Welding robot convenient to accurately control

Abstract

The invention discloses a welding robot convenient to accurately control, and belongs to the field of welding equipment.The welding robot convenient to accurately control comprises a base, clamping assemblies are slidably mounted at the two ends of the top of the base, a welding assembly and a grinding assembly are slidably mounted on the two sides of the base correspondingly, each clamping assembly comprises a pre-fixing disc, and a clamping base is fixedly connected to one side face of each pre-fixing disc; a shaft hole is formed in one side face of the clamping base, and the end of a to-be-welded part can be inserted into the clamping base through the shaft hole and is pre-fixed through a pre-fixing assembly arranged on the side face of the pre-fixing disc. The top end and the bottom end of one side face of the clamping base are symmetrically and fixedly connected with arc-shaped plates, and clamping and fixing measuring assemblies are symmetrically arranged on the opposite faces of the two arc-shaped plates. According to the welding robot, a cylindrical welding part can be fully and uniformly clamped, and the welding position and the welding state can be accurately controlled in the welding process, so that the welding part can be fully welded, and the welding quality and precision are greatly improved.

Description

Technical Field

[0001] The invention relates to a welding robot, in particular to a welding robot which is convenient for precise control and belongs to the field of welding equipment. Background Art

[0002] Welding robots are automated industrial equipment for welding, cutting and spraying. Through precise programming and control, they significantly improve production efficiency and quality. They are widely used in automobile manufacturing, metal processing, aerospace and other fields. They can operate continuously for 24 hours to reduce human errors and the risk of work-related injuries. Their advantages include high-precision welding, rapid adaptation to complex processes, and improved working environment for workers. They are especially suitable for high-intensity, high-risk or high-repetitive tasks. With technological advances, welding robots are driving the manufacturing industry to upgrade to intelligence and have become an indispensable and important equipment for modern industry.

[0003] However, the existing welding robots are mostly customized according to the objects to be welded, which results in poor adaptability and high cost when purchased, increasing the cost for users. When welding cylindrical parts, due to the differences in length, diameter and welding surface, welding is prone to incomplete and low precision. Summary of the invention

[0004] The object of the present invention is to provide a welding robot that is easy to control accurately, so as to solve the problems raised in the above background technology.

[0005] To achieve the above object, the present invention provides the following technical solutions: A welding robot that is easy to control precisely comprises a base, wherein clamping assemblies are slidably installed at both ends of the top of the base, and welding assemblies and grinding assemblies are slidably installed on both sides of the base, respectively, and the clamping assembly comprises a pre-fixing disk, a side surface of the pre-fixing disk is fixedly connected to a holder, and an axial hole is opened on one side surface of the holder, and the end of the workpiece to be welded can be inserted into the holder through the axial hole and pre-fixed by a pre-fixing assembly arranged on the side surface of the pre-fixing disk; an arc plate is symmetrically fixedly connected to the top and bottom ends of one side surface of the holder, and clamping measurement assemblies are symmetrically arranged on the opposite surfaces of the two arc plates.

[0006] Optionally, the clamping measuring component specifically includes: an electric telescopic column with one end passing through and connected to the arc plate, the telescopic end of the electric telescopic column is connected to the arc measuring plate, a pressure sensor is embedded in the middle position of the inner side surface of the arc measuring plate, a guide rail is fixedly connected to the side surface of the holder between the arc plate and the axial hole, a sliding groove for the sliding of the guide rail is provided at a position of the guide rail on one side surface of the arc measuring plate, and a silicone pad is fixedly connected to the outside of the pressure sensor and the inner side surface of the arc measuring plate.

[0007] Optionally, the pre-fixing component specifically includes: a support plate fixed on the side of the pre-fixing disk away from the base and close to the top, an electric push rod is embedded in the support plate, and the output shaft end of the electric push rod is fixedly connected to a driving plate, and three evenly distributed claw mechanisms are provided on one side of the pre-fixing disk, one of the claw mechanisms is connected to the driving plate, and a transmission mechanism is provided between the claw mechanism and the other two claw mechanisms.

[0008] Optionally, the claw mechanism specifically includes: a moving column, one end of which is fixedly connected to a force arm, and a strip groove is opened on the side of a pre-fixed disk corresponding to one end of the moving column, one end of the force arm passes through the strip groove and is fixedly connected to a claw head, one of the moving columns is fixedly connected to a driving plate, and a limiting connecting piece is provided on the outer side of the moving column.

[0009] Optionally, the limiting connecting member specifically includes: a limiting plate, which is fixed at one end of the outer side surface of the moving column, and the two sides of the moving column are fixedly connected with side plates, and the bottom ends of the opposite surfaces of the side plates are provided with limiting grooves, and the limiting plate is movably clamped between the limiting grooves of the two side plates.

[0010] Optionally, the transmission mechanism specifically includes: a connecting block, which is fixed on a limit plate, and a first limit pin is fixedly connected to one side of the connecting block, a rotating table is fixedly connected to the side surfaces of the pre-fixed plates on both sides of the first limit pin, and the ends of the rotating table are rotatably connected to obtuse-angle connecting rods, and the sides of the obtuse-angle connecting rods are provided with strip guide grooves near the two ends, one ends of the two obtuse-angle connecting rods are stacked together, and the first limit pin passes through the strip guide grooves of the two obtuse-angle connecting rods stacked together, the sides of the two limit plates are fixedly connected to strip transmission rods, and one end of the strip transmission rod is fixedly connected to the second limit pin, the two strip transmission rods are cross-stacked with each other, and one end of the second limit pin on the strip transmission rod is penetrated and installed in a strip guide groove of the corresponding obtuse-angle connecting rod.

[0011] Optionally, a second slide rail groove is provided on the top of the base along the length direction, and two linear motors are slidably installed inside the second slide rail groove. A slide seat is installed on the top of each linear motor, and the top of the slide seat is connected to an end seat through a first electric telescopic rod. The end seats at both ends are rotatably installed on one side opposite to each other, and one end of the main shaft is connected to a rotating disk, and the end of the rotating disk away from the main shaft is connected to one end of the pre-fixed disk through two bearing rods.

[0012] Optionally, first slide rail grooves are provided on both sides of the base along the length direction, an electric slider is slidably installed inside each first slide rail groove, and one side of the bottom of the welding assembly and the grinding assembly are connected to the corresponding electric slider.

[0013] Optionally, the welding assembly includes a stabilizing seat, the top of the stabilizing seat is connected to a main beam, a camera is installed on one side of the main beam, a mounting frame is installed on the top of the main beam via a third rotating shaft, a second electric telescopic rod is installed on the mounting frame, the telescopic end of the second electric telescopic rod is installed with an adapter seat via a first rotating shaft, and a welding head is installed at one end of the adapter seat via a second rotating shaft.

[0014] Optionally, the grinding assembly includes a vertical rod, the top of the vertical rod is rotatably connected to a mounting plate, both ends of the mounting plate are connected to a third electric telescopic rod, the first grinding head is rotatably installed on both sides of the telescopic end of one third electric telescopic rod, the telescopic end of another third electric telescopic rod is connected to a bracket, and the second grinding head is rotatably installed inside the bracket.

[0015] Compared with the prior art, the present invention has the following beneficial effects: The welding robot can fully and evenly clamp cylindrical welded parts, and can accurately control the welding position and welding state during the welding process, so that the welded parts can be fully welded, and the quality and accuracy of the welding are greatly improved. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 It is a schematic diagram of the overall structure of the present invention.

[0017] Figure 2 It is a schematic diagram of the base structure of the present invention.

[0018] Figure 3 It is a schematic diagram of the structure of the welding assembly of the present invention.

[0019] Figure 4 It is a schematic diagram of the structure of the grinding assembly of the present invention.

[0020] Figure 5 It is a schematic diagram of the structure of the clamping assembly of the present invention.

[0021] Figure 6 It is a schematic diagram of the structure of the pre-fixed disk of the present invention.

[0022] Figure 7 For the present invention Figure 6 Axonometric drawing of .

[0023] Figure 8 For the present invention Figure 7 main view.

[0024] Fig. 9 It is a schematic diagram of the structure of the arc measuring plate of the present invention.

[0025] In the figure: 1. pre-fixed plate; 2. holder; 3. shaft hole; 4. arc plate; 5. electric telescopic column; 6. arc measuring plate; 7. pressure sensor; 8. silicone pad; 9. slideway; 10. guide rail; 14. support plate; 15. electric push rod; 16. drive plate; 17. moving column; 18. connecting block; 19. rotating table; 20. obtuse connecting rod; 21. strip guide groove; 22. limit plate; 23. strip transmission rod; 24. side plate; 25. limit groove; 26. second limit pin; 28. first limit pin; 29. ​​force arm; 30. strip Groove; 31, claw head; 32, base; 33, first slide rail groove; 34, stabilizing seat; 35, vertical rod; 36, mounting plate; 37, load-bearing rod; 38, slide seat; 39, first electric telescopic rod; 40, end seat; 41, main shaft; 42, rotating disk; 43, second slide rail groove; 44, electric slider; 45, camera; 46, mounting bracket; 47, second electric telescopic rod; 48, first rotating shaft; 49, second rotating shaft; 50, welding head; 51, third electric telescopic rod; 52, first grinding head; 53, bracket; 54, second grinding head. DETAILED DESCRIPTION

[0026] In order to better understand the above technical solution, the above technical solution will be described in detail below in conjunction with the accompanying drawings and specific implementation methods.

[0027] See also Figures 1 to 9 In an embodiment of the present invention, a welding robot that is easy to control precisely includes a base 32, and clamping assemblies are slidably installed at both ends of the top of the base 32. A welding assembly and a grinding assembly are slidably installed on both sides of the base 32. The clamping assembly includes a pre-fixing disk 1, and a clamping seat 2 is fixedly connected to one side of the pre-fixing disk 1, and an axial hole 3 is opened on one side of the clamping seat 2. The end of the workpiece to be welded can be inserted into the inside of the clamping seat 2 from the axial hole 3 and pre-fixed by a pre-fixing assembly arranged on the side of the pre-fixing disk 1; an arc plate 4 is symmetrically fixedly connected to the top and bottom of one side of the clamping seat 2, and the opposite surfaces of the two arc plates 4 are symmetrically provided with clamping measurement assemblies.

[0028] As a technical optimization scheme of the present invention, the clamping measurement assembly specifically includes: an electric telescopic column 5 connected to the arc plate 4 at one end, the telescopic end of the electric telescopic column 5 is connected to the arc measuring plate 6, a pressure sensor 7 is embedded in the middle position of the inner side of the arc measuring plate 6, a guide rail 10 is fixedly connected to the side of the holder 2 between the arc plate 4 and the shaft hole 3, a slide groove 9 for the guide rail 10 to slide is opened at the position of the guide rail 10 on one side of the arc measuring plate 6, and a silicone pad 8 is fixedly connected to the outside of the pressure sensor 7 and the inner side of the arc measuring plate 6. The two arc measuring plates 6 can clamp and fix the ends of the welded parts, and the change of the clamping force can be measured in real time through the pressure sensor 7. In the subsequent welding process, if the value change measured by the pressure sensor 7 exceeds the preset change range, it means that the welded parts have shaken or the clamping force has changed during the welding process, which affects the position accuracy of the welding end, and then affects the welding accuracy. The staff can timely know that there is a problem with the welding through the background preset control system, and can make adjustments and maintenance in time. For example, during rotational welding, the clamping force changes and the welding position shifts, which will cause welding deviation.

[0029] As a technical optimization solution of the present invention, the pre-fixing component specifically includes: a support plate 14 fixed on the side of the pre-fixing disk 1 away from the base 2 and close to the top, an electric push rod 15 is embedded in the support plate 14, and the output shaft end of the electric push rod 15 is fixedly connected to a drive plate 16, and three evenly distributed claw mechanisms are provided on one side of the pre-fixing disk 1, one of which is connected to the drive plate 16, and a transmission mechanism is provided between the claw mechanism and the other two claw mechanisms.

[0030] As a technical optimization solution of the present invention, the claw mechanism specifically includes: a moving column 17, one end of the moving column 17 is fixedly connected to a force arm 29, and a strip groove 30 is opened on the side of the pre-fixed disk 1 corresponding to the one end of the moving column 17, one end of the force arm 29 passes through the strip groove 30 and is fixedly connected to a claw head 31, a moving column 17 is fixedly connected to the driving plate 16, and a limiting connecting piece is provided on the outer side of the moving column 17.

[0031] As a technical optimization solution of the present invention, the limiting connector specifically includes: a limiting plate 22, the limiting plate 22 is fixed to one end of the outer side of the moving column 17, and the two sides of the moving column 17 are fixedly connected with side plates 24, and the bottom ends of the opposite surfaces of the side plates 24 are provided with limiting grooves 25, and the limiting plate 22 is movable between the limiting grooves 25 of the two side plates 24. The setting of the limiting connector can not only be used to connect the transmission mechanism, but also improve the stability of the movement of the moving column 17.

[0032] As a technical optimization scheme of the present invention, the transmission mechanism specifically includes: a connecting block 18, the connecting block 18 is fixed on a limit plate 22, and one side of the connecting block 18 is fixedly connected to a first limit pin 28, a rotating table 19 is fixedly connected to the side surfaces of the pre-fixed plate 1 on both sides of the first limit pin 28, and the ends of the rotating table 19 are rotatably connected to an obtuse-angle connecting rod 20, and the sides of the obtuse-angle connecting rod 20 are provided with strip guide grooves 21 near both ends, one end of the two obtuse-angle connecting rods 20 are superimposed together, and the first limit pin 28 passes through the strip guide grooves 21 where the two obtuse-angle connecting rods 20 are superimposed, the sides of the two limit plates 22 are fixedly connected to a strip transmission rod 23, and one end of the strip transmission rod 23 is fixedly connected to a second limit pin 26, the two strip transmission rods 23 are cross-stacked with each other, and one end of the second limit pin 26 on the strip transmission rod 23 is penetrated and installed in a strip guide groove 21 of the corresponding obtuse-angle connecting rod 20. The transmission mechanism is arranged so that while driving one claw mechanism to move toward the weldment, the other two claw mechanisms can also be synchronously driven to move toward the weldment, so that the three claw mechanisms clamp the weldment together, so that the position of the weldment on the pre-fixing plate 1 can be accurately determined when the weldment is clamped.

[0033] Through the cooperation of various components on the pre-fixing plate 1, the end of the welded part can be evenly and fully clamped, and the position after clamping is relatively fixed, which can provide favorable help for the subsequent welding accuracy. For example, if the clamping position is the middle of the pre-fixing plate 1, the height of the welding part can be accurately adjusted during subsequent welding.

[0034] As a technical optimization solution of the present invention, a second slide rail groove 43 is provided at the top of the base 32 along the length direction, and two linear motors are slidably installed inside the second slide rail groove 43. A slide seat 38 is installed on the top of each linear motor, and the top of the slide seat 38 is connected to the end seat 40 through the first electric telescopic rod 39. The end seats 40 at both ends are rotatably installed on the opposite side, and one end of the main shaft 41 is connected to a rotating disk 42. The end of the rotating disk 42 away from the main shaft 41 is connected to one end of the pre-fixed disk 1 through two bearing rods 37. The slide seat 38 can slide along the second slide rail groove 43 through the linear motor, and then adjust the position of the end seat 40, which can facilitate the adjustment of the horizontal position of the welded part. The first electric telescopic rod 39 can adjust the position of the welded part in the vertical direction.

[0035] As a technical optimization solution of the present invention, first slide rail grooves 33 are provided on both sides of the base 32 along the length direction, and an electric slider 44 is slidably installed inside each first slide rail groove 33, and one side of the bottom of the welding assembly and the grinding assembly is connected to the corresponding electric slider 44. The welding assembly and the grinding assembly can move along the first slide rail groove 33 on the side of the base 32 through the electric slider 44 to adjust the required position.

[0036] As a technical optimization solution of the present invention, the welding assembly includes a stabilizing seat 34, the top of the stabilizing seat 34 is connected to the main beam, a camera 45 is installed on one side of the main beam, a mounting frame 46 is rotatably installed on the top of the main beam through the third rotating shaft, a second electric telescopic rod 47 is installed on the mounting frame 46, the telescopic end of the second electric telescopic rod 47 is rotatably installed with a transfer seat through the first rotating shaft 48, and a welding head 50 is rotatably installed at one end of the transfer seat through the second rotating shaft 49. The second electric telescopic rod 47 can adjust the horizontal position of the welding head 50, and the first rotating shaft 48, the second rotating shaft 49 and the third rotating shaft can be driven by the driving motor to rotate and adjust the various inclination angles of the welding head 50 to meet different welding requirements.

[0037] As a technical optimization solution of the present invention, the grinding assembly includes a vertical rod 35, the top of the vertical rod 35 is rotatably connected to a mounting plate 36, both ends of the mounting plate 36 are connected to a third electric telescopic rod 51, the telescopic end of one third electric telescopic rod 51 is rotatably mounted with a first grinding head 52 on both sides, the telescopic end of another third electric telescopic rod 51 is connected to a bracket 53, and the inside of the bracket 53 is rotatably mounted with a second grinding head 54. The second grinding head 54 and the first grinding head 52 are used alternately to meet different grinding requirements.

[0038] The working principle of the present invention is: the device is mainly used for welding cylindrical parts, such as cylindrical shafts. When in use, first, the two welded parts to be welded are respectively installed on the pre-fixed disks 1 at both ends. During installation, the shaft hole 3 is aligned with the end of the welded part to be welded, so that the end of the welded part is inserted into the shaft hole 3 and abuts against the end of the pre-fixed disk 1. Then, the electric push rod 15 is started, and the electric push rod 15 runs to retract the output shaft to pull the drive plate 16 toward the support plate 14. During the process, the moving column 17 connected to the drive plate 16 moves along, and the connecting block 18 and the first limiting pin 28 on the limiting disk 22 connected to the moving column 17 also move along. The first limiting pin 28 drives the two obtuse-angle connecting rods 20 to rotate around the rotating table 19, and drives the two bar transmission rods 23 to move under the cooperation of the bar guide groove 21 and the second limiting pin 26, and then drives the other two moving columns 17 to move. Finally, the three moving columns 17 move inward at the same time to clamp the welded parts. The welded part can be evenly clamped and fixed at the end of the pre-fixed disk 1, and always maintained at the preset position at the end of the pre-fixed disk 1. Through reasonable size setting, the welded part can always be maintained in the middle position of the end of the pre-fixed disk 1, providing a more accurate reference for the docking and position determination of the welding parts during subsequent welding.

[0039] After the pre-fixing assembly clamps the weldment, the two electric telescopic columns 5 are started to extend, so that the arc measuring plate 6 moves toward the weldment, and the slide groove 9 and the guide rail 10 are relatively displaced to improve the movement stability, until the arc measuring plate 6 is attached to the surface of the weldment, and the pressure value measured by the pressure sensor 7 reaches the preset value, and the electric telescopic column 5 stops working. The weldment can be fully and stably fixed on the pre-fixing plate 1 and the holder 2, and it is not easy to be displaced during the subsequent welding process, which can ensure the stability of the welding part, thereby improving the welding accuracy. If the value measured by the pressure sensor 7 during the subsequent welding process changes beyond the preset range of variation, it means that the weldment has shaken or the clamping force has changed during the welding process, affecting the position accuracy of the welding end, and then affecting the welding accuracy. The staff can promptly know the welding problems through the background preset control system and can make adjustments and maintenance in time.

[0040] After the welded parts are clamped and fixed, the slides 38 at both ends are moved along the second slide rail groove 43 by the linear motor, approaching each other until the ends of the two welded parts to be welded are in contact. Then the welding assembly moves along the side of the base 32. During the movement, the camera 45 on the side takes pictures of the parts to be welded, and transmits the captured images to the background control system. By comparing the background control system with the preset standard images, it can be known whether the parts to be welded of the two welded parts are in sufficient contact or whether the contact surface needs to be trimmed. During the shooting, the main shaft 41 is driven by the driving motor to rotate, so that the parts to be welded can be fully photographed. If the contact surface is not in sufficient contact, the two welded parts move again until the welded parts are in sufficient contact. If the ends of the welded parts are uneven and need to be trimmed, the two welded parts move away from each other, and the ends of the welded parts are polished and trimmed using the grinding assembly.

[0041] When grinding the end of the weldment, the grinding assembly moves along the side of the base 32, and uses the driving motor at the top of the vertical rod 35 to drive the mounting plate 36 to rotate, so that the first grinding head 52 faces the weldment, and is extended by the third electric telescopic rod 51, and the first grinding head 52 is adjusted to contact the end of the weldment to be ground. The double-headed motor pre-installed on the third electric telescopic rod 51 can drive the first grinding head 52 to rotate, and the first grinding head 52 is installed on the output end of the double-headed motor. The output end is provided with a component for installing the first grinding head 52, which is not shown in the figure and is a commonly used mounting component for existing grinding sheets. The first grinding head 52 can grind and trim the end of the weldment to be welded until the end of the weldment is trimmed to meet the welding requirements.

[0042] After the welding part is butted, the horizontal position of the welding part can be preliminarily known through the length of the two welding parts and the distance moved by the slides 38 at both ends. The longitudinal position of the welding part can be preliminarily known according to the diameter of the two welding parts and the telescopic length of the two first electric telescopic rods 39. Combined with the image taken by the camera 45, through the control of the background control system, the welding head 50 can be fully in contact with the welding part, and the contact accuracy of the welding part is high. During welding, the main shaft 41 drives the rotating disk 42 to rotate, so that the part to be welded can rotate together. The welding head 50 does not need to be adjusted during welding, and the welding part can be fully and evenly welded. Moreover, during welding, the circumference of the welding is known according to the diameter of the welding part. Combined with the welding performance of the welding head 50, the rotation speed of the main shaft 41 can be accurately controlled, so that the welding part can be welded more evenly.

[0043] After welding is completed, the welding part can be polished by the polishing assembly to polish the welding spot of the welding part. When polishing the welding spot, the welding assembly moves on the side of the base 32, and the second polishing head 54 is rotated toward the welding part. By adjusting the height of the welding part and the extension of the third electric telescopic rod 51, the second polishing head 54 can contact the welding spot. The second polishing head 54 rotates and the main shaft 41 drives the welding part to rotate. The rotation directions of the two are opposite, so that the second polishing head 54 can fully polish the welding spot. And when polishing, according to the diameter of the welding part, the degree of polishing of the welding spot can be accurately controlled to avoid excessive polishing or insufficient polishing, so that the welding part can be polished flat. After polishing, the image comparison after the camera 45 takes the picture determines that the welding is correct, which means that the welding is completed. If the comparison finds that there is a leak or other welding problem, it is controlled by the control system and the welding is performed again.

[0044] After welding is completed, the electric push rod 15 and the electric telescopic column 5 on the pre-fixing plate 1 and the holder 2 operate again, so that the pre-fixing plate 1 and the holder 2 release the clamping of the welded part, and then the slide seat 38 at one end moves, and one end of the welded part is separated from the holder 2, and the welded part can be taken out.

[0045] Obviously, those skilled in the art can make various changes and modifications to the present invention without departing from the spirit and scope of the present invention. Thus, if these modifications and variations of the present invention fall within the scope of the claims of the present invention and their equivalents, the present invention is also intended to include these modifications and variations.

[0046] What is described above is only a preferred specific implementation manner of the present invention, but the protection scope of the present invention is not limited thereto. Any technician familiar with the technical field can make equivalent replacements or changes according to the technical scheme and inventive concept of the present invention within the technical scope disclosed by the present invention, which should be covered by the protection scope of the present invention.

Claims

1. A welding robot that is easy to control accurately, characterized in that: The invention comprises a base (32), wherein both ends of the top of the base (32) are slidably mounted with clamping assemblies, and both sides of the base (32) are slidably mounted with welding assemblies and grinding assemblies, respectively, and the clamping assembly comprises a pre-fixing plate (1), and a clamping seat (2) is fixedly connected to one side of the pre-fixing plate (1), and an axial hole (3) is opened on one side of the clamping seat (2), and the end of the workpiece to be welded can be inserted into the clamping seat (2) through the axial hole (3) and pre-fixed by the pre-fixing assembly arranged on the side of the pre-fixing plate (1); an arc plate (4) is symmetrically fixedly connected to the top and bottom of one side of the clamping seat (2), and clamping measurement assemblies are symmetrically arranged on opposite sides of the two arc plates (4).

2. A welding robot that is easy to control precisely according to claim 1, characterized in that: The clamping measurement assembly specifically comprises: an electric telescopic column (5) having one end penetrating and connected to the arc-shaped plate (4); the telescopic end of the electric telescopic column (5) is connected to the arc-shaped measurement plate (6); a pressure sensor (7) is embedded in the middle position of the inner side surface of the arc-shaped measurement plate (6); a guide rail (10) is fixedly connected to the side surface of the holder (2) between the arc-shaped plate (4) and the shaft hole (3); a slide groove (9) for the guide rail (10) to slide is provided at a position corresponding to the guide rail (10) on one side surface of the arc-shaped measurement plate (6); and a silicone pad (8) is fixedly connected to the outside of the pressure sensor (7) and the inner side surface of the arc-shaped measurement plate (6).

3. A welding robot that is easy to control precisely according to claim 1, characterized in that: The pre-fixing assembly specifically comprises: a support plate (14) fixed to a side of the pre-fixing disk (1) away from the clamping seat (2) and close to the top end; an electric push rod (15) is embedded in the support plate (14); and the output shaft end of the electric push rod (15) is fixedly connected to a drive plate (16); three evenly distributed claw mechanisms are provided on one side of the pre-fixing disk (1), one of the claw mechanisms is connected to the drive plate (16), and a transmission mechanism is provided between the claw mechanism and the other two claw mechanisms.

4. A welding robot that is easy to control precisely according to claim 3, characterized in that: The claw mechanism specifically comprises: a moving column (17), one end of the moving column (17) is fixedly connected to a force-bearing arm (29), a strip groove (30) is provided on the side of the pre-fixed disk (1) corresponding to the one end of the moving column (17), one end of the force-bearing arm (29) passes through the strip groove (30) and is fixedly connected to a claw head (31), one of the moving columns (17) is fixedly connected to the driving plate (16), and a limit connecting piece is provided on the outer side of the moving column (17).

5. A welding robot that is easy to control precisely according to claim 4, characterized in that: The limiting connecting member specifically comprises a limiting plate (22), wherein the limiting plate (22) is fixed to one end of the outer side surface of the moving column (17), and the two sides of the moving column (17) are fixedly connected to side plates (24), and limiting grooves (25) are provided at the bottom ends of the opposite surfaces of the side plates (24), and the limiting plate (22) is movably clamped between the limiting grooves (25) of the two side plates (24).

6. A welding robot that is easy to control precisely according to claim 5, characterized in that: The transmission mechanism specifically comprises: a connecting block (18), wherein the connecting block (18) is fixed on a limiting plate (22), and a first limiting pin (28) is fixedly connected to one side of the connecting block (18), a rotating platform (19) is fixedly connected to the side of the pre-fixing plate (1) on both sides of the first limiting pin (28), and the ends of the rotating platform (19) are rotatably connected to obtuse-angle connecting rods (20), and the sides of the obtuse-angle connecting rods (20) are provided with strip guide grooves (21) near both ends, and the two obtuse-angle connecting rods (20) are fixedly connected to the side of the pre-fixing plate (1) on both sides of the first limiting pin (28). One end of the two limiting plates (22) are stacked together, the first limiting pin (28) passes through the superimposed strip guide groove (21) of the two obtuse-angle connecting rods (20), the side surfaces of the two limiting plates (22) are fixedly connected to a strip transmission rod (23), and one end of the strip transmission rod (23) is fixedly connected to a second limiting pin (26), the two strip transmission rods (23) are cross-stacked, and one end of the second limiting pin (26) on the strip transmission rod (23) passes through and is installed in a strip guide groove (21) of the corresponding obtuse-angle connecting rod (20).

7. The welding robot that is easy to control precisely according to claim 1, characterized in that: A second slide rail groove (43) is provided at the top of the base (32) along the length direction, and two linear motors are slidably installed inside the second slide rail groove (43). A slide seat (38) is installed on the top of each linear motor, and the top of the slide seat (38) is connected to an end seat (40) via a first electric telescopic rod (39). A main shaft (41) is rotatably installed on the opposite side of the end seats (40) at both ends, and one end of the main shaft (41) is connected to a rotating disk (42), and the end of the rotating disk (42) away from the main shaft (41) is connected to one end of the pre-fixed disk (1) via two bearing rods (37).

8. The welding robot that is easy to control precisely according to claim 1, characterized in that: Both sides of the base (32) are provided with first slide rail grooves (33) along the length direction, and an electric slider (44) is slidably mounted inside each first slide rail groove (33), and one side of the bottom of the welding assembly and the grinding assembly is connected to the corresponding electric slider (44).

9. A welding robot that is easy to control precisely according to claim 8, characterized in that: The welding assembly comprises a stabilizing seat (34), the top of the stabilizing seat (34) is connected to a main beam, a camera (45) is mounted on one side of the main beam, a mounting frame (46) is rotatably mounted on the top of the main beam via a third rotating shaft, a second electric telescopic rod (47) is mounted on the mounting frame (46), a transfer seat is rotatably mounted on the telescopic end of the second electric telescopic rod (47) via a first rotating shaft (48), and a welding head (50) is rotatably mounted on one end of the transfer seat via a second rotating shaft (49).

10. The welding robot that is easy to control precisely according to claim 8, characterized in that: The grinding assembly comprises a vertical rod (35), the top of the vertical rod (35) is rotatably connected to a mounting plate (36), both ends of the mounting plate (36) are connected to third electric telescopic rods (51), first grinding heads (52) are rotatably mounted on both sides of the telescopic end of one third electric telescopic rod (51), the telescopic end of another third electric telescopic rod (51) is connected to a bracket (53), and a second grinding head (54) is rotatably mounted inside the bracket (53).

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