Edge rolling welding robot based on laser displacement sensor

Abstract

The invention relates to the field of welding, in particular to a laser displacement sensor-based rolloff welding robot which comprises a pedestal and a rolloff welding robot body mounted at the rear part of the upper end of the pedestal, the laser displacement sensor is mounted at the end part of the rolloff welding robot body, and a threaded supporting column is fixedly mounted at the front part of the upper end of the pedestal; two V-shaped welding brackets are symmetrically installed at the upper end of the threaded supporting column, positioning columns extend from the ends of the V-shaped welding brackets, four vertical frames are arranged at the position, close to the periphery of the threaded supporting column, of the upper end of the pedestal in an annular array mode, and fan-shaped lower plates are connected to the upper ends of the four vertical frames correspondingly. The four fan-shaped lower plates and the V-shaped welding bracket are arranged in a staggered mode. According to the welding device, a plurality of iron wire rings can be welded to the ring frame in a regular state, the product quality is effectively improved, and use is convenient.

Description

Technical Field

[0001] The present invention relates to the field of welding, and in particular to a hemming welding robot based on a laser displacement sensor. Background Art

[0002] Hemming welding is a type of resistance welding. It uses a roller electrode to roll on the surface of the workpiece, and at the same time, the current is switched on intermittently or continuously to form a continuous weld on the workpiece. The laser displacement sensor, as an important part of the hemming welding robot, can accurately measure the distance or displacement between the workpiece and the sensor, ensuring that the hemming welding robot can accurately position the roller electrode above the welding area to achieve deviation-free welding.

[0003] When processing some protective covers, a hemming welding robot is often used to weld wire rings with gradually decreasing diameters on a ring frame to make the protective cover. However, during actual welding, since the wire rings are relatively soft, it is very easy to cause deformation of the wire rings when positioning the wire rings and the ring frame together, resulting in an irregular protective cover after welding and seriously affecting its product quality. Summary of the Invention

[0004] The purpose of the present invention is to solve the drawbacks existing in the background art, and to propose a hemming welding robot based on a laser displacement sensor.

[0005] To achieve the above object, the technical solution adopted by the present invention is: a hemming welding robot based on a laser displacement sensor, including a pedestal and a hemming welding robot installed at the rear part of the upper end of the pedestal. A laser displacement sensor is installed at the end of the hemming welding robot. A threaded pillar is fixedly installed at the front part of the upper end of the pedestal. Two V-shaped welding brackets are symmetrically installed at the upper end of the threaded pillar. A positioning column extends from the end of the V-shaped welding bracket. Four vertical frames are annularly arranged around the threaded pillar at the upper end of the pedestal close to the threaded pillar. The upper ends of the four vertical frames are all connected with sector-shaped lower plates. The four sector-shaped lower plates are arranged in a staggered manner with the V-shaped welding brackets. The upper end surface of the sector-shaped lower plate is higher than the upper end surface of the V-shaped welding bracket. A sector-shaped upper plate is reversely installed at the end of the vertical frame. Four carrier plates are slidably installed annularly at the end of the threaded pillar. A push ear member is arranged between the carrier plate and the threaded pillar. An ear seat is elastically installed at the upper end of the carrier plate. A plurality of arc-shaped ears are evenly distributed and extended from the upper end of the ear seat. The arc-shaped ears pass through the upper end of the sector-shaped lower plate. The arc length and diameter of the arc-shaped ears decrease sequentially from the outside to the inside.

[0006] Preferably, a guide housing is slidably installed at the end of the carrier board. The end of the guide housing is fixed to the threaded pillar. Two guide posts symmetrically extend downward from the lower end of the ear seat. The guide posts penetrate out from the lower end of the carrier board, and the guide posts are slidably engaged with the carrier board. A fixing ring is fixedly installed at the lower end of the V-shaped welding bracket, and the fixing ring is embedded on the threaded pillar.

[0007] Preferably, an anti-detachment cap is coaxially embedded at the lower end of the guide post. A spring body is wound around the outer side of the guide post. The upper end of the spring body is fixed to the ear seat, and the lower end of the spring body is fixed to the carrier board. A plurality of through grooves are uniformly distributed and penetrated on the upper end surface of the fan-shaped lower plate, and the arc-shaped ear passes through the inside of the through grooves.

[0008] Preferably, two connecting frames are symmetrically and fixedly installed at the lower edge of the fan-shaped lower plate. The end of the connecting frame is fixed to the vertical frame. The upper part of the threaded pillar is smooth.

[0009] Preferably, a connecting shaft is rotatably installed through the end of the vertical frame. A plate frame is fixedly installed on the outer surface of the connecting shaft. The end of the plate frame is fixed to the fan-shaped upper plate. A gear is coaxially embedded at the end of the connecting shaft. A toothed plate is engaged with the gear. A guide sleeve is elastically installed on the upper part of the vertical frame. A pushing frame extends from the outer surface of the guide sleeve, and the toothed plate is fixed to the guide sleeve.

[0010] Preferably, a connecting cap is fixedly installed on the upper part of the vertical frame. A guide rod is penetrated and embedded inside the connecting cap. The guide rod extends out from the lower end of the connecting cap. The guide sleeve is slidably installed on the outer surface of the guide rod. A return spring is wound around the outer side of the guide rod. One end of the return spring is fixed to the connecting cap, and the other end of the return spring is fixed to the guide sleeve.

[0011] Preferably, the pushing ear member includes a pushing ring slidably installed on the upper part of the threaded pillar. Four limiting frames are fixedly installed in an annular array on the outer surface of the pushing ring. A trimming frame is rotatably installed on the upper part of the limiting frame. The end of the trimming frame is rotatably connected to the lower end of the carrier board. A threaded sleeve is screwed on the lower part of the threaded pillar. The threaded sleeve is elastically connected to the pushing ring. A top frame is slidably installed on the outer surface of the limiting frame. One end of the top frame abuts against the lower end of the pushing frame, and the other end of the top frame is connected to the threaded sleeve.

[0012] Preferably, an adaptation spring is wound around the outer side of the threaded pillar. One end of the adaptation spring is fixed to the lower end of the pushing ring, and the other end of the adaptation spring is fixed to the upper end of the threaded sleeve. A connecting sleeve is coaxially rotatably installed on the outer surface of the threaded sleeve. The top frame is fixed to the outer surface of the threaded sleeve. A positioning cap is coaxially embedded on the upper part of the threaded pillar. The positioning cap abuts against the upper end of the pushing ring. Two limiting ears symmetrically extend from the lower end of the limiting frame, and the limiting ears abut against the lower end of the top frame.

[0013] Preferably, a first mounting bracket is fixedly connected to the outer surface of the laser displacement sensor, and a second mounting bracket is fixedly connected to the outer surface of the first mounting bracket. The second mounting bracket is fixedly sleeved on the outer surface of the end of the hemming welding robot.

[0014] Compared with the prior art, the present invention has the following beneficial effects: 1. Through a plurality of arc-shaped ears with arc lengths and diameters decreasing from outside to inside in sequence, it can adapt to a plurality of wire rings with diameters decreasing in sequence. Subsequently, the sliding arc-shaped ears can support and push outwards from the inside of the wire rings to simultaneously round a plurality of wire rings. At this time, the flipped sector-shaped upper plate presses the wire rings to press the wire rings onto the sector-shaped lower plate, keeping the wire rings flat, so that when welding subsequently, a plurality of wire rings can be welded to the ring frame in a regular state, thereby improving the product quality.

[0015] 2. By rotating the threaded sleeve, the push ring can be pushed through the adaptive spring, causing the trimming frame to move, enabling the four carrier plates to expand outwards synchronously, and then driving the plurality of arc-shaped ears on the four ear seats to expand outwards synchronously to simultaneously round a plurality of wire rings. After rounding, the push ring just abuts against the positioning cap to remain stationary, and the top frame and the push frame are in contact. Subsequently, the threaded sleeve continues to rotate to drive the top frame to push the push frame. At this time, the adaptive spring deforms, and the moving push frame drives the toothed plate to move upwards, thereby driving the gear to rotate, enabling the sector-shaped upper plate on the connecting shaft to flip to press the wire rings to keep them flat, thereby synchronously completing the operations of rounding and flattening the wire rings, effectively facilitating the use. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 It is a schematic structural diagram of a hemming welding robot based on a laser displacement sensor according to the present invention; Figure 2 It is a schematic diagram of the vertical frame of a hemming welding robot based on a laser displacement sensor according to the present invention; Figure 3 It is a schematic diagram of the trimming frame of a hemming welding robot based on a laser displacement sensor according to the present invention; Figure 4 It is a schematic diagram of the arc-shaped ears of a hemming welding robot based on a laser displacement sensor according to the present invention; Figure 5 It is a schematic diagram of the V-shaped welding bracket of a hemming welding robot based on a laser displacement sensor according to the present invention; Figure 6 It is a schematic diagram of the reset spring of a hemming welding robot based on a laser displacement sensor according to the present invention; Figure 7Schematic diagram of a protective cover for a hemming welding robot based on a laser displacement sensor according to the present invention; Figure 8 Usage view of a hemming welding robot based on a laser displacement sensor according to the present invention; Figure 9 For a hemming welding robot based on a laser displacement sensor according to the present invention Figure 8 Enlarged view of A in; Figure 10 Schematic diagram at the laser displacement sensor of a hemming welding robot based on a laser displacement sensor according to the present invention.

[0017] In the figure: 1, pedestal; 2, hemming welding robot; 3, laser displacement sensor; 4, trimming frame; 5, pushing frame; 6, top frame; 7, threaded pillar; 8, vertical frame; 9, fan-shaped upper plate; 10, V-shaped welding bracket; 11, plate frame; 12, connecting shaft; 13, gear; 14, fan-shaped lower plate; 15, through groove; 16, connecting and fixing frame; 17, toothed plate; 18, connecting cap; 19, return spring; 20, guide sleeve; 21, arc ear; 22, positioning cap; 23, pushing ring; 24, adapting spring; 25, threaded sleeve; 26, connecting sleeve; 27, limiting ear; 28, limiting frame; 29, guide shell; 30, carrier plate; 31, guide post; 32, anti-disengagement cap; 33, spring body; 34, ear seat; 35, positioning post; 36, guide rod; 37, frame fixing ring; 38, ring frame; 39, wire ring; 40, first mounting frame; 41, second mounting frame. Detailed implementation manners

[0018] The following description is used to disclose the present invention so that those skilled in the art can implement the present invention. The preferred embodiments described below are only examples, and those skilled in the art can think of other obvious variations.

[0019] Such as Figures 1-10A hemming welding robot based on a laser displacement sensor as shown includes a pedestal 1 and a hemming welding robot 2 installed at the rear upper end of the pedestal 1. A laser displacement sensor 3 is installed at the end of the hemming welding robot 2. Since the laser displacement sensor 3 is installed on the hemming welding robot 2, it can accurately measure the distance and accurately perform hemming welding on the workpiece, which is the prior art and has been widely used, so it is not elaborated in detail here. A threaded pillar 7 is fixedly installed at the front upper end of the pedestal 1. Two V-shaped welding brackets 10 are symmetrically installed at the upper end of the threaded pillar 7. The V-shaped welding brackets 10 can adapt to the shape of the ring bracket 38 to carry the ring bracket 38 during welding. A positioning post 35 extends from the end of the V-shaped welding bracket 10, and the positioning post 35 plays a role in positioning the ring bracket 38. Four vertical brackets 8 are arranged in a circular array around the threaded pillar 7 at the upper end of the pedestal 1. The upper ends of the four vertical brackets 8 are all connected with sector-shaped lower plates 14. The vertical brackets 8 play a role in bearing. The four sector-shaped lower plates 14 are arranged in a staggered manner with the V-shaped welding brackets 10. The cooperation of the sector-shaped lower plates 14 and the sector-shaped upper plates 9 can press the wire ring 39 to keep the wire ring 39 flat. The upper end surface of the sector-shaped lower plate 14 is higher than the upper end surface of the V-shaped welding bracket 10, which can ensure that after the wire ring 39 is placed on the sector-shaped lower plate 14 and the ring bracket 38 is placed on the V-shaped welding bracket 10, the wire ring 39 can just fit on the upper end of the ring bracket 38. A sector-shaped upper plate 9 is rotatably installed at the end of the vertical bracket 8. Four carrier plates 30 are slidably installed in a circular array at the end of the threaded pillar 7. A push ear member is arranged between the carrier plates 30 and the threaded pillar 7. An ear seat 34 is elastically installed at the upper end of the carrier plate 30. The carrier plate 30 plays a role in bearing the ear seat 34. A plurality of arc-shaped ears 21 are uniformly distributed and extended at the upper end of the ear seat 34. The ear seat 34 plays a role in bearing the plurality of arc-shaped ears 21. The arc-shaped ears 21 pass through the upper end of the sector-shaped lower plate 14. The arc length and diameter of the arc-shaped ears 21 decrease sequentially from the outside to the inside, which can adapt to the wire rings 39 with sequentially decreasing diameters.

[0020] A guide shell 29 is slidably installed at the end of the carrier plate 30. The end of the guide shell 29 is fixed to the threaded pillar 7. The cooperation of the guide shell 29 and the carrier plate 30 can linearly guide the arc-shaped ears 21. Two guide posts 31 are symmetrically extended at the lower end of the ear seat 34. The guide posts 31 pass through the lower end of the carrier plate 30. The guide posts 31 are slidably matched with the carrier plate 30. The guide posts 31 play a role in guiding the ear seat 34. A fixing ring 37 is fixedly installed at the lower end of the V-shaped welding bracket 10. The fixing ring 37 plays a role in fixing the V-shaped welding bracket 10. The fixing ring 37 is embedded on the threaded pillar 7.

[0021] A retaining cap 32 is coaxially embedded at the lower end of the guide post 31. A spring body 33 is wound around the outer side of the guide post 31. The retaining cap 32 functions to prevent the separation of the guide post 31 and the carrier plate 30. The upper end of the spring body 33 is fixed to the ear seat 34, and the lower end of the spring body 33 is fixed to the carrier plate 30. The spring body 33 can ensure that the protruding arc-shaped ear 21 is pressed down by the sector upper plate 9, enabling the sector upper plate 9 to smoothly contact the wire ring 39 for pressing. A plurality of through slots 15 are uniformly distributed and penetrated through the upper end surface of the sector lower plate 14. The arc-shaped ear 21 passes through the inside of the through slots 15. The through slots 15 function to allow the normal movement of the arc-shaped ear 21.

[0022] Two connecting frames 16 are symmetrically and fixedly installed at the lower edge of the sector lower plate 14. The connecting frames 16 function to support and fix the sector lower plate 14. The ends of the connecting frames 16 are fixed to the vertical frame 8. The upper part of the threaded pillar 7 is smooth, facilitating the sliding of the push ring 23.

[0023] A connecting shaft 12 is rotatably installed through the end of the vertical frame 8. A plate frame 11 is fixedly installed on the outer surface of the connecting shaft 12. The connecting shaft 12 and the plate frame 11 function to connect the sector upper plate 9. The end of the plate frame 11 is fixed to the sector upper plate 9. A gear 13 is coaxially embedded at the end of the connecting shaft 12. A toothed plate 17 is engaged with the gear 13. The cooperation between the gear 13 and the toothed plate 17 functions to drive the sector upper plate 9 to flip. A guide sleeve 20 is elastically installed on the upper part of the vertical frame 8. A push frame 5 extends from the outer surface of the guide sleeve 20. The toothed plate 17 is fixed to the guide sleeve 20. The push frame 5 can be pushed by the top frame 6 to drive the toothed plate 17 to move.

[0024] A connecting cap 18 is fixedly installed on the upper part of the vertical frame 8. A guide rod 36 is penetrated and embedded inside the connecting cap 18. The connecting cap 18 functions to fix the guide rod 36. The guide rod 36 extends from the lower end of the connecting cap 18. The guide sleeve 20 is slidably installed on the outer surface of the guide rod 36. The guide rod 36 and the guide sleeve 20 function to vertically guide the toothed plate 17. A return spring 19 is wound around the outer side of the guide rod 36. One end of the return spring 19 is fixed to the connecting cap 18, and the other end of the return spring 19 is fixed to the guide sleeve 20. The return spring 19 functions to reset the moved toothed plate 17.

[0025] The ear pushing member includes a pushing ring 23 slidably mounted on the upper part of the threaded pillar 7. Four limiting frames 28 are fixedly mounted in a circular array on the outer surface of the pushing ring 23. The limiting frames 28 can prevent the top frame 6 from rotating. A trimming frame 4 is rotatably mounted on the upper part of the limiting frame 28. The end of the trimming frame 4 is rotatably connected to the lower end of the carrier plate 30. The pushing ring 23 can drive the trimming frame 4 to move, enabling the four carrier plates 30 to expand outward synchronously, thereby driving the multiple arc-shaped ears 21 on the four ear seats 34 to expand outward synchronously to simultaneously expand the multiple wire rings 39. A threaded sleeve 25 is screwed onto the lower part of the threaded pillar 7. The threaded sleeve 25 is elastically connected to the pushing ring 23 and functions to push the pushing ring 23. A top frame 6 is slidably mounted on the outer surface of the limiting frame 28. One end of the top frame 6 abuts against the lower end of the pushing frame 5, and the top frame 6 functions to push the pushing frame 5. The other end of the top frame 6 is connected to the threaded sleeve 25.

[0026] An adaptation spring 24 is wound around the outer side of the threaded pillar 7. One end of the adaptation spring 24 is fixed to the lower end of the pushing ring 23. The adaptation spring 24 can ensure the normal movement of the threaded sleeve 25 when the pushing ring 23 remains stationary. The other end of the adaptation spring 24 is fixed to the upper end of the threaded sleeve 25. A connecting sleeve 26 is rotatably mounted coaxially on the outer surface of the threaded sleeve 25. The top frame 6 is fixed to the outer surface of the threaded sleeve 25. The connecting sleeve 26 can ensure that the rotation of the threaded sleeve 25 is not hindered. A positioning cap 22 is coaxially embedded in the upper part of the threaded pillar 7. The positioning cap 22 abuts against the upper end of the pushing ring 23 and functions to position the upward movement position of the pushing ring 23. Two limiting ears 27 symmetrically extend from the lower end part of the limiting frame 28. The limiting ears 27 abut against the lower end of the top frame 6, and the limiting ears 27 can ensure that the pushing ring 23 is driven by the threaded sleeve 25 to move downward and reset.

[0027] A first mounting frame 40 is fixedly connected to the outer surface of the laser displacement sensor 3. A second mounting frame 41 is fixedly connected to the outer surface of the first mounting frame 40. The second mounting frame 41 is fixedly sleeved on the outer surface of the end part of the hemming welding robot 2 to ensure the stable installation of the laser displacement sensor 3.

[0028] During welding, place the ring holder 38 on the V-shaped welding bracket 10. At this time, the positioning post 35 is inserted into the hole at the end of the ring holder 38 to position the ring holder 38. Subsequently, place a plurality of wire rings 39 with gradually decreasing diameters on the sector lower plate 14. At this time, the wire rings 39 are attached to the ring holder 38. At the same time, a plurality of arc-shaped ears 21 are located inside the plurality of wire rings 39. Then, rotate the threaded sleeve 25 to push the push ring 23 through the adaptive spring 24, so that the trimming frame 4 moves, enabling the four carrier plates 30 to expand outward synchronously, thereby driving the plurality of arc-shaped ears 21 on the four ear seats 34 to expand outward synchronously to simultaneously expand the plurality of wire rings 39. After expansion, the push ring 23 just abuts against the positioning cap 22 to remain stationary, and the top frame 6 and the push frame 5 are in contact. Subsequently, the threaded sleeve 25 continues to rotate to drive the top frame 6 to push the push frame 5. At this time, the adaptive spring 24 deforms, driving the toothed plate 17 to move upward through the moving push frame 5, thereby driving the gear 13 to rotate, enabling the sector upper plate 9 on the connecting shaft 12 to flip to press the wire ring 39, so that the wire ring 39 is pressed onto the sector lower plate 14 to keep the wire ring 39 flat. During the flipping and pressing process of the sector upper plate 9, the spring body 33 will deform, enabling the protruding arc-shaped ears 21 to be pressed down by the sector upper plate 9, allowing the sector upper plate 9 to smoothly contact and press the wire ring 39. Subsequently, the edge-rolling welding robot 2 works to drive the roller electrode to roll along the ring holder 38 for edge-rolling welding to weld the plurality of wire rings 39 with gradually decreasing diameters onto the ring holder 38 to form a protective cover.

[0029] The above shows and describes the basic principles, main features and advantages of the present invention. Those skilled in the art should understand that the present invention is not limited by the above embodiments. What is described in the above embodiments and the specification is only the principle of the present invention. Without departing from the spirit and scope of the present invention, the present invention will have various changes and improvements, and these changes and improvements all fall within the scope of the present invention claimed. The scope of protection claimed by the present invention is defined by the appended claims and their equivalents.

Claims

1. A roller welding robot based on a laser displacement sensor, comprising a pedestal (1) and a roller welding robot (2) mounted at the rear of the upper end of the pedestal (1), wherein a laser displacement sensor (3) is mounted at the end of the roller welding robot (2), characterized in that: A threaded support (7) is fixedly mounted on the front upper end of the pedestal (1), two V-shaped welding brackets (10) are symmetrically mounted on the upper end of the threaded support (7), and a positioning column (35) is extended from the end of the V-shaped welding bracket (10). Four vertical frames (8) are arranged in a circular array around the upper end of the pedestal (1) near the threaded support (7), and the upper ends of the four vertical frames (8) are connected to a fan-shaped lower plate (14). The four fan-shaped lower plates (14) are staggered with the V-shaped welding bracket (10), and the upper end surface of the fan-shaped lower plate (14) is higher than the V-shaped support. The upper end surface of the welding bracket (10) is a fan-shaped upper plate (9) installed at the end of the stand (8), and four carrier plates (30) are slidably installed in a circular array at the end of the threaded pillar (7). A push ear piece is provided between the carrier plate (30) and the threaded pillar (7). An ear seat (34) is elastically installed at the upper end of the carrier plate (30). A plurality of arc-shaped ears (21) are evenly distributed and extended from the upper end of the ear seat (34). The arc-shaped ears (21) extend from the upper end of the fan-shaped lower plate (14), and the arc length and diameter of the arc-shaped ears (21) decrease from the outside to the inside.

2. The laser displacement sensor-based roll welding robot according to claim 1, characterized in that: A guide housing (29) is slidably mounted on the end of the carrier plate (30), and the end of the guide housing (29) is fixed to the threaded pillar (7). Two guide pillars (31) are symmetrically extended from the lower end of the ear seat (34), and the guide pillars (31) penetrate through the lower end of the carrier plate (30). The guide pillars (31) and the carrier plate (30) are slidably matched. A frame fixing ring (37) is fixedly mounted on the lower end of the V-shaped welding bracket (10), and the frame fixing ring (37) is embedded in the threaded pillar (7).

3. The laser displacement sensor-based roll welding robot according to claim 2, characterized in that: The lower end of the guide column (31) is coaxially inlaid with an anti-drop cap (32), the outer side of the guide column (31) is wound with a spring body (33), the upper end of the spring body (33) is fixed to the ear seat (34), and the lower end of the spring body (33) is fixed to the carrier plate (30), and the upper end surface of the fan-shaped lower plate (14) is evenly distributed with a plurality of through slots (15), and the arc-shaped ears (21) pass through the inside of the through slots (15).

4. The laser displacement sensor-based roll welding robot according to claim 1, characterized in that: Two connecting frames (16) are symmetrically fixedly installed at the lower edge of the fan-shaped lower plate (14), the ends of the connecting frames (16) are fixed to the vertical frame (8), and the upper part of the threaded support (7) is smoothly arranged.

5. The laser displacement sensor-based roll welding robot according to claim 1, characterized in that: A connecting shaft (12) is rotatably mounted through the end of the stand (8), a plate frame (11) is fixedly mounted on the outer surface of the connecting shaft (12), the end of the plate frame (11) is fixed to the fan-shaped upper plate (9), a gear (13) is coaxially inlaid on the end of the connecting shaft (12), a toothed plate (17) is meshed on the gear (13), a guide sleeve (20) is elastically mounted on the upper part of the stand (8), a push frame (5) is extended from the outer surface of the guide sleeve (20), and the toothed plate (17) is fixed to the guide sleeve (20).

6. The laser displacement sensor-based roll welding robot according to claim 5, characterized in that: A connecting cap (18) is fixedly mounted on the upper part of the stand (8), a guide rod (36) is embedded in the interior of the connecting cap (18), the guide rod (36) extends from the lower end of the connecting cap (18), the guide sleeve (20) is slidably mounted on the outer surface of the guide rod (36), a return spring (19) is wound around the outer side of the guide rod (36), one end of the return spring (19) is fixed to the connecting cap (18), and the other end of the return spring (19) is fixed to the guide sleeve (20).

7. The laser displacement sensor-based roll welding robot according to claim 5, characterized in that: The push ear member comprises a push ring (23) slidably mounted on the upper part of the threaded pillar (7); four limiting frames (28) are fixedly mounted in an annular array on the outer surface of the push ring (23); a trimming frame (4) is rotatably mounted on the upper part of the limiting frame (28); the end of the trimming frame (4) is rotatably connected to the lower end of the carrier plate (30); a threaded sleeve (25) is screwed on the lower part of the threaded pillar (7); the threaded sleeve (25) is elastically connected to the push ring (23); a top frame (6) is slidably mounted on the outer surface of the limiting frame (28); one end of the top frame (6) is pressed against the lower end of the push frame (5); and the other end of the top frame (6) is connected to the threaded sleeve (25).

8. The laser displacement sensor-based roll welding robot according to claim 7, characterized in that: An adaptable spring (24) is wound around the outer side of the threaded pillar (7), one end of the adaptable spring (24) is fixed to the lower end of the push ring (23), and the other end of the adaptable spring (24) is fixed to the upper end of the threaded sleeve (25). A connecting sleeve (26) is coaxially rotatably mounted on the outer surface of the threaded sleeve (25). The top frame (6) is fixed to the outer surface of the threaded sleeve (25). A positioning cap (22) is coaxially inlaid on the upper part of the threaded pillar (7), and the positioning cap (22) is fitted to the upper end of the push ring (23). The lower end of the limiting frame (28) symmetrically extends with two limiting ears (27), and the limiting ears (27) are fitted to the lower end of the top frame (6).

9. The laser displacement sensor-based roll welding robot according to claim 1, characterized in that: The outer surface of the laser displacement sensor (3) is fixedly connected to a first mounting frame (40), the outer surface of the first mounting frame (40) is fixedly connected to a second mounting frame (41), and the second mounting frame (41) is fixedly sleeved on the outer surface of the end of the roll welding robot (2).

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