A laser welding guiding device for a handling robot

Abstract

The present invention discloses a laser welding guiding device for a handling robot, which relates to the technical field of laser welding. The device includes a fixed seat, a moving rail, a supporting mechanism and a guiding mechanism. The moving rail is slidably arranged on the fixed seat in an adjustable front-back manner. One end of the supporting mechanism is slidably arranged on the moving rail in an adjustable manner, 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 arranged on the moving rail. One end of the fixed shaft is slidably arranged up and down with the lifting seat, and the other end is rotatably connected with the hinge shaft. The guiding mechanism includes a fixed frame, a laser welder, an image capture device and a sliding frame. The fixed frame is assembled and connected with one end of the hinge shaft. Through the adjustment of the moving rail and the supporting mechanism, the guiding mechanism is driven to move. Specifically, the guiding wheel is first moved to the weld position, and the guiding wheel is used for guiding the position. The cleaning wheel follows closely behind and is used for cleaning the weld position.

Description

Technical Field

[0001] The present invention relates to the technical field of laser welding, and particularly to a laser welding guiding device for a handling robot. Background Art

[0002] The working principle of the robot laser welding guiding 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, calculates the optimal movement trajectory of the welding head through algorithms, and then the control system 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 aligned with the weld for heating and melting, thereby forming a high-quality weld.

[0003] For example, a robot laser welding guiding device such as "CN118875468B" includes support feet, and also includes a laser welding component, an illumination component, an angle adjustment component, and an auxiliary component. A workbench is fixedly connected to the top of the support feet, and a first moving guide frame is fixedly connected to the top of the workbench. Among them, the laser welding component includes a second moving guide frame, and the second moving guide frame is slidably connected to the outside of the first moving guide frame. In the present invention, when controlling the electric telescopic rod one to drive the lifting and moving plate to perform lifting work outside the lifting guide rod, the adjusting reflector is brought into contact with the surface of the guiding and cleaning frame close to it, so that the guiding and cleaning frame scratches the surface of the adjusting reflector, and the dust adhered to the surface of the adjusting reflector and the particles cooled by the sparks adhered during welding can be scraped off, avoiding affecting the reflection efficiency of the adjusting reflector, keeping the surface of the adjusting reflector clean during the operation of the device, and performing self-cleaning work on it.

[0004] However, in the prior art, when high-quality welding of the weld is required, it is necessary to ensure the cleanliness of the weld. Otherwise, if there are large dust particles or rust on the weld during welding, the welding quality will be greatly reduced. If the workpiece is cleaned first and then placed on the bracket for welding, there is also a small probability that dust particles will fall on the weld of the workpiece during the welding process, affecting the welding quality. In addition, when the workpiece needs to be welded on both sides, usually after welding the upper surface of the workpiece, the workpiece is flipped to weld the lower surface. However, during the flipping process, the weld of the workpiece is prone to dislocation, thus 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 that the existing welding guiding device cannot clean the weld during welding in the prior art.

[0007] 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 guiding device for a handling robot, which includes a fixed seat, a moving rail, a supporting mechanism and a guiding mechanism. The moving rail is adjustably and slidably arranged on the fixed seat in the front-back direction. One end of the supporting mechanism is adjustably slidably arranged on the moving rail, and the other end is assembled and connected to the guiding mechanism. The supporting mechanism includes a lifting seat, a fixed shaft and a hinge shaft. The lifting seat is slidably arranged on the moving rail. One end of the fixed shaft is slidably arranged up and down with the lifting seat, and the other end is rotatably connected to the hinge shaft. The guiding mechanism includes a fixed frame, a laser welder, an image capture device and a sliding frame. The fixed frame is assembled and connected to one end of the hinge shaft. The laser welder and the image capture device are arranged on the sliding frame. A gear is provided on one side of the sliding frame close to the fixed frame. A strip-shaped groove slidably connected to the gear is provided at the central position of the fixed frame. A rack meshing with the gear is provided at the lower end of the strip-shaped groove. A buffer frame is provided on one side of the lower end of the image capture device. Guide wheels and cleaning wheels are respectively provided at the lower end of the buffer frame. A protective cover is sleeved outside the laser welder and the image capture device.

[0009] Further, symmetric side grooves are provided on both sides inside the fixed seat. Both ends of the moving rail are slidably arranged in the side grooves through sleeve blocks. A first lead screw and a slide bar are respectively rotatably connected in the two side grooves. One sleeve block is threadedly sleeved on the first lead screw, and the other is slidably sleeved on the slide bar. The first lead screw is driven to rotate by a first motor. By driving the first motor to drive the first lead screw to rotate, the moving rail is further driven to slide smoothly on the side groove, so as to move the guiding mechanism closer to or away from the workpiece.

[0010] Further, a sliding sleeve slidably sleeved on the moving rail is provided at the lower end of the lifting seat. A second lead screw is rotatably arranged below the moving rail. The second lead screw is threadedly penetrated through the sliding sleeve. The second lead screw is driven to rotate by a second motor. A lifting block is slidably arranged inside the lower part of the lifting seat through a first air cylinder. One end of the fixed shaft is assembled and connected to the lifting block. One end of the hinge shaft is driven to rotate with the fixed shaft by a third motor. By driving the second motor, the lifting seat is driven to move left and right on the moving rail, so as to adjust the welding position. By driving the first air cylinder to drive the lifting block to move up and down, the welding height can be adjusted. In addition, when moving to both ends of the lifting seat, the guiding mechanism can be flipped, which is convenient to move above or below the workpiece for welding, saving the operation steps of flipping and adjusting the workpiece.

[0011] Furthermore, one end of the gear penetrates through the strip-shaped groove and extends outside. A fixed block is rotatably arranged at the end of the gear away from the carriage. The upper part of the hinge shaft is assembled and connected to the fixed block through a second air cylinder. Long grooves are symmetrically arranged on both sides of the strip-shaped groove. An arc-shaped groove is communicated with the lower end of the long groove. Sliders which are slidably arranged in the long grooves are symmetrically arranged on one side of the carriage. The arc-shaped groove is located at the position of the rack. When the carriage is at the position of the rack and the gear and the rack rotate, the sliders slide on the arc-shaped groove. Conversely, they slide in the long grooves, which can ensure that the carriage does not tilt during the movement in the long grooves. The arc-shaped groove is adapted to the path when the sliders rotate.

[0012] Furthermore, the buffer bracket includes end seats, hinge bars, springs and telescopic shafts. There are two end seats and two hinge bars respectively. The end faces of the two hinge bars are rotatably connected. The two end seats are respectively rotatably arranged at the two ends of the two hinge bars away from each other. One end seat is arranged at the lower end of the image capture device. The telescopic shaft is vertically arranged between the two end seats. The spring is arranged between the two hinge bars.

[0013] Furthermore, a central groove is opened at the central position of the hinge bar. One end of the telescopic shaft is vertically arranged with one end seat, and the other end sequentially penetrates through the two central grooves and is vertically arranged with the other end seat. The spring is sleeved outside the telescopic shaft. Since the telescopic shaft is vertically arranged with both end seats, the two end seats are always in a parallel state. And the telescopic shaft passes through the two central grooves, which can enable the two hinge bars to be hinged within a certain range, and the distance between the two end seats changes, which is applicable to guiding uneven welds.

[0014] Furthermore, the lower end seat is assembled and connected to the guiding wheel through a connecting frame on the side away from the fixed seat. The connecting frame is inclined. The end face of the connecting frame is rotatably connected to the guiding wheel. The thickness of the edge of the guiding wheel is smaller than that of the central position. By setting the edge of the guiding wheel to be relatively sharp, it is convenient for it to move stably in the weld to achieve the guiding effect.

[0015] Furthermore, a bracket is arranged below the lower end seat. Both ends of the cleaning wheel are rotatably arranged on the bracket through end shafts. A fourth motor is arranged on the bracket. One end shaft is driven to rotate by the fourth motor. The cleaning wheel is arranged in a hollow structure and a plurality of air outlets are arranged on the side wall. A fixed tube is rotatably arranged in a sealed manner in the other end shaft. A blower is arranged on the fixed frame. The blower is communicated with the fixed tube through an air duct. By starting the blower, air can be blown into the cleaning wheel during the cleaning process of the cleaning wheel rotating. The air sprays out from the air outlets to blow away the impurities at the weld, ensuring the cleanliness of the weld.

[0016] Furthermore, the carriage is arranged in a U shape. The laser welder and the image capture device are arranged inside the carriage.

[0017] Further, a chute is provided on the side of the fixing frame facing the protective cover. The end face of the protective cover is slidably arranged in the chute. A third cylinder is arranged in the chute. The protective cover is driven to lift and lower by the third cylinder. When the image capturer moves upward, the protective cover moves downward, and vice versa, facilitating the flipping of the sliding frame.

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

[0019] 1. Through the adjustment of the moving rail and the support mechanism, the guiding mechanism is driven to move. Specifically, the guiding wheel is first moved to the weld position. The guiding wheel is used for guiding the position, and the cleaning wheel follows closely behind, used for cleaning the weld position.

[0020] 2. By starting the blower, air can be blown into the cleaning wheel during the cleaning process of the cleaning wheel rotating. The air sprays out from the air outlet, blowing away the impurities at the weld, ensuring the cleanliness of the weld.

[0021] 3. In the present invention, through the provided buffer frame, a shock-absorbing effect can be achieved when the guiding wheel moves in the weld. Since the telescopic shaft is perpendicular to both end seats, the two end seats are always in a parallel state. And the telescopic shaft passes through the two central grooves, enabling the two hinge bars to hinge within a certain range, and the distance between the two end seats changes, suitable for guiding uneven welds.

[0022] 4. When welding up and down is required in the present invention, after the welding of the upper part is completed, there is no need to adjust and flip the workpiece. Only the moving rail needs to be moved away from the workpiece, and the guiding mechanism is moved to one side of the workpiece. Then, the height of the lifting seat is reduced, so that the support mechanism is located below the workpiece. Then, the sliding frame is moved downward. During the downward movement, the gear meshes with the rack and rotates, driving the gear to flip 180 degrees, that is, the sliding frame flips 180 degrees, making the output end of the laser welder face upward to achieve the welding operation, thus avoiding the situation of weld misalignment during the process of workpiece position change. Description of the Drawings

[0023] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the following will briefly introduce the drawings required for the description of the embodiments. Obviously, the following drawings are only some embodiments of the present invention. For those of ordinary skill in the art, without creative efforts, other drawings can be obtained based on these drawings.

[0024] Figure 1 It is a schematic diagram of the position of a laser welding guiding device of a handling robot and a workpiece provided by the present invention;

[0025] Figure 2 It is a three-dimensional view of a laser welding guiding device of a handling robot provided by the present invention;

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

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

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

[0029] Figure 6 Schematic diagram of the separated state of the fixing frame and the sliding frame of a laser welding guiding device for a handling robot provided by the present invention;

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

[0031] Figure 8 Schematic diagram of the internal structure of the cleaning wheel of a laser welding guiding device for a handling robot provided by the present invention.

[0032] Legend:

[0033] 1. Fixed seat; 2. Moving rail; 311. Lifting seat; 312. Fixed shaft; 313. Hinge shaft; 411. Fixing frame; 412. Laser welder; 413. Image capturer; 414. Sliding frame; 415. Buffer frame; 416. Guide wheel; 417. Cleaning wheel; 418. Protective cover; 421. Gear; 422. Strip-shaped groove; 423. Rack; 511. Side groove; 512. Screw sleeve block; 513. First lead screw; 514. Slide bar; 515. First motor; 521. Slide sleeve; 522. Second lead screw; 523. Second motor; 524. First cylinder; 525. Lifting block; 526. Third motor; 612. Fixed block; 613. Second cylinder; 614. Arc-shaped groove; 615. Long groove; 616. Slide block; 711. End seat; 712. Hinge bar; 713. Spring; 714. Telescopic shaft; 715. Central groove; 811. Connecting frame; 911. Bracket; 912. End shaft; 913. Fourth motor; 914. Air outlet; 915. Fixed pipe; 916. Fan; 917. Air duct; 101. Slide groove; 102. Third cylinder. Detailed implementation manners

[0034] To make the above objects, features and advantages of the present invention more obvious and understandable, the following detailed description of the specific implementation manners of the present invention will be given in conjunction with the accompanying drawings of the specification.

[0035] In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present invention. However, the present invention may be practiced in other ways than those specifically described herein. Those skilled in the art can make similar extensions without departing from the spirit of the present invention. Therefore, the present invention is not limited by the specific embodiments disclosed below.

[0036] Secondly, as used herein, "an embodiment" or "embodiments" refer to specific features, structures, or characteristics that may be included in at least one implementation of the present invention. The appearances of "in an embodiment" in different places in this specification do not all refer to the same embodiment, nor are they separate or alternative embodiments that exclude each other.

[0037] Please refer to Figures 1-8 , the present invention provides a technical solution: a laser welding guiding device for a handling robot, including a fixed seat 1, a moving rail 2, a supporting mechanism, and a guiding mechanism. The moving rail 2 is slidably arranged on the fixed seat 1 in an adjustable front-back manner. One end of the supporting mechanism is slidably arranged on the moving rail 2 in an adjustable manner, and the other end is assembled and connected to the guiding mechanism. The supporting mechanism includes 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 up and down with the lifting seat 311, and the other end is rotatably connected to the hinge shaft 313. The guiding mechanism includes a fixed frame 411, a laser welder 412, an image capturer 413, and a sliding frame 414. The fixed frame 411 is assembled and connected to one end of the hinge shaft 313. The laser welder 412 and the image capturer 413 are arranged on the sliding frame 414. A gear 421 is provided on one side of the sliding frame 414 close to the fixed frame 411. A strip-shaped groove 422 that slidably connects with the gear 421 is provided at the central position of the fixed frame 411. A rack 423 that meshes with the gear 421 is provided at the lower end of the strip-shaped groove 422. A buffer frame 415 is provided on one side of the lower end of the image capturer 413. Guide wheels 416 and cleaning wheels 417 are respectively provided at the lower end of the buffer frame 415. A protective cover 418 is sleeved outside the laser welder 412 and the image capturer 413.

[0038] As Figures 1-8 shown, symmetric side grooves 511 are provided on both sides inside the fixed seat 1. Both ends of the moving rail 2 are slidably arranged in the side grooves 511 through sleeve blocks 512. A first lead screw 513 and a slide bar 514 are respectively rotatably connected in the two side grooves 511. One sleeve block 512 is threadedly sleeved on the first lead screw 513, and the other is slidably sleeved on the slide bar 514. The first lead screw 513 is driven to rotate by a first motor 515. By driving the first motor 515 to drive the first lead screw 513 to rotate, the moving rail 2 is driven to slide smoothly on the side grooves 511, so as to move the guiding mechanism closer to or farther away from the workpiece.

[0039] As Figures 1-8As shown in the figure, a sliding sleeve 521 is provided at the lower end of the lifting seat 311, which is slidably sleeved on the moving rail 2. A second lead screw 522 is rotatably provided below the moving rail 2. The second lead screw 522 is threadedly passed through the sliding sleeve 521. The second lead screw 522 is driven to rotate by a second motor 523. Below the interior of the lifting seat 311, a lifting block 525 is slidably provided by a first cylinder 524. One end of the fixed shaft 312 is assembled and connected to 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. By driving the second motor 523, the lifting seat 311 is moved left and right on the moving rail 2 to realize the adjustment of the welding position. By driving the first cylinder 524, the lifting block 525 is moved up and down to realize the adjustment of the welding height. In addition, when moving to both ends of the lifting seat 311, the guiding mechanism can be flipped, which is convenient for moving above or below the workpiece to weld the workpiece, saving the operation steps of flipping and adjusting the workpiece.

[0040] As Figures 1-8 shown in the figure, one end of the gear 421 penetrates through the strip-shaped groove 422 and extends outside. A fixed block 612 is rotatably provided at the end of the gear 421 away from the carriage 414. Above the hinge shaft 313, it is assembled and connected to the fixed block 612 through a second cylinder 613. Long grooves 615 are symmetrically provided on both sides of the strip-shaped groove 422. An arc-shaped groove 614 is communicated with the lower end of the long groove 615. Sliders 616 slidably arranged with the long grooves 615 are symmetrically provided on one surface of the carriage 414. The arc-shaped groove 614 is located at the position of the rack 423. When the carriage 414 is at the rack 423 and the gear 421 rotates with the rack 423, the slider 616 slides on the arc-shaped groove 614. On the contrary, it slides in the long groove 615, which can ensure that the carriage 414 does not tilt during the movement in the long groove 615. The arc-shaped groove 614 is adapted to the path when the slider 616 rotates.

[0041] As Figures 1-8 shown in the figure, the buffer frame 415 includes end seats 711, hinge bars 712, springs 713 and telescopic shafts 714. There are two end seats 711 and two hinge bars 712 respectively. The end faces of the two hinge bars 712 are rotatably connected. The two end seats 711 are respectively rotatably arranged at the mutually remote ends of the two hinge bars 712. One end seat 711 is arranged at the lower end of the image capture device 413. The telescopic shaft 714 is vertically arranged between the two end seats 711. The spring 713 is arranged between the two hinge bars 712.

[0042] As Figures 1-8As shown in the figure, 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 with a terminal seat 711, and the other end sequentially passes through the two central grooves 715 and is vertically arranged with the other terminal seat 711. The spring 713 is sleeved outside the telescopic shaft 714. Since the telescopic shaft 714 is vertically arranged with the two terminal seats 711, the two terminal seats 711 are always in a parallel state. And the telescopic shaft 714 passes through the two central grooves 715, enabling the two hinge bars 712 to be hinged within a certain range, and the distance between the two terminal seats 711 changes, which is applicable to guiding uneven welds.

[0043] As Figures 1-8 shown in the figure, the lower terminal seat 711 is assembled and connected to the guide wheel 416 through a connecting frame 811 on the side away from the fixed seat 1. The connecting frame 811 is inclined. 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 smaller than the thickness at the central position. By setting the edge of the guide wheel 416 to be relatively sharp, it is convenient for it to move stably in the weld to achieve the guiding effect.

[0044] As Figures 1-8 shown in the figure, a bracket 911 is provided below the lower terminal seat 711. Both ends of the cleaning wheel 417 are rotatably arranged on the bracket 911 through end shafts 912. The bracket 911 is provided with a fourth motor 913. One end shaft 912 is driven to rotate by the fourth motor 913. The cleaning wheel 417 is of a hollow structure and a plurality of air outlets 914 are provided on the side wall. A fixed pipe 915 is rotatably and sealedly arranged inside the other end shaft 912. A blower 916 is provided on the fixed frame 411. The blower 916 is communicated with the fixed pipe 915 through an air duct 917. By starting the blower 916, air can be blown into the cleaning wheel 417 during the rotation and cleaning process of the cleaning wheel 417, and the air is ejected from the air outlets 914 to blow away the impurities at the weld, ensuring the cleanliness of the weld.

[0045] As Figures 1-8 shown in the figure, the sliding frame 414 is U-shaped, and the laser welder 412 and the image capturer 413 are arranged inside the sliding frame 414.

[0046] As Figures 1-8 shown in the figure, a sliding groove 101 is provided on one side of the fixed frame 411 facing the protective cover 418. The end face of the protective cover 418 is slidably arranged in the sliding groove 101. A third cylinder 102 is provided in the sliding groove 101. The protective cover 418 is driven to lift by the third cylinder 102. When the image capturer 413 moves up, the protective cover 418 moves down, and vice versa, facilitating the flipping of the sliding frame 414.

[0047] Working principle: When performing the laser welding guiding operation, by moving the fixed seat 1 to the position below one side of the workpiece to be welded, usually placing the position where the workpiece needs to be welded above, the lifting seat 311 can be raised to drive the guiding mechanism to be directly above the welding position of the workpiece. Then, in cooperation with the adjustment of the moving rail 2 and the supporting mechanism, the guiding mechanism is driven to move. Specifically, first, the guiding wheel 416 is moved to the weld position. The guiding wheel 416 is used for guiding the position, and the cleaning wheel 417 follows closely behind, which is used to clean the weld position. For example, when the surface of the workpiece is severely contaminated, such as rusty, cleaning is required to ensure the welding quality and reduce welding defects. During cleaning, the blower 916 blows air, and the air can be blown out from the cleaning wheel 417 to blow away the impurities swept out, ensuring the cleanliness of the weld. The image capture device 413 is used to capture the weld position and the laser welder 412 is used to weld the weld. During the welding process, the protective cover 418 is located below the fixed frame 411 to block the flying sparks during welding. For complex workpieces, such as Figure 1 the workpiece shown, when welding needs to be performed up and down, after the upper welding is completed, there is no need to adjust and flip the workpiece. Just move the moving rail 2 away from the workpiece, move the guiding mechanism to one side of the workpiece, and then lower the height of the lifting seat 311 so that the supporting mechanism is located below the workpiece. Then, move the carriage 414 downward. During the downward movement, the gear 421 meshes with the rack 423 and rotates, driving the gear 421 to flip 180 degrees, that is, the carriage 414 flips 180 degrees, so that the output end of the laser welder 412 is set upward. In the same steps as above, by using the image capture device 413 to observe the weld position, the welding operation can be performed on the weld position below the workpiece. This process does not require changing the position of the workpiece, thus avoiding the situation of weld misalignment during the process of workpiece position change.

[0048] It should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention and are not restrictive. Although the present invention has been described in detail with reference to the preferred embodiments, those of ordinary skill in the art should understand that the technical solutions of the present invention can be modified or equivalently replaced without departing from the spirit and scope of the technical solutions of the present invention, and they should all be covered within the scope of the claims of the present invention.

Claims

1. A laser welding guiding device for a handling robot, characterized in that: It includes a fixed seat (1), a moving rail (2), a support mechanism and a guiding mechanism. The moving rail (2) is slidably arranged on the fixed seat (1) in an adjustable front-back manner. One end of the support mechanism is slidably arranged on the moving rail (2) in an adjustable manner, and the other end is assembled and connected to the guiding mechanism. The support mechanism includes 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 up and down with the lifting seat (311), and the other end is rotatably connected to the hinge shaft (313). The guiding mechanism includes a fixed frame (411), a laser welder (412), an image capturer (413) and a sliding frame (414). The fixed frame (411) is assembled and connected to one end of the hinge shaft (313). The laser welder (412) and the image capturer (413) are arranged on the sliding frame (414). A gear (421) is arranged on one side of the sliding frame (414) close to the fixed frame (411). A strip-shaped groove (422) slidably connected to the gear (421) is arranged at the central position of the fixed frame (411). A rack (423) meshing with the gear (421) is arranged at the lower end of the strip-shaped groove (422). A buffer frame (415) is arranged on one side at the lower end of the image capturer (413). A guiding wheel (416) and a cleaning wheel (417) are respectively arranged at the lower end of the buffer frame (415). A protective cover (418) is sleeved outside the laser welder (412) and the image capturer (413). One end of the gear (421) penetrates through the strip-shaped groove (422) and extends outside. A fixed block (612) is rotatably arranged at the end of the gear (421) away from the sliding frame (414). The upper part of the hinge shaft (313) is assembled and connected to the fixed block (612) through a second cylinder (613). Long grooves (615) are symmetrically arranged on both sides of the strip-shaped groove (422). An arc-shaped groove (614) is communicated with the lower end of the long groove (615). Sliders (616) slidably arranged in the long grooves (615) are symmetrically arranged on one side of the sliding frame (414). The buffer frame (415) includes an end seat (711), a hinge bar (712), a spring (713) and a telescopic shaft (714). There are two end seats (711) and two hinge bars (712) respectively. The end faces of the two hinge bars (712) are rotatably connected. The two end seats (711) are respectively rotatably arranged at the ends of the two hinge bars (712) away from each other. One end seat (711) is arranged at the lower end of the image capturer (413). The telescopic shaft (714) is vertically arranged between the two end seats (711). The spring (713) is arranged between the two hinge bars (712). A central groove (715) is opened at the central position of the hinge bar (712). One end of the telescopic shaft (714) is vertically arranged with one end seat (711).And the other end sequentially penetrates through two central grooves (715) and is vertically arranged with another end seat (711). The spring (713) is sleeved outside the telescopic shaft (714). On the side of the lower end seat (711) away from the fixed seat (1), it is assembled and connected with the guide wheel (416) through a connecting frame (811). The connecting frame (811) is inclined. The end face of the connecting frame (811) is rotationally connected with the guide wheel (416). The thickness at the edge of the guide wheel (416) is less than the thickness at the central position. A bracket (911) is arranged below the lower end seat (711). Both ends of the cleaning wheel (417) are rotatably arranged on the bracket (911) through end shafts (912). The bracket (911) is provided with a fourth motor (913). One end shaft (912) is driven to rotate by the fourth motor (913). The cleaning wheel (417) is arranged in a hollow structure and a plurality of air outlets (914) are arranged on the side wall. A fixed pipe (915) is rotatably arranged in a sealed manner in the other end shaft (912). A blower (916) is arranged on the fixed frame (411). The blower (916) is communicated with the fixed pipe (915) through an air duct (917).

2. The laser welding guiding device for a handling robot according to claim 1, characterized in that, On both sides inside the fixed seat (1), side grooves (511) are symmetrically arranged. Both ends of the moving rail (2) are slidably arranged in the side grooves (511) through sleeve blocks (512). A first lead screw (513) and a slide bar (514) are respectively rotatably connected in the two side grooves (511). One sleeve block (512) is threadedly sleeved on the first lead screw (513), and the other is slidably sleeved on the slide bar (514). The first lead screw (513) is driven to rotate by a first motor (515).

3. The laser welding guiding device for a handling robot according to claim 2, characterized in that, At the lower end of the lifting seat (311), a sliding sleeve (521) slidably sleeved on the moving rail (2) is provided. A second lead screw (522) is rotatably arranged below the moving rail (2). The second lead screw (522) is threadedly inserted into the sliding sleeve (521). The second lead screw (522) is driven to rotate by a second motor (523). Below the interior of the lifting seat (311), a lifting block (525) is slidably arranged through a first cylinder (524). One end of the fixed shaft (312) is assembled and connected to 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).

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

5. A laser welding guiding device for a handling robot according to claim 1, characterized in that, On one side of the fixed frame (411) facing the protective cover (418), a chute (101) is provided. The end face of the protective cover (418) is slidably arranged in the chute (101). A third cylinder (102) is arranged in the chute (101). The protective cover (418) is driven to lift by the third cylinder (102).

Images