Precise welding gun for welding robot and welding robot

Abstract

The invention provides a precise welding gun for a welding robot and the welding robot, and belongs to the technical field of welding equipment. The device comprises a gun body and a piezoelectric displacement adjusting disc, the piezoelectric displacement adjusting disc comprises an adjusting disc base, a center block, a first micro piezoelectric actuator and a second micro piezoelectric actuator, the adjusting disc base is used for being connected with the welding robot, and the center block is used for being connected with the gun body and located in the center of the adjusting disc base; the first micro piezoelectric actuator is arranged between the inner side of the adjusting disc base and the center block so that the center block can be driven to slightly move on the plane where the center block is located after voltage is applied to the first micro piezoelectric actuator. The second micro piezoelectric actuator is arranged on the side, facing the welding robot, of the adjusting disc base, and after voltage is applied to the second micro piezoelectric actuator, the center block can be driven to do vertical micro movement on the plane where the center block is located. Therefore, micron-scale to nano-scale linear displacement, pitching and deflection motion of the welding gun are realized.

Description

Technical Field

[0001] The present invention belongs to the technical field of welding equipment, and more specifically, relates to a precision welding gun for a welding robot and a welding robot. Background Art

[0002] In modern industrial manufacturing, welding technology is a key means of joining metal materials and achieving precision machining. In recent years, with the advancement of automation and micro-nanotechnology, precision welding robots have been widely used in fields such as aerospace and electronic device manufacturing. Traditional welding robots typically rely on a robotic arm and electromagnetically driven actuators to position and move the welding gun, but their accuracy and flexibility are limited, especially in scenarios requiring micron- to nanometer-scale displacement adjustment.

[0003] To improve the machining accuracy of precision welding robots, existing technologies include using digital signal processing to achieve coordinated drive between welding process control and wire feed motors; using a turntable-supported positioning structure, multi-directional rotation components, lifting components, and motor gear transmission to achieve multi-angle adjustment and lifting of the welding head; and using high-precision hand-eye calibration methods for welding robots based on machine vision. However, these technologies primarily rely on electromagnetically driven welding guns, such as stepper motors or servo motors, which present challenges such as electromagnetic interference, complex structures that hinder miniaturization, and insufficient response speed and accuracy. In particular, they are unable to achieve continuous multi-degree-of-freedom motion at the micron to nanometer scale. Therefore, a new structure or method is needed in this field to achieve continuous multi-degree-of-freedom motion at the micron to nanometer scale for welding robots. Summary of the Invention

[0004] The main purpose of the present invention is to provide a precision welding gun and a welding robot for a welding robot, which adopts a piezoelectric displacement adjustment disk to realize linear displacement, pitch and yaw motion of the welding gun from micron to nanometer level, thereby realizing welding adjustment with compact structure, high precision and no electromagnetic interference.

[0005] In order to achieve the above-mentioned object, the present invention proposes a precision welding gun for a welding robot, comprising a gun body and a piezoelectric displacement adjustment disk, wherein the piezoelectric displacement adjustment disk is fixedly mounted at the end of the gun body and is used to connect to the welding robot; The piezoelectric displacement adjustment disk includes an adjustment disk base, a center block, a first micro piezoelectric actuator, and a second micro piezoelectric actuator. The adjustment disk base is used to connect to the welding robot, and the center block is used to connect to the gun body. The center block is located at the center of the adjustment disk base. The micro piezoelectric actuator 1 is arranged between the inner side of the adjustment disk base and the central block, and a plurality of the micro piezoelectric actuators 1 are arranged around the central block, and the front and rear ends of the deformation direction of the micro piezoelectric actuator 1 are respectively directed toward the adjustment disk base and the central block, so that when a voltage is applied to the micro piezoelectric actuator 1, the central block can be driven to move slightly on the plane where it is located; The second micro piezoelectric actuator is arranged on the side of the adjustment disk base facing the welding robot, and the front and rear ends of the deformation direction of the second micro piezoelectric actuator point to the adjustment disk base and the welding robot respectively, so that after applying voltage to the second micro piezoelectric actuator, it can drive the center block to move vertically on the plane where it is located.

[0006] Furthermore, the adjustment disk base and the center block are both provided with a connecting rod extending toward the micro piezoelectric actuator 1, both ends of the micro piezoelectric actuator 1 are connected to the connecting rod, and the extension direction of the connecting rod is the same as the deformation direction of the micro piezoelectric actuator 1.

[0007] Furthermore, the plurality of micro piezoelectric actuators are evenly distributed circumferentially around the central block.

[0008] Furthermore, there are multiple micro piezoelectric actuators 2, which are evenly distributed circumferentially around the center of the adjustment disk base.

[0009] Furthermore, the micro piezoelectric actuator 1 and the micro piezoelectric actuator 2 have the same structure and both include a micro piezoelectric stack and an actuator stator. The actuator stator has a stacking cavity inside, and the micro piezoelectric stack is located in the stacking cavity. Both ends of the micro piezoelectric stack that generate deformation are in contact with the stacking cavity, so that applying voltage to the micro piezoelectric stack can drive the actuator stator to generate deformation.

[0010] Furthermore, the actuator stator includes first frame bars arranged opposite to each other, a stacking cavity is formed between the two first frame bars, and second frame bars are provided at both ends of the two first frame bars, extending and crossing each other at an angle, so that after applying voltage to the micro piezoelectric stack, the first frame bars at both ends can be driven to stretch or compress the second frame bars, so that the intersection of the two second frame bars can produce a micro-displacement perpendicular to the micro piezoelectric stack; wherein the intersection of the two second frame bars is the part connected to the center block or the adjustment disk base or the welding robot.

[0011] Furthermore, a connection hole for installation is provided at the intersection of the two second frame strips.

[0012] Furthermore, bosses for supporting the micro-piezoelectric stack are relatively arranged in the stacking cavity, and the peripheral side of the bosses and the inner wall of the stacking cavity are arranged as transition curved surfaces.

[0013] The present invention also provides a welding robot, comprising an industrial robot and a precision welding gun for the welding robot as described in any one of the above items, wherein the welding robot is arranged at the execution end of the industrial robot, and one end of the micro piezoelectric actuator is mechanically connected to the industrial robot.

[0014] Compared with the prior art, the present invention has the following beneficial effects: by arranging a micro piezoelectric actuator 2 and a micro piezoelectric actuator 1 on the side of the adjusting disk base facing the welding robot and between the adjusting disk base and the center block, respectively, the micro piezoelectric actuator 2 acts on the gun body by adjusting the posture of the adjusting disk base, and the micro piezoelectric actuator 1 acts on the gun body by adjusting the posture of the center block, and the postures adjusted by the two are combined, so that the tip of the gun body can achieve continuous multi-degree-of-freedom motion from micrometer to nanometer level, and achieve linear displacement, pitch and yaw motion of the tip of the gun body from micrometer to nanometer level. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Figure 1 A schematic structural diagram of a precision welding gun for a welding robot provided in an embodiment of the present invention; Figure 2 A schematic structural diagram of a piezoelectric displacement adjustment disk provided in an embodiment of the present invention; Figure 3 A schematic structural diagram of a micro piezoelectric actuator provided in an embodiment of the present invention; Figure 4 A schematic structural diagram of a gun body micro-displacement according to an embodiment of the present invention; Figure 5 This is a schematic structural diagram of a welding robot provided in an embodiment of the present invention.

[0016] Figure numerals: 1. industrial robot; 2. welding gun; 21. gun body; 22. piezoelectric displacement adjustment disk; 221. adjustment disk base; 2211. connecting rod; 222. micro piezoelectric actuator one; 223. center block; 2231. mounting hole; 224. micro piezoelectric actuator two; 31. micro piezoelectric stack; 32. actuator stator; 321. first frame bar; 3211. boss; 322. second frame bar; 3221. connecting hole. DETAILED DESCRIPTION

[0017] The embodiments of the present disclosure are described in detail below with reference to the accompanying drawings.

[0018] The following describes the embodiments of the present disclosure through specific examples, and those skilled in the art can easily understand other advantages and effects of the present disclosure from the contents disclosed in this specification. Obviously, the described embodiments are only a part of the embodiments of the present disclosure, rather than all of the embodiments. The present disclosure can also be implemented or applied through other different specific embodiments, and the details in this specification can also be modified or changed in various ways based on different viewpoints and applications without departing from the spirit of the present disclosure. It should be noted that, in the absence of conflict, the following embodiments and features in the embodiments can be combined with each other. Based on the embodiments in the present disclosure, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of the present disclosure.

[0019] In modern industrial manufacturing, welding technology is a key means of joining metal materials and achieving precision machining. In recent years, with the advancement of automation and micro-nanotechnology, precision welding robots have been widely used in fields such as aerospace and electronic device manufacturing. Traditional welding robots typically rely on a robotic arm and electromagnetically driven actuators to position and move the welding gun, but their accuracy and flexibility are limited, especially in scenarios requiring micron- to nanometer-scale displacement adjustment.

[0020] Among the technologies used to improve the machining accuracy of precision welding robots, one category employs a host computer module, a welding control module, and a push-pull wire feed drive module, using digital signal processing to achieve coordinated welding process control and wire feed motor drive. Another category utilizes a multi-directional rotation assembly, a lifting assembly, and motor gear transmission to achieve multi-angle adjustment and lifting of the welding head, and utilizes a turntable support positioning structure to achieve continuous workpiece machining. Still another category uses a high-precision hand-eye calibration method for welding robots based on machine vision. This method uses laser welding to create a circular spot and combines Otsu threshold segmentation, Canny edge detection, and least-squares circle fitting algorithms to achieve coordinate transformation. However, these technologies primarily rely on electromagnetically driven welding guns, such as stepper motors or servo motors, which pose challenges such as electromagnetic interference, complex structures that hinder miniaturization, and insufficient response speed and accuracy. In particular, they are unable to achieve continuous multi-degree-of-freedom motion at the micron to nanometer level.

[0021] Based on this, Figure 1-4As shown, this embodiment provides a precision welding gun for a welding robot, comprising a gun body 21 and a piezoelectric displacement adjustment disk 22. The piezoelectric displacement adjustment disk 22 is fixedly mounted at the end of the gun body 21 for connection to the welding robot. The gun body 21 is mechanically fixed to the center block 223 of the piezoelectric displacement adjustment disk 22 for direct welding operations. The piezoelectric displacement adjustment disk 22 utilizes the inverse piezoelectric effect to drive the center block 223 to move through the deformation of six built-in micro-piezoelectric actuators, thereby driving the micron-to-nanometer linear displacement, pitch, and yaw of the gun body 21, thereby achieving high-precision welding displacement adjustment.

[0022] See also Figure 2 The piezoelectric displacement adjustment disk 22 includes an adjustment disk base 221, a center block 223, a micro piezoelectric actuator 1 222 and a micro piezoelectric actuator 2 224. The adjustment disk base 221 is used to connect with the welding robot. A slot structure is provided on the adjustment disk base 221 for easy connection. Of course, other mechanical connection structures can also be used. In this embodiment, the adjustment disk base 221 is a circular ring structure, but is not limited to this. The adjustment disk base 221 can also be disc-shaped, polygonal or cylindrical. For example, the outermost outer wall of the adjustment disk base 221 extends in the vertical direction to form a cylinder. The center block 223 is used to connect with the gun body 21. A mounting hole 2231 for connecting to the gun body 21 is provided on the center block 223. In this embodiment, the mounting hole 2231 is set as a threaded through hole; the center block 223 is located in the center of the adjusting disk base 221, but it is not limited to being in the same plane as the adjusting disk base 221. It is only necessary for the center block 223 to be parallel to the adjusting disk base 221; the number of center blocks 223 is not limited, and there can be multiple center blocks 223 set parallel to each other. For example, multiple center blocks 223 set parallel to each other can cooperate with the above-mentioned cylindrical adjusting disk base 221.

[0023] The micro piezoelectric actuator 222 is arranged between the inner side of the adjustment disk base 221 and the center block 223, and multiple micro piezoelectric actuators 222 are arranged around the center block 223. The front and rear ends of the deformation direction of the micro piezoelectric actuator 222 point to the adjustment disk base 221 and the center block 223 respectively, and are respectively in contact with the adjustment disk base 221 and the center block 223. The adjustment disk base 221 can provide support to the micro piezoelectric actuator 222, so that the micro piezoelectric actuator 222 can apply a micro-displacement force to the center block 223; when it is necessary to adjust the micro-displacement of the tip of the gun body 21 of the welding gun 2, a DC voltage and current are applied to the micro piezoelectric actuator 222. Under the action of the inverse piezoelectric effect, the piezoelectric material inside the micro piezoelectric actuator 222 will produce a small deformation in its own polarization direction. This small deformation can act on the center block 223, thereby driving the center block 223 to move slightly on the plane where it is located.

[0024] The micro piezoelectric actuator 224 is arranged on the side of the adjustment disk base 221 facing the welding robot, and the adjustment disk base 221 is also provided with a structure that facilitates the installation of the micro piezoelectric actuator 224. The front and rear ends of the deformation direction of the micro piezoelectric actuator 224 point to the adjustment disk base 221 and the welding robot respectively, so that when connected to the welding robot, the two ends of the deformation direction of the micro piezoelectric actuator 224 are respectively in contact with the adjustment disk base 221 and the welding robot. The micro piezoelectric actuator 224 can use the support of the welding robot to apply a micro-displacement force to the adjustment disk base 221, and the center block 223 is mechanically connected to the adjustment disk base 221, and the gun body 21 is mechanically connected to the center block 223, which will eventually apply a micro-displacement effect to the tip of the gun body 21. When it is necessary to adjust the micro-displacement of the tip of the gun body 21 of the welding gun 2, a DC voltage and current are applied to the micro piezoelectric actuator 2 224. Under the action of the inverse piezoelectric effect, the piezoelectric material inside the micro piezoelectric actuator 224 will produce a slight deformation in its own polarization direction. This slight deformation will act on the adjustment disk base 221-center block 223-gun body 21, thereby realizing the linear displacement, pitch and yaw movement of the welding gun from 2 microns to nanometers.

[0025] The precision welding gun 2 for the welding robot of this embodiment is provided with a micro piezoelectric actuator 2 224 and a micro piezoelectric actuator 1 222 on the side of the adjusting disk base 221 facing the welding robot and between the adjusting disk base 221 and the center block 223, respectively. The micro piezoelectric actuator 2 224 acts on the gun body 21 by adjusting the posture of the adjusting disk base 221, and the micro piezoelectric actuator 1 222 acts on the gun body 21 by adjusting the posture of the center block 223. The postures adjusted by the two are combined, so that the tip of the gun body 21 can achieve continuous multi-degree-of-freedom motion from micrometer to nanometer level, and realize linear displacement, pitch and yaw motion (such as micrometer to nanometer level) of the tip of the gun body 21 Figure 4 shown).

[0026] Furthermore, both the adjustment disk base 221 and the center block 223 are equipped with connecting rods 2211 extending toward the micro piezoelectric actuator 1 222. Both ends of the micro piezoelectric actuator 1 222 are connected to the connecting rods 2211. The extending direction of the connecting rods 2211 is the same as the deformation direction of the micro piezoelectric actuator 1 222. The two ends of the micro piezoelectric actuator 1 222 are mechanically connected to the adjustment disk base 221 and the center block 223 respectively through the connecting rods 2211, and the deformation force of the micro piezoelectric actuator 1 222 is applied to the adjustment disk base 221 and the center block 223 through the connecting rods 2211.

[0027] Furthermore, to facilitate more precise micro-displacement control of the center block 223, multiple micro-piezoelectric actuators 222 are evenly distributed circumferentially around the center block 223. In this embodiment, three horizontally distributed micro-piezoelectric actuators 222 are circumferentially arranged at 120° angles relative to each other. One end of each micro-piezoelectric actuator 222 is fixed to the inner ring of the adjustment disk base 221, and the other end of each micro-piezoelectric actuator 222 is fixed to the outer side of the center block 223, used to drive any linear displacement of the center block 223 in the horizontal plane. When micro-displacement of the tip of the welding gun 2's gun body 21 needs to be adjusted, the system that controls the output voltage and current values can use simple mathematical methods to calculate the deformation of each of the three micro-piezoelectric actuators 222 and the voltage and current values required for the corresponding deformation, so that their motion posture resembles that of a planetary engine, which will drive the center block 223 to micro-displace on a plane, thereby achieving micro-adjustment of the position of the gun body 21's tip. It should be noted that since this micro-displacement is a deformation on the micron to nanometer scale, it can be achieved without an articulated structure such as a rotating shaft.

[0028] Furthermore, to facilitate more precise micro-displacement control of the center block 223, multiple micro-piezoelectric actuators 224 are uniformly distributed circumferentially around the center portion of the adjustment disk base 221. In this embodiment, three vertically distributed micro-piezoelectric actuators 224 are circumferentially arranged at 120° angles relative to each other and fixed to the outer ring of the adjustment disk base 221 to control the vertical linear motion, pitch, and yaw motion of the center block 223. When micro-displacement of the tip of the welding gun body 21 needs to be adjusted, the system for controlling the output voltage and current values can calculate the deformation of each of the three micro-piezoelectric actuators 224 and the voltage and current values required for the corresponding deformation using simple mathematical methods. If a micro-displacement in the positive vertical direction is required, the deformation and required voltage and current values of the three micro-piezoelectric actuators 224 are the same. If pitch or yaw motion is required, the deformation and required voltage and current values of the three micro-piezoelectric actuators 224 may be different, and the adjustment disk base 221 can be set to a tilted, pitched, or yaw state.

[0029] In one possible embodiment, see Figure 3Micropiezoelectric actuator 1 222 and micropiezoelectric actuator 2 224 share the same structure and both include a micropiezoelectric stack 31 and an actuator stator 32. Actuator stator 32 has a stack cavity within it, and micropiezoelectric stack 31 is located within the stack cavity. Both ends of micropiezoelectric stack 31, where deformation occurs, abut against the stack cavity, enabling application of voltage to micropiezoelectric stack 31 to cause deformation of actuator stator 32. Actuator stator 32 is a frame structure, with connecting structures provided at both ends of its outer sides for easy installation. The micro-piezoelectric stack 31 deforms itself after a DC voltage current is applied. Because both ends of the deformed micro-piezoelectric stack 31 are in contact with the stack cavity, the micro-piezoelectric stack 31 squeezes the actuator stator 32. The actuator stator 32 is forced to deform after being squeezed. The deformation of the actuator stator 32 acts on the center block 223 or the adjustment disk base 221, pushing the center block 223 or the adjustment disk base 221 and the gun body 21 to change their posture, that is, realizing micron to nanometer-level linear displacement, pitch and yaw motion of the tip of the actual gun body 21.

[0030] Furthermore, the actuator stator 32 includes opposing first bars 321, with a stacking cavity formed between the two first bars 321. Second bars 322 extend obliquely toward each other and intersect at opposite ends of the two first bars 321. Application of a voltage to the micro-piezoelectric stack 31 drives the first bars 321 at both ends to stretch or compress the second bars 322, resulting in a micro-displacement perpendicular to the micro-piezoelectric stack 31 at the intersection of the two second bars 322. The space between the two first bars 321 of the actuator stator 32 forms the stacking cavity, which is used to clamp the micro-piezoelectric stack 31, defining its structural state and providing support. The micro-piezoelectric stack 31 is composed of multiple layers of piezoelectric ceramic material and is secured in the stacking cavity between the two first bars 321 with conductive adhesive. When a DC voltage is applied, the micro-piezoelectric stack 31 undergoes micron- or even nanometer-scale deformation, which is then transmitted to the actuator stator 32 through mechanical contact. An actuator stator 32 has four second bars 322, two on each side of the micro-piezoelectric stack 31. These second bars 322 are not parallel to the stacking direction of the micro-piezoelectric stack 31. The ends of the second bars 322 that are farther from the first bars 321 are farther from the micro-piezoelectric stack 31 than the other ends, allowing the two second bars 322 to intersect. When a DC voltage is applied to the micro-piezoelectric stack 31, the two ends of the micro-piezoelectric stack 31 squeeze the first bars 321, forcing the two first bars 321 to move away from each other. These moving away first bars 321, in turn, pull on the second bars 322, forcing the second bars 322 to deform, causing a micro-displacement at the intersection of the two second bars 322. This micro-displacement is the area connected to the center block 223, the adjustment disk base 221, or the welding robot. Ultimately, this displacement is transmitted to the tip of the gun body 21, achieving micron-to-nanometer linear displacement, pitch, and yaw motion at the tip of the gun body 21.

[0031] Furthermore, a connection hole 3221 for installation is provided at the intersection of the two second frame bars 322 , so as to facilitate installation of the actuator stator 32 and connection with the central block 223 or the adjustment disk base 221 or the welding robot.

[0032] Furthermore, a boss 3211 is positioned within the stacking chamber to support the micro-piezoelectric stack 31. The sides of the boss 3211 form a transitional curved surface with the inner wall of the stacking chamber. This allows the forces at both ends of the micro-piezoelectric stack 31 to fully act on the first frame bar 321, reducing the degree of curvature of the first frame bar 321 and allowing the first frame bar 321 to move as completely as possible, thereby improving the efficiency of the micro-piezoelectric stack 31's ultimate action on the tip of the gun body 21.

[0033] See also Figure 5This embodiment also provides a welding robot, comprising an industrial robot 1 and a precision welding gun 2 for a welding robot as described in any one of the above embodiments. The welding gun 2 is disposed at the execution end of the industrial robot 1, and one end of a second micro-piezoelectric actuator 224 is mechanically connected to the industrial robot 1. The welding gun 2 is driven linearly in any horizontal direction by three horizontally distributed micro-piezoelectric actuators 222. Different displacements are achieved by applying DC voltages of varying amplitudes to the three actuators. The combination of displacement components in the three directions enables the center block 223 to move linearly in the horizontal direction along the direction of the component combination. The welding gun 2 is driven linearly in a direction perpendicular to the center block 223 by three vertically distributed micro-piezoelectric actuators 224. Applying the same DC voltage to the three vertical actuators causes the actuators to simultaneously generate the same displacement, controlling the center block 223 to move linearly perpendicular to its own direction. In addition, the pitch and yaw movements of the welding gun 2 are driven in coordination by three vertically distributed micro piezoelectric actuators 224. Different DC voltages are applied to the three vertical actuators, causing the actuators to produce different height displacements, thereby realizing pitch and yaw angle adjustment of the welding gun 2, thereby meeting the requirements of high-precision multi-angle welding.

[0034] In this embodiment, the welding process using the above-mentioned welding robot is as follows: (1) The industrial robot 1 quickly moves the welding gun 2 to the welding position specified by the customer.

[0035] (2) A control system is used to apply a certain DC voltage to the six micro piezoelectric actuators of the piezoelectric displacement adjustment disk 22 to drive the center block 223 to move and adjust the linear displacement, pitch and yaw angles of the tip of the welding gun 2.

[0036] (3) The tip of the welding gun 2 is aligned with the welding point to perform precision welding operations and complete the welding displacement adjustment from micron to nanometer level.

[0037] (4) After welding is completed, the industrial robot 1 moves the welding gun 2 to the next welding position and repeats the above steps.

[0038] The above is only for explaining the embodiments of the present invention and is not intended to limit the present invention. For those skilled in the art, any modification, equivalent replacement, improvement, etc. made within the spirit and principles of the present invention without creative work should be included in the scope of protection of the present invention.

Claims

1. A precision welding gun for a welding robot, characterized in that: It comprises a gun body (21) and a piezoelectric displacement adjustment disk (22), wherein the piezoelectric displacement adjustment disk (22) is fixedly arranged at the end of the gun body (21) and is used for connecting to a welding robot; The piezoelectric displacement adjustment disk (22) includes an adjustment disk base (221), a center block (223), a micro piezoelectric actuator 1 (222), and a micro piezoelectric actuator 2 (224), wherein the adjustment disk base (221) is used to connect to the welding robot, and the center block (223) is used to connect to the gun body (21), and the center block (223) is located at the center of the adjustment disk base (221); The micro piezoelectric actuator (222) is arranged between the inner side of the adjustment disk base (221) and the center block (223), and a plurality of the micro piezoelectric actuators (222) are arranged around the center block (223), and the front and rear ends of the deformation direction of the micro piezoelectric actuator (222) point to the adjustment disk base (221) and the center block (223) respectively, so that after applying voltage to the micro piezoelectric actuator (222), the center block (223) can be driven to move slightly on the plane where it is located; The second micro piezoelectric actuator (224) is arranged on the side of the adjustment disk base (221) facing the welding robot, and the front and rear ends of the deformation direction of the second micro piezoelectric actuator (224) point to the adjustment disk base (221) and the welding robot respectively, so that after applying voltage to the second micro piezoelectric actuator (224), the center block (223) can be driven to move vertically on the plane where it is located.

2. The precision welding gun (2) for a welding robot according to claim 1, characterized in that The regulating disk base (221) and the center block (223) are both provided with a connecting rod (2211) extending toward the micro piezoelectric actuator (222), both ends of the micro piezoelectric actuator (222) are connected to the connecting rod (2211), and the extending direction of the connecting rod (2211) is the same as the deformation direction of the micro piezoelectric actuator (222).

3. The precision welding gun (2) for a welding robot according to claim 1, characterized in that: The plurality of micro piezoelectric actuators (222) are evenly distributed circumferentially around the central block (223).

4. The precision welding gun (2) for a welding robot according to claim 1, characterized in that The number of the second micro piezoelectric actuators (224) is multiple and is evenly distributed circumferentially around the center of the adjustment disk base (221).

5. The precision welding gun (2) for a welding robot according to claim 1, characterized in that The micro piezoelectric actuator 1 (222) and the micro piezoelectric actuator 2 (224) have the same structure and both include a micro piezoelectric stack (31) and an actuator stator (32). The actuator stator (32) has a stacking cavity inside, and the micro piezoelectric stack (31) is located in the stacking cavity. Both ends of the micro piezoelectric stack (31) that generate deformation are in contact with the stacking cavity, so that when a voltage is applied to the micro piezoelectric stack (31), the actuator stator (32) can be driven to generate deformation.

6. The precision welding gun (2) for a welding robot according to claim 5, characterized in that The actuator stator (32) includes first frame bars (321) arranged opposite to each other, a stacking cavity is formed between the two first frame bars (321), and second frame bars (322) are provided at both ends of the two first frame bars (321) and extend obliquely toward each other and cross each other, so that after applying voltage to the micro piezoelectric stack (31), the first frame bars (321) at both ends can be driven to stretch or compress the second frame bars (322), so that the intersection of the two second frame bars (322) can generate a micro displacement perpendicular to the micro piezoelectric stack (31); wherein the intersection of the two second frame bars (322) is a portion connected to the center block (223) or the adjustment disk base (221) or the welding robot.

7. The precision welding gun (2) for a welding robot according to claim 6, characterized in that A connection hole (3221) for installation is provided at the intersection of the two second frame strips (322).

8. The precision welding gun (2) for a welding robot according to claim 5, characterized in that A boss (3211) for supporting the micro-piezoelectric stack (31) is relatively arranged in the stacking cavity, and the peripheral side of the boss (3211) and the inner wall of the stacking cavity are arranged as a transition curved surface.

9. A welding robot, characterized in that: The invention comprises an industrial robot (1) and a precision welding gun (2) for a welding robot as claimed in any one of claims 1 to 8, wherein the welding robot is arranged at the execution end of the industrial robot (1), and one end of the second micro piezoelectric actuator (224) is mechanically connected to the industrial robot (1).

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