A robot welding trajectory planning device based on sensor control

Abstract

The present invention relates to the technical field of welding devices, and in particular to a robot welding trajectory planning device based on sensor control, which includes a machine base. On both sides inside the machine base, two symmetrically distributed chutes are provided. Two spaced supports are slidably installed on the machine base. A controller is installed on the machine base, and a camera is fixedly installed at the top of the machine base. The robot welding trajectory planning device based on sensor control in this application can drive the pipeline to be welded inside the device to rotate, so that the camera can photograph the pipeline to be welded more comprehensively. During the welding process, by driving the extension plate to rotate, the air flow can be promoted and an air flow towards the inside of the pipeline to be welded can be generated, thereby accelerating the outflow of the high-temperature air inside the pipeline to be welded and accelerating the entry of the outside low-temperature air into the pipeline to be welded. It can accelerate the heat dissipation at the weld of the pipeline to be welded, improve the welding quality and protect the pipeline to be welded.

Description

Technical Field

[0001] The present invention relates to the technical field of welding devices, and particularly to a robot welding trajectory planning device based on sensor control. Background Art

[0002] Pipe welding refers to a process method of connecting pipes or pipe fittings into a whole through welding technology, which is widely used in industries such as petroleum, chemical industry, natural gas, shipbuilding, electric power, and construction. Especially in the construction of long-distance oil and gas pipelines, pipe welding is a key link in connecting steel pipes and ensuring the continuity and sealing of the pipeline system.

[0003] The existing Chinese patent "A Welding Trajectory Planning Method, Device, Welding System and Electronic Equipment" (publication number: CN114571165B) specifically discloses the following: obtaining a three-dimensional model of a welding workpiece; identifying multiple welding objects in the three-dimensional model of the welding workpiece; traversing and calculating projection lines of each surface of each of the welding objects on the remaining welding objects, and taking the projection lines as weld seams; generating a welding trajectory according to the weld seams. The welding trajectory planning method, device, welding system and electronic equipment provided by the present application have the advantage of accurately and efficiently generating a weld seam trajectory.

[0004] For the welding device disclosed in the above patent, a welding robot is set to cooperate with an industrial control computer for work. The industrial control computer is used to obtain a three-dimensional model of a welding workpiece, generate a welding trajectory according to the weld seam, and then control the welding robot to execute actions according to the welding trajectory. In the industrial control computer, a camera is set to capture image information of the welding environment, such as the position, posture, and surface condition of the workpiece. Through the analysis and processing of an image processing algorithm, environmental perception ability can be provided for the welding device. However, in the actual work of the welding device for pipe welding in the prior art, due to the easy occurrence of heat accumulation inside the pipe, the heat accumulation will cause the temperature of the welding area to be too high, which may cause the weld metal to overheat and produce coarse grain structure, thereby reducing the strength and toughness of the weld seam. The too high temperature may also cause thermal cracks in the weld metal, resulting in a decline in welding quality; on the other hand, when the heat accumulation inside the pipe is uneven, it will cause local thermal expansion of the pipe and generate internal stress. After welding, as the temperature decreases, the internal stress is released, which may cause pipe deformation, such as bending and twisting.

[0005] To solve the above problems, we propose a robot welding trajectory planning device based on sensor control. Summary of the Invention

[0006] The purpose of the present invention is to solve the problems existing in the prior art, and to propose a robot welding trajectory planning device based on sensor control.

[0007] To achieve the above object, the present invention adopts the following technical solution: A robot welding trajectory planning device based on sensor control, including a machine base. On both sides inside the machine base, two symmetrically distributed sliding grooves are provided. On the machine base, two spaced supports are slidably installed. Inside each support, an annular sleeve is rotatably installed. On each annular sleeve, a fixing mechanism is provided, and the fixing mechanism is used to fix the pipe placed in the annular sleeve 4.

[0008] A controller is installed on the machine base. The top end of the machine base is fixedly installed with a camera. The camera is electrically connected to the controller and the controller is used to control the operation of the camera. Inside the machine base, a storage sleeve is fixedly installed. A welding torch is inserted into the storage sleeve and the two are in transitional fit. On one side of the support, a servo motor is fixedly installed. The output shaft end of the servo motor is inserted with a spline-fitted movable shaft. A plurality of extension plates are fixedly installed on the movable shaft. The extension plates are provided with inclined surfaces. A vertical plate is rotatably connected to the movable shaft with axial limit. The movable shaft passes through the vertical plate. On one side of the support, an electric telescopic rod is fixedly installed. The output end of the electric telescopic rod is fixedly connected to the vertical plate.

[0009] As a further technical solution of the present invention, the servo motor and the electric telescopic rod are both electrically connected to the controller, and the controller is used to control the operation of the servo motor and the electric telescopic rod.

[0010] As a further technical solution of the present invention, a bracket is rotatably installed inside the support on the other side. A plurality of inner plates are provided on one side of the bracket. The inner plates are fixedly installed on the inner side of the support. A slidable limiting rod is inserted through each inner plate. The other end of the limiting rod passes through the bracket. A spline sleeve is fixedly installed on the bracket. A spline groove is provided at one end of the movable shaft. A connecting shaft is further included between the movable shaft and the bracket. One end of the connecting shaft is inserted into the spline sleeve and the two are in spline fit. The other end of the connecting shaft is inserted into the spline groove and the two are in spline fit. A plurality of bent rods are fixedly installed inside the support on one side. One end of each bent rod is respectively inserted into the extension plate and the bent rod and the extension plate are slidable relative to each other.

[0011] As a further technical solution of the present invention, a plurality of air nozzles distributed in a circumferential array are fixedly installed at the end of the bracket. An annular plate is fixedly installed at one end inside the air nozzle. A first sealing plug is slidably installed inside the annular plate. The upper end of the first sealing plug extends outward. First T-shaped holes are formed in the first sealing plugs. Two first elastic strips are fixedly connected to the first sealing plug, and the upper ends of the first elastic strips are fixedly connected to the inner side of the air nozzle. A piston is slidably installed in the air nozzle. A piston rod is fixedly connected to the bottom of the piston. Two symmetrically distributed air inlet holes are formed in the piston. A slidable second sealing plug is inserted into each of the air inlet holes. The upper end of the second sealing plug extends outward. Two second elastic strips are fixedly connected to the bottom of the second sealing plug, and the lower ends of the second elastic strips are fixedly connected to the piston. Second T-shaped holes are formed in the second sealing plugs. A spring is fixedly connected between the annular plate and the piston.

[0012] As a further technical solution of the present invention, a driving assembly is provided on the connecting shaft, and the driving assembly is used to push a plurality of piston rods to move.

[0013] As a further technical solution of the present invention, the driving assembly includes a circular plate fixedly connected to the connecting shaft, and a plurality of convex portions are arranged on the outer side of the circular plate in a circumferential array.

[0014] As a further technical solution of the present invention, an outer sleeve is fixedly installed on one side of the bracket. A friction portion is provided inside one end of the outer sleeve, and the friction portion is arc-shaped. A plurality of incomplete friction wheels are fixedly connected to the connecting shaft in a circumferential array. When the incomplete friction wheels are in contact with the friction portion, the two are driven by friction.

[0015] As a further technical solution of the present invention, the fixing mechanism includes a magnet that penetrates through the annular sleeve and is slidable. Anti-slip blocks are fixedly connected to the ends of the magnet. The anti-slip blocks are rubber blocks. A plurality of electromagnets are fixedly installed on the outer side of the annular sleeve. The electromagnets are respectively arranged facing the magnet, and when the electromagnets are energized, they exert a repulsive force on the magnet.

[0016] As a further technical solution of the present invention, the bottom surface of the support seat contacts the machine base, and anti-slip patterns are provided on the contact surfaces of the support seat and the machine base.

[0017] As a further technical solution of the present invention, the end of the air nozzle is shaped like an outward expansion.

[0018] A robot welding trajectory planning device based on sensor control proposed by the present invention has the beneficial effects that:

[0019] The robot welding trajectory planning device based on sensor control in this application drives the pipeline to be welded inside the device to rotate, enabling the camera to capture the pipeline to be welded more comprehensively. During the welding process, by driving the extension plate to rotate, the air flow can be promoted and an air flow towards the inside of the pipeline to be welded is generated, thereby accelerating the outflow of the high-temperature air inside the pipeline to be welded and accelerating the entry of the low-temperature air from the outside into the pipeline to be welded. It can accelerate the heat dissipation at the weld of the pipeline to be welded, improve the welding quality and protect the pipeline to be welded.

[0020] During the welding process, the servo motor drives the protrusion to rotate to the piston rod and contact the end of the piston rod. The protrusion can drive the piston rod to move, and the nozzle port can continuously discharge air flow and make the air flow blow towards the weld, which can dissipate heat specifically at the weld position. At the same time, in cooperation with the intermittent driving of the friction part, the bracket and multiple nozzles rotate synchronously, which can drive the multiple nozzles to rotate intermittently. The multiple nozzles can rotate to different positions of the weld, thereby providing covering heat dissipation for the weld and avoiding heat dissipation dead spots on the weld. Brief Description of the Drawings

[0021] Figure 1 It is a schematic structural diagram of a robot welding trajectory planning device based on sensor control proposed by the present invention.

[0022] Figure 2 It is a schematic working diagram of a robot welding trajectory planning device based on sensor control proposed by the present invention.

[0023] Figure 3 It is a partially enlarged schematic diagram of the structure of a robot welding trajectory planning device based on sensor control proposed by the present invention.

[0024] Figure 4 It is an exploded view of the anti-slip block and the annular sleeve in a robot welding trajectory planning device based on sensor control proposed by the present invention.

[0025] Figure 5 It is an exploded view of the movable shaft and the connecting shaft in a robot welding trajectory planning device based on sensor control proposed by the present invention.

[0026] Figure 6 It is a partially enlarged schematic diagram of the structure at the extension plate in a robot welding trajectory planning device based on sensor control proposed by the present invention.

[0027] Figure 7 It is a partially enlarged schematic diagram of the structure at the bracket in a robot welding trajectory planning device based on sensor control proposed by the present invention.

[0028] Figure 8This is an enlarged cross-sectional view of a partial structure at the outer sleeve of a robot welding trajectory planning device based on sensor control proposed by the present invention.

[0029] Figure 9 This is an enlarged cross-sectional view of the internal structure of a gas nozzle of a robot welding trajectory planning device based on sensor control proposed by the present invention.

[0030] In the figure: base 1, chute 2, support 3, annular sleeve 4, controller 5, camera 6, storage sleeve 7, welding torch 8, servo motor 9, movable shaft 10, extension plate 11, vertical plate 12, electric telescopic rod 13, bracket 14, inner plate 15, limiting rod 16, spline sleeve 17, spline groove 18, connecting shaft 19, bent rod 20, gas nozzle 21, annular plate 22, first sealing plug 23, first elastic strip 24, piston 25, piston rod 26, air inlet hole 27, second sealing plug 28, second elastic strip 29, second T-shaped hole 30, first T-shaped hole 31, spring 32, circular plate 33, convex portion 34, outer sleeve 35, friction portion 36, incomplete friction wheel 37, magnet 38, anti-slip block 39, electromagnet 40. Specific embodiments

[0031] Next, the technical solutions in the embodiments of the present invention will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments.

[0032] Embodiment 1

[0033] Refer to Figure 1 - Figure 9 As shown, a robot welding trajectory planning device based on sensor control includes a base 1. Two symmetrically distributed chutes 2 are opened on both sides inside the base 1. Two spaced supports 3 are slidably mounted on the base 1. Annular sleeves 4 are rotatably mounted inside the supports 3. Fixing mechanisms are provided on the annular sleeves 4 for fixing the pipes placed inside the annular sleeves 4.

[0034] A controller 5 is installed on the machine base 1. A camera 6 is fixedly installed at the top of the machine base 1. The camera 6 is electrically connected to the controller 5, and the controller 5 is used to control the operation of the camera 6. A storage sleeve 7 is fixedly installed inside the machine base 1. A welding torch 8 is inserted into the storage sleeve 7, and the two are in transitional fit. A servo motor 9 is fixedly installed on the support 3 on one side. A spline-fitted movable shaft 10 is inserted at the output shaft end of the servo motor 9. A plurality of extension plates 11 are fixedly installed on the movable shaft 10. The extension plates 11 are provided with inclined surfaces. A vertical plate 12 is rotatably connected to the movable shaft 10 with axial limit. The movable shaft 10 penetrates through the vertical plate 12. An electric telescopic rod 13 is fixedly installed on the support 3 on one side. The output end of the electric telescopic rod 13 is fixedly connected to the vertical plate 12. The servo motor 9 and the electric telescopic rod 13 are both electrically connected to the controller 5, and the controller 5 is used to control the operation of the servo motor 9 and the electric telescopic rod 13.

[0035] Wherein, a bracket 14 is rotatably installed inside the support 3 on the other side. A plurality of inner plates 15 are provided on one side of the bracket 14. The inner plates 15 are fixedly installed inside the support 3. A slidable limiting rod 16 penetrates through each of the inner plates 15. The other end of the limiting rod 16 penetrates through the bracket 14. A spline sleeve 17 is fixedly installed on the bracket 14. A spline groove 18 is formed at one end of the movable shaft 10. A connecting shaft 19 is further included between the movable shaft 10 and the bracket 14. One end of the connecting shaft 19 is inserted into the spline sleeve 17, and the two are in spline fit. The other end of the connecting shaft 19 is inserted into the spline groove 18, and the two are in spline fit. A plurality of bent rods 20 are fixedly installed inside the support 3 on one side. One end of each bent rod 20 is inserted into the extension plate 11 respectively, and the bent rod 20 and the extension plate 11 are slidable relative to each other.

[0036] For reference Figure 1 - Figure 3 As shown, by sliding the two supports 3 and making the distance between them sufficient, and then placing the two pipes to be welded on the annular sleeves 4 on both sides respectively, the pipes to be welded are fixed in the annular sleeves 4 through the fixing mechanism. One end of the connecting shaft 19 always remains inserted into the spline sleeve 17. When the pipe to be welded is placed in the annular sleeve 4, the other end of the connecting shaft 19 is separated from the spline groove 18.

[0037] The fixing mechanism includes magnetic blocks 38 that penetrate through the annular sleeves 4 and are slidable. Anti-slip blocks 39 are fixedly connected to the ends of the magnetic blocks 38. The anti-slip blocks 39 are rubber blocks. A plurality of electromagnets 40 are fixedly installed on the outer side of the annular sleeves 4. The electromagnets 40 are respectively arranged facing the magnetic blocks 38, and the electromagnets 40 apply a repulsive force to the magnetic blocks 38 when powered on. The power source for supplying power to the electromagnets 40 is a battery, and the battery is fixedly installed on the annular sleeve 4. After the pipe to be welded is placed in the annular sleeve 4, by supplying power to the plurality of electromagnets 40, the electromagnets 40 apply a repulsive force to the magnetic blocks 38, so that the anti-slip blocks 39 at the ends of the magnetic blocks 38 tightly press on the pipe to be welded, thereby fixing the pipe to be welded in the annular sleeve 4.

[0038] After the pipes to be welded are installed, slide the two supports 3 and make the ends of the two pipes to be welded fit together. Then, pass the limiting rod 16 through the inner plate 15 and the bracket 14 so that the inner plate 15 and the bracket 14 can rotate synchronously. Then, drive the vertical plate 12 to move through the electric telescopic rod 13, so that the movable shaft 10 moves towards the connecting shaft 19, so that the spline groove 18 is sleeved on one end of the connecting shaft 19, and the two are in a spline fit state. At this time, one end of the bent rod 20 also inserts into the extension plate 11, and the movable shaft 10 and the output shaft of the servo motor 9 always maintain a connected and driving state. Then, drive the movable shaft 10 to rotate through the servo motor 9. The movable shaft 10 drives the spline sleeve 17 and the bracket 14 to rotate through the connecting shaft 19. The bracket 14, the inner plate 15 and the annular sleeve 4 at one end rotate synchronously. At the same time, the movable shaft 10 and the extension plate 11 rotate synchronously. The extension plate 11 drives the annular sleeve 4 at the other end to rotate through the bent rod 20, so as to drive the annular sleeves 4 at both ends to rotate synchronously, which can drive the pipes to be welded inside them to rotate. The splicing part (weld seam) of the two pipes to be welded is photographed by the camera 6. The camera 6 transmits the photographed image to the controller 5. The controller 5 obtains the three-dimensional model of the pipe and the weld seam, calculates and generates the welding track according to the weld seam, and then controls the welding torch 8 to perform welding work according to the welding track. During the photographing process, by driving the pipes to be welded to rotate, the camera 6 can photograph the pipes to be welded more comprehensively. During the welding process, the two pipes to be welded can be manually rotated to perform welding work on different positions of the weld seam.

[0039] During the welding process, drive the vertical plate 12 to move in the reverse direction through the electric telescopic rod 13, so that the spline groove 18 is separated from the connecting shaft 19, and the bent rod 20 is separated from the extension plate 11. At this time, the servo motor 9 drives the movable shaft 10 to rotate. The movable shaft 10 and the extension plate 11 rotate synchronously. Due to the inclined plane provided on the extension plate 11, during the rotation of the extension plate 11, it can push the air to flow and generate an air flow towards the inside of the pipe to be welded, so as to accelerate the outflow of the high-temperature air inside the pipe to be welded and accelerate the entry of the outside low-temperature air into the pipe to be welded. It can accelerate the heat dissipation at the weld of the pipe to be welded, improve the welding quality and protect the pipe to be welded.

[0040] The welding torch 8 and the storage sleeve 7 are in an interference fit, and there is a large frictional force between the two. The welding torch 8 and the storage sleeve 7 remain relatively stationary without manual intervention.

[0041] This design is to enable the welding torch 8 to be slid by applying a certain force manually after the welding torch 8 and the storage sleeve 7 are installed, in order to adjust the position of the welding torch 8 to avoid the welding torch 8 touching the pipe during the process of installing the pipe into the device. On the other hand, during the welding process, the welding torch 8 will not move under the action of gravity, and the position of the welding torch 8 is kept stable.

[0042] Embodiment 2

[0043] Reference Figure 3 - Figure 9 As shown, as another preferred embodiment of the present invention, the difference from Embodiment 1 is that a plurality of air nozzles 21 distributed in a circumferential array are fixedly installed at the end of the bracket 14. An annular plate 22 is fixedly installed at one end inside the air nozzle 21. A first sealing plug 23 is slidably installed inside the annular plate 22. The upper end of the first sealing plug 23 extends outward. First T-shaped holes 31 are formed in the first sealing plug 23. Two first elastic strips 24 are fixedly connected to the first sealing plug 23. The upper ends of the first elastic strips 24 are fixedly connected to the inner side of the air nozzle 21. A piston 25 is slidably installed inside the air nozzle 21. A piston rod 26 is fixedly connected to the bottom of the piston 25. Two symmetrically distributed air inlet holes 27 are formed in the piston 25. A slidable second sealing plug 28 is inserted into each of the air inlet holes 27. The upper end of the second sealing plug 28 extends outward. Two second elastic strips 29 are fixedly connected to the bottom of the second sealing plug 28. The lower ends of the second elastic strips 29 are fixedly connected to the piston 25. Second T-shaped holes 30 are formed in the second sealing plug 28. A spring 32 is fixedly connected between the annular plate 22 and the piston 25.

[0044] A driving assembly is provided on the connecting shaft 19, and the driving assembly is used to push a plurality of piston rods 26 to move. The driving assembly includes a circular plate 33 fixedly connected to the connecting shaft 19, and a plurality of protruding portions 34 distributed in a circumferential array are provided on the outer side of the circular plate 33.

[0045] Wherein, an outer sleeve 35 is fixedly installed on one side of the bracket 14. A friction portion 36 is provided inside one end of the outer sleeve 35. The friction portion 36 is arc-shaped. A plurality of incomplete friction wheels 37 distributed in a circumferential array are fixedly connected to the connecting shaft 19. When the incomplete friction wheels 37 are in contact with the friction portion 36, the two are driven by friction.

[0046] The bottom surface of the support 3 is in contact with the machine base 1. Anti-slip patterns are provided on the contact surfaces between the support 3 and the machine base 1. When the support 3 remains stationary, the static friction between the support 3 and the machine base 1 is relatively large, so that the support 3 is in a stable position state. The end of the air nozzle 21 is shaped like an outward expansion, which can improve the coverage range of the airflow discharged from the air nozzle 21.

[0047] In Embodiment 1, when the vertical plate 12 is driven to move in the reverse direction by the electric telescopic rod 13, the circular plate 33 moves to the position of the air nozzle 21, and the piston rod 26 is located between two adjacent protruding portions 34. At the same time, the incomplete friction wheel 37 moves into the friction portion 36, and the two can be driven by friction. Then, the limiting rod 16 is removed from the device, and the annular sleeve 4 will not be driven to rotate when the bracket 14 rotates.

[0048] At this time, the servo motor 9 drives the extension plate 11 to rotate, and the extension plate 11 generates an air flow towards the inside of the pipeline to be welded. The connecting shaft 19, the circular plate 33 and the convex part 34 rotate synchronously. The convex part 34 rotates to the piston rod 26 and contacts the end of the piston rod 26. The convex part 34 can drive the piston rod 26 to move. The piston 25 first moves towards the annular plate 22 and slides in the air nozzle 21, and the spring 32 is compressed. Since the air pressure inside the air nozzle 21 increases, the first sealing plug 23 moves, the first elastic strip 24 deforms, the first T-shaped hole 31 moves and communicates the inner cavity of the air nozzle 21 with the outside. The air inside the air nozzle 21 is discharged from the side port of the first T-shaped hole 31, and then discharged from the port of the air nozzle 21 and blown towards the weld, so as to dissipate heat specifically at the weld position. Subsequently, the convex part 34 separates from the end of the piston rod 26, the spring 32 drives the piston 25 to reset, the first elastic strip 24 drives the first sealing plug 23 to reset, the air pressure inside the air nozzle 21 decreases, the second sealing plugs 28 on both sides move, the second elastic strips 29 deform, and the second T-shaped hole 30 communicates the inner cavity of the air nozzle 21 with the outside space. The outside air can enter the inner cavity of the air nozzle 21 through the lower port of the second T-shaped hole 30 and then through the second T-shaped hole 30 to supplement air to the inner cavity of the air nozzle 21. After that, the subsequent convex part 34 contacts the end of the piston rod 26, the piston 25 is driven again and moves towards the annular plate 22, and the second elastic strip 29 drives the second sealing plug 28 to reset, and then the work is reciprocated in a cycle. The port of the air nozzle 21 can continuously discharge and blow the air flow towards the weld, so as to dissipate heat specifically at the weld.

[0049] Meanwhile, the connecting shaft 19 and the incomplete friction wheels 37 rotate synchronously. The multiple incomplete friction wheels 37 take turns to contact the friction part 36, and the friction part 36 is intermittently driven. The friction part 36, the outer sleeve 35 and the bracket 14 rotate synchronously. The bracket 14 and the multiple air nozzles 21 rotate synchronously, so as to drive the multiple air nozzles 21 to rotate intermittently. The multiple air nozzles 21 can rotate to different positions of the weld, so as to dissipate heat covering the weld and avoid heat dissipation dead angles on the weld.

[0050] The above is only a preferred specific embodiment of the present invention, but the protection scope of the present invention is not limited thereto. Any person skilled in the art within the technical scope disclosed by the present invention, according to the technical solution of the present invention and its inventive concept, makes an equivalent substitution or change, and should be covered by the protection scope of the present invention.

Claims

1. A robot welding trajectory planning device based on sensor control, characterized in that It includes a machine base. On both sides inside the machine base, two symmetrically distributed sliding grooves are provided. Two spaced supports are slidably mounted on the machine base. Annular sleeves are rotatably mounted inside the supports. Fixing mechanisms are provided on the annular sleeves for fixing the pipes placed inside the annular sleeves. A controller is mounted on the machine base. A camera is fixedly mounted at the top of the machine base. The camera is electrically connected to the controller and the controller is used to control the operation of the camera. A storage sleeve is fixedly mounted inside the machine base. A welding torch is inserted into the storage sleeve and there is a transitional fit between the two. A servo motor is fixedly mounted on one of the supports. A spline-fitted movable shaft is inserted at the output shaft end of the servo motor. A plurality of extension plates are fixedly mounted on the movable shaft. Inclined surfaces are provided on the extension plates. A vertical plate is rotatably connected to the movable shaft with axial limit. The movable shaft passes through the vertical plate. An electric telescopic rod is fixedly mounted on one of the supports. The output end of the electric telescopic rod is fixedly connected to the vertical plate. The servo motor and the electric telescopic rod are both electrically connected to the controller. The controller is used to control the operation of the servo motor and the electric telescopic rod. A bracket is rotatably mounted inside the other support. A plurality of inner plates are provided on one side of the bracket. The inner plates are fixedly mounted on the inner side of the support. Slidable limiting rods are inserted through the inner plates. The other ends of the limiting rods pass through the bracket. A spline sleeve is fixedly mounted on the bracket. A spline groove is provided at one end of the movable shaft. A connecting shaft is further included between the movable shaft and the bracket. One end of the connecting shaft is inserted into the spline sleeve and they are in spline fit. The other end of the connecting shaft is inserted into the spline groove and they are in spline fit. A plurality of bent rods are fixedly mounted inside one of the supports. One ends of the bent rods are respectively inserted into the extension plates and they are slidable between the bent rods and the extension plates. A plurality of air nozzles distributed in a circular array are fixedly mounted at the end of the bracket. An annular plate is fixedly mounted at one end inside the air nozzle. A first sealing plug is slidably mounted inside the annular plate. The upper end of the first sealing plug extends outward. First T-shaped holes are provided on the first sealing plugs. Two first elastic strips are fixedly connected to the first sealing plugs. The upper ends of the first elastic strips are fixedly connected to the inner side of the air nozzle. A piston is slidably mounted inside the air nozzle. A piston rod is fixedly connected to the bottom of the piston. Two symmetrically distributed air inlet holes are provided on the piston. Second sealing plugs are slidably inserted into the air inlet holes. The upper ends of the second sealing plugs extend outward. Two second elastic strips are fixedly connected to the bottom of the second sealing plugs. The lower ends of the second elastic strips are fixedly connected to the piston. Second T-shaped holes are provided on the second sealing plugs. A spring is fixedly connected between the annular plate and the piston.

2. The sensor control-based robot welding trajectory planning device according to claim 1, characterized in that, A driving component is provided on the connecting shaft for pushing a plurality of piston rods to move.

3. The sensor control-based robot welding trajectory planning device according to claim 2, characterized in that The driving component includes a circular plate fixedly connected to the connecting shaft. A plurality of protruding portions are provided on the outer side of the circular plate and are distributed in a circular array.

4. The sensor-based robot welding trajectory planning device according to claim 3, characterized in that, An outer sleeve is fixedly mounted on one side of the bracket. A friction portion is provided on the inner side at one end of the outer sleeve. The friction portion is arc-shaped. A plurality of incomplete friction wheels distributed in a circular array are fixedly connected to the connecting shaft. When the incomplete friction wheels are in contact with the friction portion, they are driven by friction between them.

5. The sensor control-based robot welding trajectory planning device according to claim 1, characterized in that The fixing mechanism includes magnetic blocks that penetrate through the annular sleeve and are slidable. Anti-sliding blocks are fixedly connected to the ends of the magnetic blocks. The anti-sliding blocks are rubber blocks. A plurality of electromagnets are fixedly installed on the outer side of the annular sleeve. The electromagnets are respectively arranged facing the magnetic blocks, and when the electromagnets are energized, they exert a repulsive force on the magnetic blocks.

6. The sensor control-based robot welding trajectory planning device according to claim 5, characterized in that, The bottom surface of the support seat contacts the machine base, and anti-slip patterns are provided on the contact surfaces of the support seat and the machine base.

7. The sensor control-based robot welding trajectory planning device according to claim 1, characterized in that, The end of the air nozzle is in an outwardly expanding shape.

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