Carrying robot laser welding guiding device

Abstract

The invention discloses a transfer robot laser welding guiding device, and relates to the technical field of laser welding, the transfer robot laser welding guiding device comprises a fixed seat, a moving rail, a supporting mechanism and a guiding mechanism, the moving rail is adjustably arranged on the fixed seat in a front-back sliding mode, one end of the supporting mechanism is adjustably arranged on the moving rail in a sliding mode, and the other end of the supporting mechanism is connected with the guiding mechanism in an assembling mode; the supporting mechanism comprises a lifting seat, a fixing shaft and a hinge shaft, the lifting seat is slidably arranged on the moving rail, one end of the fixing shaft is vertically slidably arranged on the lifting seat, the other end of the fixing shaft is rotatably connected with the hinge shaft, the guiding mechanism comprises a fixing frame, a laser welder, an image capturer and a sliding frame, and the fixing frame is assembled and connected with one end of the hinge shaft. The guide mechanism is driven to move through adjustment of the moving rail and the supporting mechanism, specifically, the guide wheel is moved to the position of a welding seam and used for guiding the position, and the cleaning wheel is arranged behind the guide wheel and used for cleaning the position of the welding seam.

Description

Technical Field

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

[0002] The working principle of the robot laser welding guidance device is mainly based on optical imaging and computer control technology. During the welding process, the laser weld tracker captures the image information of the weld in real time and converts it into digital signals. The control system processes and analyzes these digital signals and calculates the optimal movement trajectory of the welding head through algorithms. The control system then sends instructions to the mechanical structure to drive the welding head to move along the predetermined path. During the movement, the laser beam is always aimed at the weld to heat and melt it, thus forming a high-quality weld.

[0003] A robot laser welding guide device such as "CN118875468B" includes a support foot, a laser welding assembly, a lighting assembly, an angle adjustment assembly and an auxiliary assembly, wherein the top of the support foot is fixedly connected to a workbench, and the top of the workbench is fixedly connected to a movable guide frame 1, wherein the laser welding assembly includes a movable guide frame 2, and the movable guide frame 2 is slidably connected to the outside of the movable guide frame 1. In the present invention, when controlling the electric telescopic rod 1 to drive the lifting movable plate to lift and lower on the outside of the lifting guide rod, the adjusting reflector plate is brought into contact with the side close to the guide cleaning frame, so that the guide cleaning frame scrapes the surface of the adjusting reflector plate, and the dust adhered to the surface of the adjusting reflector plate and the particles cooled by the sparks adhered during welding can be scraped off to avoid affecting the reflective efficiency of the adjusting reflector plate, so that the device can keep the surface of the adjusting reflector plate clean when working, and perform self-cleaning on it;

[0004] However, in the prior art, when high-quality welding is required, the weld needs to be kept clean and tidy. Otherwise, if there are large particles of dust or rust on the weld during welding, the welding quality will be greatly reduced. If the workpiece is cleaned first and then placed on a bracket for welding, there is a small probability that dust particles may fall into the weld of the workpiece during welding, affecting the welding quality. In addition, if the workpiece needs to be welded on both sides, the workpiece is usually flipped over after welding on the top side, and then welded on the bottom side. However, the weld of the workpiece is easily misaligned during the flipping process, thereby affecting the quality of the workpiece. Summary of the invention

[0005] In view of the above existing problems, the present invention is proposed.

[0006] The purpose of the present invention is to solve the problem in the prior art that the welding guide device cannot clean the weld during welding.

[0007] In order to solve the above technical problems, the present invention provides the following technical solutions:

[0008] On the one hand, the present invention provides a laser welding guide device for a handling robot, which includes a fixed seat, a movable rail, a supporting mechanism and a guiding mechanism. The movable rail can be adjusted to slide forward and backward and is set on the fixed seat. One end of the supporting mechanism can be adjusted to slide on the movable rail, and the other end is assembled and connected with the guiding mechanism. The supporting mechanism includes a lifting seat, a fixed shaft and a hinge shaft. The lifting seat is slidably set on the movable rail. One end of the fixed shaft is slidably set with the lifting seat up and down, and the other end is rotatably connected with the hinge shaft. The guiding mechanism includes a fixed frame, a laser welder, an image capturer and a slide. The fixed frame is assembled and connected with one end of the hinge shaft. The laser welder and the image capturer are arranged on the slide. A gear is provided on one side of the slide close to the fixed frame. A strip groove slidably connected to the gear is provided at the center of the fixed frame. A rack meshing with the gear is provided at the lower end of the strip groove. A buffer frame is provided on one side of the lower end of the image capturer. A guide wheel and a cleaning wheel are respectively provided at the lower end of the buffer frame. The laser welder and the image capturer are externally covered with a protective cover.

[0009] Furthermore, side grooves are symmetrically provided on both sides of the fixed seat, and the two ends of the movable rail are slidably arranged in the side grooves through sleeves, and the first screw rod and the sliding rod are rotatably connected in the two side grooves respectively. One sleeve is threadedly sleeved on the first screw rod, and the other is slidably sleeved on the sliding rod. The first screw rod is driven to rotate by the first motor, and the first screw rod is driven to rotate by the first motor, thereby driving the movable rail to slide smoothly on the side groove, thereby realizing the guide mechanism being moved closer to or away from the workpiece.

[0010] Furthermore, the lower end of the lifting seat is provided with a sliding sleeve slidably mounted on the moving rail, a second screw rod is rotatably arranged below the moving rail, the second screw rod is threadedly inserted in the sliding sleeve, the second screw rod is driven to rotate by a second motor, a lifting block is slidably arranged below the inside of the lifting seat through the first cylinder, one end of the fixed shaft is assembled and connected with the lifting block, and one end of the hinged shaft is driven to rotate with the fixed shaft by a third motor, the lifting seat is driven to move left and right on the moving rail by the second motor to achieve welding position adjustment, and the lifting block is driven to move up and down by the first cylinder to achieve welding height adjustment, and when it moves to both ends of the lifting seat, the guide mechanism can be flipped, which is convenient for moving to the top or bottom of the workpiece for welding, saving the flipping and adjustment operation steps of the workpiece.

[0011] Furthermore, one end of the gear passes through the strip groove and extends outward, and a fixed block is provided for rotating at one end of the gear away from the slide, and the upper part of the hinge shaft is assembled and connected to the fixed block through a second cylinder, and long grooves are symmetrically provided on both sides of the strip groove, and an arc groove is connected at the lower end of the long groove. One side of the slide is symmetrically provided with a slider that is slidably arranged with the long groove, and the arc groove is at the position of the rack. When the slide is at the rack and the gear and the rack rotate, the slider slides on the arc groove, and vice versa, it slides in the long groove, which can ensure that the slide will not tilt during the movement in the long groove, wherein the arc groove is adapted to the path of the slider when it rotates.

[0012] Furthermore, the buffer frame includes an end seat, a hinge bar, a spring and a telescopic shaft. The end seat and the hinge bar are respectively provided with two, the end faces of the two hinge bars are rotatably connected, the two end seats are respectively rotatably set at one end of the two hinge bars away from each other, one end seat is set at the lower end of the image capturer, the telescopic shaft is vertically set between the two end seats, and the spring is set between the two hinge bars.

[0013] Furthermore, a center groove is provided at the center position of the hinge strip, one end of the telescopic shaft is vertically arranged at an end seat, and the other end passes through two center grooves in sequence and is vertically arranged at the other end seat, and the spring sleeve is arranged on the outside of the telescopic shaft. Since the telescopic shaft and the two end seats are vertically arranged, the two end seats are always in a parallel state. The telescopic shaft passes through the two center grooves, so that the two hinge strips can be hinged within a certain range, and the distance between the two end seats changes, which is suitable for guiding uneven welds.

[0014] Furthermore, the end seat at the lower end is connected to the guide wheel assembly via a connecting frame on the side away from the fixed seat. The connecting frame is inclined, and the end face of the connecting frame is rotatably connected to the guide wheel. The thickness at the edge of the guide wheel is less than the thickness at the center position. By setting the edge of the guide wheel to be sharper, it is convenient for it to move stably in the weld to achieve a guiding effect.

[0015] Furthermore, a bracket is provided under the end seat at the lower end, and both ends of the cleaning wheel are rotatably arranged on the bracket through the end shaft, and the bracket is provided with a fourth motor, and one end shaft is driven to rotate by the fourth motor, and the cleaning wheel is arranged in a hollow structure and a plurality of air outlets are arranged on the side wall, and a fixed tube is provided for sealing and rotating in the other end shaft, and a fan is provided on the fixed frame, and the fan is connected to the fixed tube through an air duct, and by starting the fan, air can be blown into the cleaning wheel during the cleaning process of the cleaning wheel, and the wind is ejected from the air outlet to blow away impurities at the weld, thereby ensuring the neatness of the weld.

[0016] Furthermore, the slide is arranged in a U shape, and the laser welder and the image capturer are arranged on the inner side of the slide.

[0017] Furthermore, the fixed frame is provided with a slide groove on one side facing the protective cover, the end face of the protective cover is slidably arranged with the slide groove, a third cylinder is provided in the slide groove, and the protective cover is driven to rise and fall by the third cylinder. When the image capturer moves up, the protective cover moves down, and vice versa, to facilitate the flipping of the slide.

[0018] The beneficial effects of the present invention are:

[0019] 1. The present invention drives the guide mechanism to move by adjusting the movable rail and the support mechanism. Specifically, the guide wheel is first moved to the weld position, the guide wheel is used to guide the position, and the cleaning wheel follows closely to clean the weld position.

[0020] 2. The present invention starts the fan to blow air into the cleaning wheel during the cleaning process of the cleaning wheel rotating. The wind is ejected from the air outlet to blow away impurities at the weld, thereby ensuring the cleanliness of the weld.

[0021] 3. The present invention, through the buffer frame, can achieve a shock-absorbing effect when the guide wheel moves in the weld. Since the telescopic shaft and the two end seats are vertically arranged, the two end seats are always in a parallel state. The telescopic shaft passes through the two center grooves, which can make the two hinged bars hinged within a certain range and change the distance between the two end seats. It is suitable for guiding uneven welds.

[0022] 4. When the present invention needs to perform upper and lower welding, after the upper welding is completed, there is no need to adjust and flip the workpiece. It is only necessary to move the movable rail away from the workpiece, move the guide mechanism to one side of the workpiece, and then lower the height of the lifting seat so that the supporting mechanism is under the workpiece, and then move the slide downward. During the downward movement, the gear and the rack mesh and rotate, driving the gear to flip 180 degrees, that is, the slide flips 180 degrees, so that the output end of the laser welder is set upward to realize the welding operation, thereby avoiding the weld misalignment during the change of the workpiece position. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the accompanying drawings required for use in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other accompanying drawings can be obtained based on these accompanying drawings without paying creative work.

[0024] Figure 1 A schematic diagram of a laser welding guide device for a handling robot and a workpiece position provided by the present invention;

[0025] Figure 2 A three-dimensional diagram of a laser welding guide device for a handling robot provided by the present invention;

[0026] Figure 3 A schematic diagram of the assembly of a lifting seat and a moving rail of a laser welding guide device for a handling robot provided by the present invention;

[0027] Figure 4 A schematic diagram of a guiding mechanism of a laser welding guiding device for a handling robot provided by the present invention;

[0028] Figure 5 A schematic diagram of a guiding mechanism of a laser welding guiding device for a handling robot provided by the present invention;

[0029] Figure 6 A schematic diagram of a state in which a fixed frame and a sliding frame of a laser welding guide device for a handling robot provided by the present invention are separated;

[0030] Figure 7 A schematic diagram of a buffer frame of a laser welding guide device for a handling robot provided by the present invention;

[0031] Figure 8 A schematic diagram of the internal structure of a cleaning wheel of a handling robot laser welding guide device provided by the present invention.

[0032] Legend:

[0033] 1. Fixed seat; 2. Moving rail; 311. Lifting seat; 312. Fixed shaft; 313. Articulated shaft; 411. Fixed frame; 412. Laser welder; 413. Image capture device; 414. Sliding frame; 415. Buffer frame; 416. Guide wheel; 417. Cleaning wheel; 418. Protective cover; 421. Gear; 422. Strip groove; 423. Rack; 511. Side groove; 512. Screw block; 513. First screw rod; 514. Sliding rod; 515. First motor; 521. Sliding sleeve; 522. Second screw rod; 523. The second motor; 524, the first cylinder; 525, the lifting block; 526, the third motor; 612, the fixed block; 613, the second cylinder; 614, the arc groove; 615, the long groove; 616, the slider; 711, the end seat; 712, the hinge strip; 713, the spring; 714, the telescopic shaft; 715, the center groove; 811, the connecting frame; 911, the bracket; 912, the end shaft; 913, the fourth motor; 914, the air outlet; 915, the fixed pipe; 916, the fan; 917, the air duct; 101, the slide; 102, the third cylinder. DETAILED DESCRIPTION

[0034] In order to make the above-mentioned objects, features and advantages of the present invention more obvious and easy to understand, the specific implementation methods of the present invention are described in detail below in conjunction with the accompanying drawings.

[0035] In the following description, many specific details are set forth to facilitate a full understanding of the present invention, but the present invention may also be implemented in other ways different from those described herein, and those skilled in the art may make similar generalizations without violating the connotation of the present invention. Therefore, the present invention is not limited to the specific embodiments disclosed below.

[0036] Secondly, as referred to herein, "one embodiment" or "embodiment" refers to a specific feature, structure, or characteristic that can be included in at least one implementation of the present invention. The "in one embodiment" that appears in different places in this specification does not necessarily refer to the same embodiment, nor is it a separate or selective embodiment that is mutually exclusive with other embodiments.

[0037] See also Figure 1-Figure 8 The present invention provides a technical solution: a laser welding guide device for a handling robot, comprising a fixed seat 1, a moving rail 2, a supporting mechanism and a guiding mechanism, wherein the moving rail 2 can be adjusted to slide forward and backward on the fixed seat 1, one end of the supporting mechanism can be adjusted to slide on the moving rail 2, and the other end is assembled and connected with the guiding mechanism, the supporting mechanism comprises a lifting seat 311, a fixed shaft 312 and a hinge shaft 313, the lifting seat 311 is slidably arranged on the moving rail 2, one end of the fixed shaft 312 is slidably arranged with the lifting seat 311 up and down, and the other end is rotatably connected with the hinge shaft 313, the guiding mechanism comprises a fixed frame 411, a laser welder 412, an image capturer 413 and a slide 414, a fixed frame 411 is assembled and connected with one end of the hinge shaft 313, a laser welder 412 and an image capturer 413 are arranged on the slide 414, a gear 421 is provided on a side of the slide 414 close to the fixed frame 411, a strip groove 422 slidably connected to the gear 421 is provided at the center of the fixed frame 411, a rack 423 meshing with the gear 421 is provided at the lower end of the strip groove 422, a buffer frame 415 is provided on one side of the lower end of the image capturer 413, a guide wheel 416 and a cleaning wheel 417 are respectively provided at the lower end of the buffer frame 415, and a protective cover 418 is provided on the outside of the laser welder 412 and the image capturer 413.

[0038] like Figure 1-Figure 8 As shown, side grooves 511 are symmetrically provided on both sides of the interior of the fixed seat 1, and both ends of the movable rail 2 are slidably arranged in the side grooves 511 through sleeve blocks 512. The two side grooves 511 are respectively rotatably connected with a first screw rod 513 and a slide rod 514. One sleeve block 512 is threadedly sleeved on the first screw rod 513, and the other is slidably sleeved on the slide rod 514. The first screw rod 513 is driven to rotate by a first motor 515. The first motor 515 is driven to drive the first screw rod 513 to rotate, thereby driving the movable rail 2 to slide smoothly on the side groove 511, thereby realizing the guide mechanism being moved closer to or away from the workpiece.

[0039] like Figure 1-Figure 8As shown, a sleeve 521 is provided at the lower end of the lifting seat 311 and is slidably sleeved on the movable rail 2. A second screw rod 522 is rotatably provided at the lower part of the movable rail 2. The second screw rod 522 is threadedly inserted in the sleeve 521. The second screw rod 522 is driven to rotate by a second motor 523. A lifting block 525 is slidably provided at the lower part of the lifting seat 311 through a first cylinder 524. One end of the fixed shaft 312 is assembled and connected with the lifting block 525. One end of the hinge shaft 313 is driven to rotate with the fixed shaft 312 by a third motor 526. The lifting seat 311 is driven to move left and right on the movable rail 2 by the second motor 523 to adjust the welding position. The lifting block 525 is driven to move up and down by the first cylinder 524 to adjust the welding height. In addition, when it moves to both ends of the lifting seat 311, the guide mechanism can be flipped, which is convenient for moving to the top or bottom of the workpiece for welding, thereby saving the flipping and adjustment operation steps for the workpiece.

[0040] like Figure 1-Figure 8 As shown, one end of the gear 421 passes through the strip groove 422 and extends outward, and a fixed block 612 is rotatably provided at one end of the gear 421 away from the slide 414. The upper part of the hinge shaft 313 is assembled and connected with the fixed block 612 through a second cylinder 613. Long grooves 615 are symmetrically provided on both sides of the strip groove 422, and an arc groove 614 is connected at the lower end of the long groove 615. A slider 616 symmetrically provided with the long groove 615 on one side of the slide 414 is symmetrically provided, and the arc groove 614 is located at the position of the rack 423. When the slide 414 is at the rack 423 and the gear 421 and the rack 423 rotate, the slider 616 slides on the arc groove 614, and vice versa, it slides in the long groove 615, which can ensure that the slide 414 will not tilt during the movement in the long groove 615, wherein the arc groove 614 is adapted to the path of the slider 616 when rotating.

[0041] like Figure 1-Figure 8 As shown, the buffer frame 415 includes an end seat 711, a hinge bar 712, a spring 713 and a telescopic shaft 714. The end seat 711 and the hinge bar 712 are respectively provided with two, and the end faces of the two hinge bars 712 are rotatably connected. The two end seats 711 are respectively rotatably set at one end of the two hinge bars 712 away from each other, and one end seat 711 is set at the lower end of the image capturer 413. The telescopic shaft 714 is vertically set between the two end seats 711, and the spring 713 is set between the two hinge bars 712.

[0042] like Figure 1-Figure 8As shown, a center groove 715 is opened at the center position of the hinged bar 712, one end of the telescopic shaft 714 is vertically arranged at one end seat 711, and the other end passes through the two center grooves 715 in sequence and is vertically arranged at the other end seat 711, and the spring 713 is sleeved on the outside of the telescopic shaft 714. Since the telescopic shaft 714 and the two end seats 711 are vertically arranged, the two end seats 711 are always in a parallel state. The telescopic shaft 714 passes through the two center grooves 715, so that the two hinged bars 712 can be hinged within a certain range, and the distance between the two end seats 711 changes, which is suitable for guiding uneven welds.

[0043] like Figure 1-Figure 8 As shown, the lower end seat 711 is assembled and connected to the guide wheel 416 through the connecting frame 811 on the side away from the fixed seat 1. The connecting frame 811 is tilted, and the end face of the connecting frame 811 is rotatably connected to the guide wheel 416. The thickness at the edge of the guide wheel 416 is less than the thickness at the center position. By setting the edge of the guide wheel 416 to be sharper, it is convenient for it to move stably in the weld to achieve a guiding effect.

[0044] like Figure 1-Figure 8 As shown, a bracket 911 is provided below the lower end seat 711, and both ends of the cleaning wheel 417 are rotatably arranged on the bracket 911 through an end shaft 912. The bracket 911 is provided with a fourth motor 913, and one end shaft 912 is driven to rotate by the fourth motor 913. The cleaning wheel 417 is a hollow structure and a plurality of air outlets 914 are provided on the side wall. A fixed tube 915 is provided for sealing and rotating in the other end shaft 912, and a fan 916 is provided on the fixed frame 411. The fan 916 is connected to the fixed tube 915 through the air duct 917. By starting the fan 916, air can be blown into the cleaning wheel 417 during the cleaning process of the cleaning wheel 417. The air is ejected from the air outlet 914 to blow away impurities at the weld, thereby ensuring the neatness of the weld.

[0045] like Figure 1-Figure 8 As shown, the slide 414 is arranged in a U shape, and the laser welder 412 and the image capturer 413 are arranged on the inner side of the slide 414 .

[0046] like Figure 1-Figure 8 As shown, a slide groove 101 is provided on the side of the fixed frame 411 facing the protective cover 418, and the end face of the protective cover 418 is slidably arranged with the slide groove 101. A third cylinder 102 is provided in the slide groove 101, and the protective cover 418 is driven to rise and fall by the third cylinder 102. When the image capturer 413 moves up, the protective cover 418 moves down, and vice versa, to facilitate the flipping of the slide 414.

[0047] Working principle: When performing the laser welding guiding operation, the fixed seat 1 is moved to the lower position of one side of the workpiece to be welded. Usually, the position where the workpiece needs to be welded is placed above, and the lifting seat 311 can be raised to drive the guiding mechanism to be directly above the welding position of the workpiece, and then cooperate with the adjustment of the movable rail 2 and the supporting mechanism to drive the guiding mechanism to move. Specifically, the guide wheel 416 is first moved to the welding position. The guide wheel 416 is used to guide the position, and the cleaning wheel 417 follows closely to clean the welding position. For example, if the surface of the workpiece is seriously polluted, such as rust, it needs to be cleaned to ensure the quality of welding and reduce welding defects. During cleaning, the fan 916 is used to blow air out of the cleaning wheel 417 to blow away the cleaned impurities to ensure that the weld is neat. The image capturer 413 is used to capture the weld position and use the laser welder 412 to weld the weld. During the welding process, the protective cover 418 is located below the fixed frame 411 to block the sparks flying during the welding process. If it is a complex workpiece, such as Figure 1 When the workpiece shown in the figure needs to be welded up and down, after the upper welding is completed, there is no need to adjust and flip the workpiece. It is only necessary to move the movable rail 2 away from the workpiece, move the guide mechanism to one side of the workpiece, and then lower the height of the lifting seat 311, so that the supporting mechanism is under the workpiece, and then move the slide 414 downward. During the downward movement, the gear 421 and the rack 423 engage and rotate, driving the gear 421 to flip one hundred and eighty degrees, that is, the slide 414 flips one hundred and eighty degrees, so that the output end of the laser welder 412 is set upward. With the above steps, the weld position can be observed by using the image capture device 413 to perform welding operations on the weld position below the workpiece. This process does not require the workpiece to be changed in position, thereby avoiding the weld misalignment during the change of the workpiece position.

[0048] It should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention rather than to limit it. Although the present invention has been described in detail with reference to the preferred embodiments, those skilled in the art should understand that the technical solutions of the present invention may be modified or replaced by equivalents without departing from the spirit and scope of the technical solutions of the present invention, which should all be included in the scope of the claims of the present invention.

Claims

1. A laser welding guide device for a handling robot, characterized in that: The invention comprises a fixed seat (1), a movable rail (2), a supporting mechanism and a guiding mechanism, wherein the movable rail (2) is adjustable and slidably arranged on the fixed seat (1) forward and backward, one end of the supporting mechanism is adjustable and slidably arranged on the movable rail (2), and the other end is assembled and connected with the guiding mechanism, the supporting mechanism comprises a lifting seat (311), a fixed shaft (312) and a hinge shaft (313), the lifting seat (311) is slidably arranged on the movable rail (2), one end of the fixed shaft (312) is slidably arranged with the lifting seat (311) upward and downward, and the other end is rotatably connected with the hinge shaft (313), the guiding mechanism comprises a fixed frame (411), a laser welder (412), an image capturer (413) and a sliding frame (414), the fixed frame (41 1) is assembled and connected with one end of the hinge shaft (313), the laser welder (412) and the image capturer (413) are arranged on the slide (414), the slide (414) is provided with a gear (421) on the side close to the fixed frame (411), the fixed frame (411) is provided with a strip groove (422) slidably connected with the gear (421) at the center position, the lower end of the strip groove (422) is provided with a rack (423) meshing with the gear (421), a buffer frame (415) is provided on one side of the lower end of the image capturer (413), the lower end of the buffer frame (415) is respectively provided with a guide wheel (416) and a cleaning wheel (417), and the laser welder (412) and the image capturer (413) are externally covered with a protective cover (418).

2. The laser welding guide device for a handling robot according to claim 1, characterized in that: Side grooves (511) are symmetrically arranged on both sides of the fixed seat (1), and the two ends of the movable rail (2) are slidably arranged in the side grooves (511) through sleeves (512). The two side grooves (511) are respectively rotatably connected with a first screw rod (513) and a sliding rod (514). One of the sleeves (512) is threadedly sleeved on the first screw rod (513), and the other is slidably sleeved on the sliding rod (514). The first screw rod (513) is driven to rotate by a first motor (515).

3. The laser welding guide device for a handling robot according to claim 2, characterized in that: The lower end of the lifting seat (311) is provided with a sliding sleeve (521) which is slidably mounted on the movable rail (2); a second screw rod (522) is rotatably mounted below the movable rail (2); the second screw rod (522) is threadedly mounted in the sliding sleeve (521); the second screw rod (522) is driven to rotate by a second motor (523); a lifting block (525) is slidably mounted below the lifting seat (311) through a first cylinder (524); one end of the fixed shaft (312) is assembled and connected to the lifting block (525); and one end of the hinge shaft (313) is driven to rotate with the fixed shaft (312) by a third motor (526).

4. The laser welding guide device for a handling robot according to claim 1, characterized in that: One end of the gear (421) passes through the strip groove (422) and extends outward. A fixed block (612) is rotatably provided at one end of the gear (421) away from the slide (414). The upper part of the hinge shaft (313) is assembled and connected with the fixed block (612) through a second cylinder (613). Long grooves (615) are symmetrically provided on both sides of the strip groove (422). The lower end of the long groove (615) is connected to an arc groove (614). A sliding block (616) symmetrically provided on one side of the slide (414) is slidably provided with the long groove (615).

5. The laser welding guide device for a handling robot according to claim 1, characterized in that: The buffer frame (415) includes an end seat (711), a hinge bar (712), a spring (713) and a telescopic shaft (714), wherein two end seats (711) and two hinge bars (712) are respectively provided, and the end faces of the two hinge bars (712) are rotatably connected. The two end seats (711) are respectively rotatably arranged at one end of the two hinge bars (712) away from each other, and one end seat (711) is arranged at the lower end of the image capture device (413), and the telescopic shaft (714) is vertically arranged between the two end seats (711), and the spring (713) is arranged between the two hinge bars (712).

6. The laser welding guide device for a handling robot according to claim 5, characterized in that: A central groove (715) is provided at the central position of the hinge bar (712); one end of the telescopic shaft (714) is vertically arranged at an end seat (711), and the other end passes through two central grooves (715) in sequence and is vertically arranged at another end seat (711); the spring (713) is sleeved on the outside of the telescopic shaft (714).

7. The laser welding guide device for a handling robot according to claim 6, characterized in that: The end seat (711) at the lower end is assembled and connected to the guide wheel (416) via a connecting frame (811) on the side away from the fixed seat (1); the connecting frame (811) is arranged tilted; the end surface of the connecting frame (811) is rotatably connected to the guide wheel (416); the thickness at the edge of the guide wheel (416) is smaller than the thickness at the center.

8. The laser welding guide device for a handling robot according to claim 7, characterized in that: A bracket (911) is provided below the end seat (711) at the lower end, and both ends of the cleaning wheel (417) are rotatably arranged on the bracket (911) via an end shaft (912). The bracket (911) is provided with a fourth motor (913), and one end shaft (912) is driven to rotate by the fourth motor (913). The cleaning wheel (417) is a hollow structure and a plurality of air outlets (914) are provided on the side wall. A fixed tube (915) is provided in a sealed rotation manner inside the other end shaft (912). A fan (916) is provided on the fixed frame (411), and the fan (916) is connected to the fixed tube (915) via an air duct (917).

9. The laser welding guide device for a handling robot according to claim 1, characterized in that: The slide (414) is arranged in a U shape, and the laser welder (412) and the image capturer (413) are arranged inside the slide (414).

10. The laser welding guide device for a handling robot according to claim 9, characterized in that: The fixing frame (411) is provided with a slide groove (101) on one side facing the protective cover (418); the end surface of the protective cover (418) is slidably arranged with the slide groove (101); a third cylinder (102) is provided in the slide groove (101); and the protective cover (418) is driven to rise and fall by the third cylinder (102).

Images