability and flexibility. By adjusting the pressing force and duration of the driving button 5, the clamping force of the welding wire can be precisely controlled.

[0035] Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. An adaptive welding head of a welding robot arm, comprising a welding head housing (1), characterized in that: The top of the welding head shell (1) is fixedly connected to a metal strip (2); the inner cavity of the welding head shell (1) is hollow and has welding wire insertion holes (3) on both sides; the upper ends of both sides of the welding head shell (1) are fixedly connected to connecting plates (4); both sides of the metal strip (2) are provided with driving buttons (5); the diagonal parts of the inner walls of both sides of the welding head shell (1) are fixedly connected to first connecting members (6); the ends of the two first connecting members (6) away from the inner walls of the welding wire insertion holes (3) are fixedly connected to two symmetrically arranged basic connecting plates (7); the two groups of the basic connecting plates (7) are provided with welding wire clamping devices (9); the inner cavity of the metal strip (2) is provided with reset installation slots (10) above the two first connecting members (6); the reset installation slots (10) are provided with a press reset mechanism.

2. The welding robot arm adaptive welding head according to claim 1, characterized in that: A sliding groove (11) for an opening and closing arm is provided on the side of the basic connecting plate (7) at one end close to the first connecting member (6), and a rotating shaft hole (12) is provided on the side of the basic connecting plate (7) corresponding to the upper side of the sliding groove (11) for an opening and closing arm. The end of the basic connecting plate (7) away from the first connecting member (6) is a symmetrically distributed arc-shaped pair of plates. The end of the arc-shaped pair of plates of the basic connecting plate (7) away from the first connecting member (6) is provided with two second clamping arm sliding grooves (14) symmetrically distributed up and down, and the end of the arc-shaped pair of plates of the basic connecting plate (7) close to the first connecting member (6) is provided with two first clamping arm sliding grooves (13) symmetrically distributed up and down.

3. The welding robot arm adaptive welding head according to claim 1, characterized in that: The welding wire clamping device (9) comprises a sleeve 1 (15), a limit plate (16), a movable shaft (17), an expansion spring (18) and a sleeve 2 (21); the sleeve 1 (15) is fixedly connected to a side of the first connecting member (6) away from the inner wall of the welding wire insertion hole (3); the limit plate (16) is fixedly connected to an end of the sliding groove (11) for opening and closing arms corresponding to the two basic connecting plates (7) close to the first connecting member (6); a circular through groove is formed on the limit plate (16); the movable shaft (17) is movably connected to the sliding groove (11) for opening and closing arms corresponding to the two basic connecting plates (7); the side of the movable shaft (17) is fixedly connected to the sleeve 2 (21); the sleeve 1 (15) and the sleeve 2 (21) are movably connected to the expansion spring (18); the two ends of the expansion spring (18) are respectively fixed to the side of the sleeve 1 (15) and the side of the sleeve 2 (21).

4. The welding robot arm adaptive welding head according to claim 3, characterized in that: Two rotating clamping rings (22) are fixedly connected between the two corresponding base connecting plates (7) on the side of the movable shaft (17) and are symmetrically distributed about the second sleeve (21). The diameter of the rotating clamping ring (22) is larger than the width between the upper and lower inner walls of the sliding groove (11) for the opening and closing arm.

5. The welding robot arm adaptive welding head according to claim 4, characterized in that: The welding wire clamping device (9) further comprises a double-leg connecting rod (19), a welding wire clamping claw (20) and a sliding limit rod (23); the two rotating clamping rings (22) are both rotatably connected to the double-leg connecting rod (19); the sliding limit rods (23) are movably inserted into the plurality of first clamping arm sliding grooves (13) and the second clamping arm sliding grooves (14); the welding wire clamping claws (20) are fixedly connected to the side surfaces of the two sliding limit rods (23) located at the upper end of the basic connecting plate (7); the number of the welding wire clamping claws (20) is four and they are distributed on the front and rear sides of the two basic connecting plates (7); one end of the double-leg connecting rod (19) away from the movable shaft (17) is hinged on the welding wire clamping claw (20); and the structures on the two sliding limit rods (23) at the lower end are symmetrically arranged with the two sliding limit rods (23) at the upper end.

6. The welding robot arm adaptive welding head according to claim 5, characterized in that: One end of the welding wire clamping jaw (20) away from the movable shaft (17) is arc-shaped, and one end of the upper and lower welding wire clamping jaws (20) away from the movable shaft (17) can form an open circular ring through-hole, and three arc-shaped welding wire clamping rollers (24) equidistantly distributed are fixedly connected between the two welding wire clamping jaws (20) located on the same base connecting plate (7).

7. The welding robot arm adaptive welding head according to claim 5, characterized in that: A swing arm shaft (25) is fixedly connected above the sliding groove (11) for the opening and closing arm between the two basic connecting plates (7), and a toggle swing arm (8) is rotatably connected to the opposite back surfaces of the two basic connecting plates (7) at both ends of the side of the swing arm shaft (25). Operation windows (26) are provided at two diagonal positions on the upper side of the welding head housing (1), and one end of the toggle swing arm (8) is hook-shaped and movably sleeved on the outer end of the movable shaft (17).

8. The welding robot arm adaptive welding head according to claim 7, characterized in that: The push-reset mechanism comprises a first sliding square frame plate (27), a rotating seat (29), a reset spindle (30), a reset connecting plate (31) and a second sliding square frame plate (32); one end of the toggle swing arm (8) away from the base connecting plate (7) passes through the operating window (26) and extends into the reset installation slot (10) and is hinged to the first sliding square frame plate (27); the toggle swing arm (8) is hinged to the lower side of the first sliding square frame plate (27); the first sliding square frame plate (27) is slidably engaged with the bottom inner wall of the reset installation slot (10); the top inner wall of the reset installation slot (10) is hinged to the bottom inner wall of the reset installation slot (10). A second sliding square frame plate (32) is slidably connected to the upper sliding plate; a rotating seat (29) is fixedly connected at the midpoint of the inner wall of the first sliding square frame plate (27) and the second sliding square frame plate (32); the two rotating seats (29) are relatively distributed; a reset spindle (30) is rotatably connected to the inner walls of the upper and lower sides of the reset installation slot (10); a reset connecting plate (31) is rotatably sleeved on the side surface of the reset spindle (30) corresponding to the second sliding square frame plate (32) and the first sliding square frame plate (27); one end of the second sliding square frame plate (32) is fixedly connected to the driving button (5).

9. The welding robot arm adaptive welding head according to claim 8, characterized in that: The press-reset mechanism further comprises a spring sleeve (28) and a reset spring (33); an end of the lower side surface of the second sliding square frame plate (32) away from the driving button (5) and an end of the upper side surface of the first sliding square frame plate (27) away from the driving button (5) are both fixedly connected to the spring sleeve (28); the two spring sleeves (28) are arranged opposite to each other, and the reset spring (33) is fixedly sleeved on the two spring sleeves (28).

10. The welding robot arm adaptive welding head according to claim 8, characterized in that: The reset spindle (30) is located close to a rotating seat (29) fixed on the second sliding square frame plate (32), and the two rotating seats (29) are hinged at both ends of the reset connecting plate (31).

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