A welding robot that is easy to control precisely

Abstract

The present invention discloses a welding robot that is easy to precisely control and belongs to the field of welding equipment. The robot comprises a base, and clamping assemblies are slidably installed at both ends of the top of the base. A welding assembly and a grinding assembly are slidably installed on both sides of the base. The clamping assembly includes a pre-fixing disk, and a clamping seat is fixedly connected to one side of the pre-fixing disk, and an axial hole is provided on one side of the clamping seat. The end of the workpiece to be welded can be inserted into the interior of the clamping seat from the axial hole and pre-fixed by a pre-fixing assembly provided on the side of the pre-fixing disk; an arc-shaped plate is symmetrically fixedly connected to the top and bottom ends of one side of the clamping seat, and clamping measurement assemblies are symmetrically provided on the opposite surfaces of the two arc-shaped plates. 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 precision of the welding are greatly improved.

Description

Technical Field

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

[0002] Welding robots are automated industrial equipment that perform welding, cutting, and spraying. Through precise programming and control, they significantly improve production efficiency and quality. Widely used in the automotive, metalworking, aerospace, and other fields, they can operate 24 / 7, reducing the risk of human error and injuries. Their advantages include high-precision welding, rapid adaptation to complex processes, and improved working conditions for workers. They are particularly well-suited for high-intensity, high-risk, or repetitive tasks. With technological advancements, welding robots are driving the intelligent upgrade of manufacturing and becoming an indispensable component of modern industry.

[0003] However, because existing welding robots are mostly customized based on the object being welded, their adaptability is limited and their purchase costs are high, increasing costs for users. When welding cylindrical parts, the varying lengths, diameters, and weld surfaces can lead to incomplete welds 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:

[0006] 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, and the clamping assembly includes a pre-fixing disk, one side of the pre-fixing disk is fixedly connected to a clamping seat, and an axial hole is opened on one side of the clamping seat, and the end of the workpiece to be welded can be inserted into the interior of the clamping seat from the axial hole and pre-fixed by the pre-fixing assembly arranged on the side of the pre-fixing disk; arc plates are symmetrically fixedly connected to the top and bottom ends of one side of the clamping seat, and clamping measurement assemblies are symmetrically provided on the opposite surfaces of the two arc plates.

[0007] 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 bracket between the arc plate and the shaft hole, a sliding groove for the sliding of the guide rail is provided at a position corresponding to 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.

[0008] 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 position, an electric push rod is embedded in the interior of the support plate, and the output shaft end of the electric push rod is fixedly connected to the drive 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 drive plate, and a transmission mechanism is provided between the claw mechanism and the other two claw mechanisms.

[0009] Optionally, the claw mechanism specifically includes: a moving column, one end of the moving column is fixedly connected to a force arm, and a strip groove is opened on the side of the 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 the driving plate, and a limiting connecting piece is provided on the outer side of the moving column.

[0010] Optionally, the limiting connecting member specifically includes: a limiting plate, which is fixed to one end of the outer side surface of the movable column, and side plates are fixedly connected on both sides of the movable column, and limiting grooves are opened at the bottom ends of the opposite surfaces of the side plates, and the limiting plate is movable between the limiting grooves of the two side plates.

[0011] Optionally, the transmission mechanism specifically includes: a connecting block, the connecting block is fixed on a limit plate, and one side of the connecting block is fixedly connected to a first limit pin, a rotating table is fixedly connected to the side surfaces of the pre-fixed plate on both sides of the first limit pin, and the end of the rotating table is rotatably connected to an obtuse-angle connecting rod, and the side surfaces of the obtuse-angle connecting rod are provided with strip guide grooves near both ends, one end 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, the two limit plate sides are fixedly connected to a strip transmission rod, 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 bar transmission rod is passed through and installed in a strip guide groove of the corresponding obtuse-angle connecting rod.

[0012] Optionally, a second slide rail groove is provided at 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 spindle is connected to a rotating disk, and the end of the rotating disk away from the spindle is connected to one end of the pre-fixed disk through two bearing rods.

[0013] Optionally, first slide rail grooves are provided on both sides of the base along the length direction, and an electric slider is slidably installed inside each first slide rail groove, and the bottom side of the welding assembly and the grinding assembly are connected to the corresponding electric slider.

[0014] Optionally, the welding assembly includes a stabilizing seat, the top of the stabilizing seat is connected to the main beam, a camera is installed on one side of the main beam, a mounting bracket is installed on the top of the main beam through a third rotating shaft, a second electric telescopic rod is installed on the mounting bracket, the telescopic end of the second electric telescopic rod is installed with an adapter seat through a first rotating shaft, and a welding head is installed on one end of the adapter seat through a second rotating shaft.

[0015] 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 telescopic end of one third electric telescopic rod is rotatably mounted with a first grinding head, the telescopic end of another third electric telescopic rod is connected to a bracket, and the second grinding head is rotatably mounted inside the bracket.

[0016] Compared with the prior art, the present invention has the following beneficial effects:

[0017] 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

[0018] Figure 1 It is a schematic diagram of the overall structure of the present invention.

[0019] Figure 2 It is a schematic diagram of the base structure of the present invention.

[0020] Figure 3 This is a schematic diagram of the welding assembly structure of the present invention.

[0021] Figure 4 This is a schematic diagram of the polishing assembly structure of the present invention.

[0022] Figure 5 It is a schematic diagram of the structure of the clamping assembly of the present invention.

[0023] Figure 6 This is a schematic diagram of the structure of the pre-fixed disk of the present invention.

[0024] Figure 7 For the present invention Figure 6 Axonometric drawing of .

[0025] Figure 8 For the present invention Figure 7 main view.

[0026] Figure 9 This is a structural schematic diagram of the arc-shaped measuring plate of the present invention.

[0027] Figure: 1, pre-fixed plate; 2, card seat; 3, shaft hole; 4, arc plate; 5, electric telescopic column; 6, arc measuring plate; 7, pressure sensor; 8, silicone pad; 9, slide; 10, guide rail; 14, support plate; 15, electric push rod; 16, drive plate; 17, moving column; 18, connecting block; 19, rotating table; 20, obtuse angle 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. Spindle; 42. Rotating disk; 43. Second slide rail groove; 44. Electric slider; 45. Camera; 46. Mounting frame; 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

[0028] In order to better understand the above technical solution, the above technical solution will be described in detail below with reference to the accompanying drawings and specific implementation methods.

[0029] See also Figures 1 to 9 In an embodiment of the present invention, a welding robot that is easy to precisely control 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 base 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 base 2. The end of the workpiece to be welded can be inserted into the interior of the clamping base 2 from the axial hole 3 and pre-fixed by the 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 ends of one side of the clamping base 2, and the opposite surfaces of the two arc plates 4 are symmetrically provided with clamping measurement assemblies.

[0030] As a technical optimization solution of the present invention, the clamping measurement assembly specifically includes: an electrically operated telescopic column 5 with one end extending through and connected to the curved plate 4; a curved measuring plate 6 connected to the telescopic end of the electrically operated telescopic column 5; a pressure sensor 7 embedded in the middle of the inner side of the curved measuring plate 6; a guide rail 10 fixedly connected to the side of the holder 2 between the curved plate 4 and the axial hole 3; a sliding groove 9 for the guide rail 10 to slide on one side of the curved measuring plate 6 corresponding to the position of the guide rail 10; and a silicone pad 8 fixedly connected to the outer surface of the pressure sensor 7 and the inner surface of the curved measuring plate 6. The two curved measuring plates 6 can clamp the ends of the welded parts, and the pressure sensor 7 can measure the change in clamping force in real time. If the value measured by the pressure sensor 7 changes beyond a preset range during subsequent welding, it indicates that the welded parts have shaken or the clamping force has changed, affecting the positional accuracy of the welded ends and, in turn, the welding accuracy. This allows the operator to promptly detect any welding problems through a pre-set control system and make timely adjustments and maintenance. For example, during rotational welding, the clamping force changes and the welding position shifts, which will cause welding deviation.

[0031] 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 position, 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 the 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.

[0032] 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 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.

[0033] As a technical optimization solution of the present invention, the limiting connector specifically includes a limiting plate 22, which is fixed to one end of the outer side of the movable column 17. Side plates 24 are fixedly connected to both sides of the movable column 17. Limiting grooves 25 are defined at the bottom ends of the opposing surfaces of the side plates 24. The limiting plate 22 is movable between the limiting grooves 25 of the two side plates 24. The provision of the limiting connector not only connects the transmission mechanism but also improves the stability of the movement of the movable column 17.

[0034] 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, and the side surfaces of the pre-fixed plate 1 on both sides of the first limit pin 28 are fixedly connected to a rotating table 19, 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 of the two obtuse-angle connecting rods 20, and 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, and 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 passed through and installed in a strip guide groove 21 of the corresponding obtuse-angle connecting rod 20. The transmission mechanism is set up so that while driving one claw mechanism to move toward the weldment, the other two claw mechanisms can also be driven synchronously 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.

[0035] The coordinated operation of the various components of the pre-fixing plate 1 allows the ends of the welded parts to be evenly and fully clamped, maintaining a relatively fixed position after clamping, which can provide beneficial assistance for subsequent welding accuracy. For example, if the clamping position is in the middle of the pre-fixing plate 1, the height of the welded part can be accurately adjusted during subsequent welding.

[0036] 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. Two linear motors are slidably installed inside the second slide rail groove 43. A slide 38 is installed on the top of each linear motor. The top of the slide 38 is connected to the end seat 40 through a first electric telescopic rod 39. The end seats 40 at both ends are rotatably installed on the opposite side. A rotating disk 42 is connected to one end of the main shaft 41. 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 supporting rods 37. The slide 38 can slide along the second slide rail groove 43 through the linear motor, thereby adjusting the position of the end seat 40, which can facilitate the adjustment of the horizontal position of the weldment. The first electric telescopic rod 39 can adjust the position of the weldment in the vertical direction.

[0037] As a technical optimization solution of the present invention, first slide rail grooves 33 are defined along the length of both sides of the base 32. A motorized slider 44 is slidably mounted within each first slide rail groove 33. The bottom side of the welding assembly and the grinding assembly are connected to the corresponding motorized slider 44. The motorized slider 44 allows the welding assembly and the grinding assembly to be moved along the first slide rail groove 33 along the side of the base 32 to adjust to the desired position.

[0038] As a technical optimization solution of the present invention, the welding assembly includes a stabilizing base 34, the top of which is connected to a main beam, a camera 45 being mounted on one side of the main beam, a mounting bracket 46 being rotatably mounted on the top of the main beam via a third rotating shaft, a second electric telescopic rod 47 being mounted on the mounting bracket 46, the telescopic end of the second electric telescopic rod 47 being rotatably mounted on an adapter via a first rotating shaft 48, and a welding head 50 being rotatably mounted on one end of the adapter via a 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 a drive motor to rotate and adjust the welding head 50 to various tilt angles to accommodate different welding requirements.

[0039] As a technical optimization solution of the present invention, the grinding assembly includes a vertical rod 35, the top of which is rotatably connected to a mounting plate 36. A third electric telescopic rod 51 is connected at both ends of the mounting plate 36. A first grinding head 52 is rotatably mounted on both sides of the telescopic end of one third electric telescopic rod 51. A bracket 53 is connected to the telescopic end of the other third electric telescopic rod 51. A second grinding head 54 is rotatably mounted within the bracket 53. The second grinding head 54 and the first grinding head 52 can be used alternately to meet different grinding needs.

[0040] The working principle of the present invention is as follows: 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, thereby driving 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. Moreover, 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.

[0041] After the pre-fixing assembly clamps the weldment, the two electric telescopic columns 5 are activated to extend, causing the arc-shaped measuring plate 6 to move toward the weldment. The slide 9 and guide rail 10 undergo relative displacement, improving movement stability. This occurs until the arc-shaped measuring plate 6 is in contact with the weldment surface and the pressure sensor 7 measures a pressure value that reaches a preset value. At this point, the electric telescopic columns 5 stop operating. This allows the weldment to be fully and stably fixed on the pre-fixing plate 1 and the holder 2, making it less likely to shift during subsequent welding. This ensures the stability of the welded portion and improves welding accuracy. If the value measured by the pressure sensor 7 changes beyond the preset range during subsequent welding, this indicates that the weldment has shaken or the clamping force has changed during welding, affecting the positional accuracy of the weld end and, in turn, the welding accuracy. Workers can promptly learn of any welding problems through the pre-set control system in the background and make timely adjustments and maintenance.

[0042] After the welded parts are clamped and fixed, the slides 38 at both ends are moved along the second slide groove 43 by the linear motor, approaching each other until the ends of the two welded parts to be welded are in contact. The welding assembly then moves along the side of the base 32. During the movement, the camera 45 on the side takes a picture of the part to be welded and transmits the captured image to the background control system. By comparing the background control system with the preset standard image, it can be determined 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 drive motor to rotate, so that the part to be welded can be fully photographed. If the contact surface is not in sufficient contact, the two welded parts are moved 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 are moved away from each other, and the ends of the welded parts are polished and trimmed using the grinding assembly.

[0043] When grinding the end of a weld, the grinding assembly moves along the side of the base 32, and the drive motor at the top of the vertical rod 35 drives the mounting plate 36 to rotate, so that the first grinding head 52 faces the weld. The third electric telescopic rod 51 is extended to adjust the first grinding head 52 to contact the end of the weld to be ground. The third electric telescopic rod 51 is pre-installed with a double-headed motor that can drive the first grinding head 52 to rotate. The first grinding head 52 is mounted on the output end of the double-headed motor. The output end is provided with a component for mounting the first grinding head 52 (not shown in the figure), which is a common mounting component for existing grinding plates. The first grinding head 52 can grind and trim the end of the weld to be welded until the end of the weld meets the welding requirements.

[0044] After the welding part is docked, the horizontal position of the welding part can be preliminarily known by 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 captured by the camera 45, through the control of the background control system, the welding head 50 can be fully contacted 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 speed of the main shaft 41 rotation can be accurately controlled, so that the welding part can be welded more evenly.

[0045] After welding is completed, the welding part can be polished using 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 through the extension and contraction of the third electric telescopic rod 51, the second polishing head 54 can be in contact with 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 during polishing, the polishing degree of the welding spot can be accurately controlled according to the diameter of the welding part 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 confirms 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.

[0046] After welding is completed, the electric push rod 15 and the electric telescopic column 5 on the pre-fixing disk 1 and the base 2 are operated again, so that the pre-fixing disk 1 and the base 2 release the clamping of the weldment, and then the slide 38 at one end moves, and one end of the weldment is separated from the base 2, and the weldment can be taken out.

[0047] Obviously, those skilled in the art may make various changes and modifications to the present invention without departing from the spirit and scope of the present invention. Thus, if such changes and modifications fall within the scope of the claims and their equivalents, the present invention is intended to include such changes and modifications.

[0048] The above is only a preferred specific embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any technician familiar with this technical field, within the technical scope disclosed by the present invention, who makes equivalent replacements or changes based on the technical solutions and inventive concepts of the present invention, should be covered by the scope of protection 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 welding assemblies and grinding assemblies are slidably mounted on both sides of the base (32), and the clamping assembly comprises a pre-fixing disk (1), and one side of the pre-fixing disk (1) is fixedly connected to a holder (2), and one side of the holder (2) is provided with an axial hole (3), and the end of the workpiece to be welded can be inserted into the holder (2) through the axial hole (3) and pre-fixed by the pre-fixing assembly provided on the side of the pre-fixing disk (1); an arc-shaped plate (4) is symmetrically fixedly connected to the top and bottom of one side of the holder (2), and the opposite surfaces of the two arc-shaped plates (4) are symmetrically provided with clamping measurement assemblies; 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); The pre-fixing assembly specifically comprises: a support plate (14) fixed on the side of the pre-fixing disk (1) away from the clamping seat (2) and close to the top position, 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 the driving plate (16), and 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 driving plate (16), and a transmission mechanism is provided between the claw mechanism and the other two claw mechanisms; 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 installed inside each first slide rail groove (33), and the bottom side of the welding assembly and the grinding assembly are connected to the corresponding electric slider (44); The welding assembly includes a stabilizing seat (34), the top of the stabilizing seat (34) is connected to a main beam, a camera (45) is installed 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 installed 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); 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 a third electric telescopic rod (51), a first grinding head (52) is rotatably mounted on both sides of the telescopic end of one third electric telescopic rod (51), and 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).

2. A welding robot that is easy to control precisely according to claim 1, characterized in that: The clamping claw mechanism specifically includes: a moving column (17), one end of the moving column (17) is fixedly connected to a force-bearing arm (29), and a strip groove (30) is provided on the side of the pre-fixed disk (1) corresponding to 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 limiting connecting piece is provided on the outer side surface of the moving column (17).

3. A welding robot that is easy to control precisely according to claim 2, characterized in that: The limiting connecting member specifically includes: a limiting plate (22), 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 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).

4. A welding robot that is easy to control precisely according to claim 3, characterized in that: The transmission mechanism specifically includes: a connecting block (18), the connecting block (18) is fixed on a limiting disk (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-fixed disk (1) on both sides of the first limiting pin (28), and the end of the rotating platform (19) is rotatably connected to an obtuse-angle connecting rod (20), and the side of the obtuse-angle connecting rod (20) near both ends is provided with a strip guide groove (21), and the two obtuse-angle connecting rods (20) are fixedly connected to the side of the pre-fixed disk (1) on both sides of the first limiting pin (28). One end of the two limiting plates (22) is stacked together, the first limiting pin (28) passes through the strip guide groove (21) of the two obtuse-angle connecting rods (20) stacked together, the side surfaces of the two limiting plates (22) are fixedly connected with a strip transmission rod (23), and one end of the strip transmission rod (23) is fixedly connected with a second limiting pin (26), the two strip transmission rods (23) are cross-stacked with each other, and one end of the second limiting pin (26) on the strip transmission rod (23) is installed in a strip guide groove (21) of the corresponding obtuse-angle connecting rod (20).

5. The welding robot that is easy to control precisely according to claim 1, characterized in that: A second slide rail groove (43) is provided on the top of the base (32) along the length direction, and two linear motors are slidably installed inside the second slide rail groove (43), and a slide seat (38) is installed on the top of each linear motor. The top of the slide seat (38) is connected to the end seat (40) through a first electric telescopic rod (39), and 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), 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) through two bearing rods (37).

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