End effector with self-adaptive profiling and real-time monitoring laser quenching robot

Abstract

The invention discloses an end effector with self-adaptive profiling and real-time monitoring of a laser quenching robot, which comprises an end effector main body mounted and fixed on the laser quenching robot, and the end effector main body comprises a shell, an angle adjusting assembly, a laser generator, a laser output head and a real-time monitoring assembly, the shell is fixedly mounted on the laser quenching robot, a first mounting groove is formed in the bottom of the shell, the angle adjusting assembly is arranged in the first mounting groove, the laser generator is arranged on the angle adjusting assembly, the laser output head is fixedly mounted at the bottom of the laser generator, and the angle adjusting assembly is used for adjusting the orientation of the laser output head at multiple angles. The device is reasonable in design, the posture of the laser output head can be adjusted in a self-adaptive profiling mode according to the shape and size of a workpiece, the quenching process of the workpiece can be monitored in real time, the machining quality of workpiece quenching is effectively improved, the rejection rate of the workpiece is greatly reduced, the production efficiency is improved, and the process adaptability is higher.

Description

Technical Field

[0001] This invention relates to the field of laser hardening robot technology, specifically to an end effector for a laser hardening robot with adaptive contouring and real-time monitoring capabilities. Background Technology

[0002] Laser hardening robots are industrial equipment that utilize high-energy laser beams to rapidly heat and self-cool metal surfaces, primarily used to form a martensitic hardened layer to improve material hardness and wear resistance. Laser hardening robots are widely used in metallurgy, machinery manufacturing, and mold processing, focusing on enhancing the surface properties of easily worn parts such as gears, rolls, and shafts. Currently, in actual production, the implementation of laser hardening processes highly depends on the end effector working in conjunction with the laser hardening robot; the performance of the end effector directly determines the hardening quality, production efficiency, and process adaptability.

[0003] In existing technologies, traditional laser hardening robots typically employ fixed-structure end effectors. The attitude adjustment of the laser output head in these end effectors relies solely on the overall movement of the robot arm, lacking an independent multi-dimensional angle adjustment mechanism. When faced with complex workpieces with curved surfaces, grooves, or irregular contours, the fixed-position laser output head cannot adjust its angle and distance according to real-time changes in the workpiece's surface contour. Consequently, the laser beam emitted by the output head is difficult to consistently strike the workpiece surface perpendicularly, easily leading to excessively high energy density in some areas (prone to ablation and cracking) and insufficient energy density in others (failing to achieve the required hardness). The quality of workpiece quenching is poor; moreover, traditional end effectors usually lack effective online monitoring methods for real-time monitoring. During laser quenching, key process parameters such as the temperature change of the workpiece surface and the formation state of the quenched layer cannot be collected and analyzed in real time. Operators can only rely on experience or post-processing sampling inspection to judge the quenching quality. Once abnormal quenching parameters occur, they cannot be detected and adjusted in time, which often leads to the scrapping of a batch of workpieces, which not only increases production costs but also reduces production efficiency. To address these issues, we propose an end effector for a laser quenching robot with adaptive contouring and real-time monitoring to solve the above problems. Summary of the Invention

[0004] (a) Technical problems to be solved To address the shortcomings of existing technologies, this invention provides an end effector for a laser hardening robot with adaptive contouring and real-time monitoring. This solves the problems of existing fixed-post laser output heads being unable to adjust their angle and distance according to real-time contour changes on the workpiece surface, resulting in poor workpiece hardening quality. Furthermore, the lack of effective online monitoring methods in real-time monitoring not only increases production costs but also reduces production efficiency.

[0005] (II) Technical Solution To achieve the above objectives, the present invention provides the following technical solution: an end effector for a laser quenching robot with adaptive contouring and real-time monitoring, comprising an end effector body mounted and fixed on the laser quenching robot, the end effector body comprising a shell, an angle adjustment component, a laser generator, a laser output head, and a real-time monitoring component, the shell being fixedly mounted on the laser quenching robot, a mounting groove being provided at the bottom of the shell, the angle adjustment component being disposed in the mounting groove, the laser generator being disposed on the angle adjustment component, and the laser output head being fixedly mounted at the bottom of the laser generator, the angle adjustment component being used to adjust the orientation of the laser output head at multiple angles.

[0006] Preferably, the angle adjustment assembly includes two booms, a horizontal plate, a vertical shaft, a first motor, a U-shaped plate, a bearing seat, a second motor, a connecting seat, and a mounting plate. Both booms are fixedly installed on the top inner wall of the mounting groove. The horizontal plate is fixedly installed at the bottom of the two booms. The vertical shaft is rotatably installed on the horizontal plate. The first motor is fixedly installed on the top inner wall of the mounting groove, with its output shaft end fixedly connected to the top of the vertical shaft. The U-shaped plate is fixedly installed at the bottom of the vertical shaft. The bearing seat is fixedly installed on the left inner wall of the U-shaped plate, with the left end of the horizontal shaft rotatably connected to the bearing seat. The second motor is fixedly installed on the right outer wall of the U-shaped plate, with its output shaft end fixedly connected to the right end of the horizontal shaft. The connecting seat is fixedly sleeved on the horizontal shaft. The mounting plate is fixedly installed at the bottom of the connecting seat. The laser generator is detachably mounted and fixed at the bottom of the mounting plate.

[0007] Preferably, a circular hole is provided at the top center of the horizontal plate, and a bearing is fixedly sleeved on the vertical shaft, with the outer ring of the bearing fixedly connected to the inner wall of the circular hole.

[0008] Preferably, the transverse disc has an annular guide groove on its circumferential side, and U-shaped guide rods are fixedly installed on the outer walls of both sides of the U-shaped plate, with one end of each U-shaped guide rod slidably installed in the annular guide groove.

[0009] Preferably, the real-time monitoring component includes a displacement sensor, an angle sensor, an image detection module, a temperature detection module, and a PLC controller. The displacement sensor is located on the front side of the mounting plate, the angle sensor is fixedly mounted on the horizontal axis, the image detection module is fixedly mounted on the bottom of the mounting plate, the temperature detection module is fixedly mounted on the bottom of the laser generator, and a second mounting slot is provided on the top of the housing. The PLC controller is fixedly mounted on the bottom inner wall of the second mounting slot. Motor 1, Motor 2, the displacement sensor, the angle sensor, the image detection module, and the temperature detection module are all electrically connected to the PLC controller.

[0010] Preferably, the number of image detection modules is set to two, and the two image detection modules are symmetrically distributed on the left and right sides of the laser generator. The image detection module is a high-definition industrial camera, and the temperature detection module is an infrared thermal imager.

[0011] Preferably, a mounting ear is fixedly installed on the front sidewall of the mounting plate, and the displacement sensor is fixedly installed at the bottom of the mounting ear.

[0012] Preferably, the real-time monitoring component further includes a data storage module, a data transmission module, and an alarm module. The data storage module, data transmission module, and alarm module are all fixedly installed on the bottom inner wall of the mounting slot two, and are all electrically connected to the PLC controller.

[0013] Preferably, a dustproof net is fixedly installed on the top of the outer shell by screws, and the dustproof net is compatible with the mounting groove.

[0014] (III) Beneficial Effects This invention provides an end effector for a laser hardening robot with adaptive contouring and real-time monitoring. It offers the following advantages: (1) The end effector of the laser quenching robot with adaptive contouring and real-time monitoring, by using the end effector body composed of a shell, angle adjustment component, laser generator, laser output head and real-time monitoring component, can adaptively contour and adjust the posture of the laser output head according to the shape and size of the workpiece, and can monitor the workpiece quenching process in real time, which effectively improves the processing quality of workpiece quenching, greatly reduces the workpiece scrap rate, and improves production efficiency, and has stronger process adaptability.

[0015] (2) The end effector of the laser quenching robot with adaptive contouring and real-time monitoring can achieve the effect of multi-angle adjustment of the laser output head by using an angle adjustment component composed of two booms, a horizontal plate, a vertical shaft, a motor one, a U-shaped plate, a bearing seat, a horizontal shaft, a motor two, a connecting seat and a mounting plate. It can more accurately adapt to the surface contour of complex workpieces (such as curved surfaces, grooves, and irregular shapes), and solve the problem of insufficient local quenching energy or excessive ablation caused by fixed posture in traditional equipment.

[0016] (3) The end effector of the laser quenching robot with adaptive contouring and real-time monitoring can collect temperature field distribution data of the quenching area on the workpiece surface in real time by using a real-time monitoring component composed of a displacement sensor, an angle sensor, an image detection module, a temperature detection module, a PLC controller, a data storage module, a data transmission module and an alarm module. It can also capture the morphological changes of the quenching area on the workpiece surface in real time, ensuring the safety and stability of the quenching process and effectively preventing the workpiece from being scrapped. Attached Figure Description

[0017] Figure 1 This is a three-dimensional structural diagram of the present invention; Figure 2This is a front-view three-dimensional structural diagram of the end effector body in this invention.

[0018] Figure 3 This is a front sectional three-dimensional structural diagram of the end effector body in this invention; Figure 4 This is a partial three-dimensional structural diagram of the end effector body in this invention; Figure 5 for Figure 4 A schematic diagram of the three-dimensional structure viewed from below; Figure 6 This is a three-dimensional structural diagram of the end effector body without the dustproof net in this invention; Figure 7 This is a block diagram of the control structure of the present invention.

[0019] In the diagram: 1. Laser hardening robot; 2. End effector body; 21. Shell; 22. Mounting slot one; 23. Lifting rod; 24. Horizontal plate; 25. Vertical shaft; 26. Motor one; 27. U-shaped plate; 28. Shaft seat; 29. ​​Horizontal shaft; 210. Motor two; 211. Connecting seat; 212. Mounting plate; 213. Laser generator; 214. Laser output head; 215. Bearing; 216. Annular guide groove; 217. U-shaped guide rod; 218. Mounting ear; 219. Displacement sensor; 220. Angle sensor; 221. Image detection module; 222. Temperature detection module; 223. Mounting slot two; 224. PLC controller; 225. Data storage module; 226. Data transmission module; 227. Alarm module; 228. Dustproof net. Detailed Implementation

[0020] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0021] like Figure 1-7As shown, the present invention provides a technical solution: an end effector for a laser quenching robot with adaptive contouring and real-time monitoring, comprising an end effector body 2 mounted and fixed on a laser quenching robot 1. The end effector body 2 includes a shell 21, an angle adjustment component, a laser generator 213, a laser output head 214, and a real-time monitoring component. The shell 21 is fixedly mounted on the laser quenching robot 1, and a mounting groove 22 is provided at the bottom of the shell 21. The angle adjustment component is disposed in the mounting groove 22. The laser generator 213 is disposed on the angle adjustment component, and the laser output head 214 is fixedly mounted at the bottom of the laser generator 213. The laser generator 213 is a semiconductor laser generator with continuously adjustable output power. The power adjustment range is set to 500W-3000W, and the appropriate power can be set according to different workpiece materials and quenching requirements. A focusing lens is provided inside the laser output head 214, which can focus the laser beam into a spot of a set diameter. The spot diameter adjustment range is 0.5mm-5mm to meet the requirements of different quenching widths.

[0022] In this embodiment, the angle adjustment component is used to adjust the orientation of the laser output head 214 at multiple angles. The angle adjustment component includes two suspension rods 23, a horizontal plate 24, a vertical shaft 25, a first motor 26, a U-shaped plate 27, a bearing seat 28, a horizontal shaft 29, a second motor 210, a connecting seat 211, and a mounting plate 212. Both suspension rods 23 are fixedly installed on the top inner wall of the mounting groove 22. The horizontal plate 24 is fixedly installed on the bottom end of the two suspension rods 23. The vertical shaft 25 is rotatably installed on the horizontal plate 24. The first motor 26 is fixedly installed on the top inner wall of the mounting groove 22. The output shaft end of the first motor 26 is fixedly connected to the top end of the vertical shaft 25. The U-shaped plate 27 is fixedly installed on the bottom end of the vertical shaft 25. The bearing seat 28 is fixedly installed on the left inner wall of the U-shaped plate 27. The left end of the horizontal shaft 29 is connected to the bearing seat 28. The rotating connection allows motor 210 to be fixedly mounted on the right outer wall of U-shaped plate 27. The output shaft of motor 210 is fixedly connected to the right end of horizontal shaft 29. Connecting seat 211 is fixedly sleeved on horizontal shaft 29. Mounting plate 212 is fixedly mounted on the bottom of connecting seat 211. Laser generator 213 is detachably mounted and fixed on the bottom of mounting plate 212. Both motor 1 26 and motor 210 are reversible motors. Motor 1 26 drives vertical shaft 25 to rotate, thereby causing laser generator 213 and laser output head 214 to rotate horizontally around vertical shaft 25. Motor 210 drives horizontal shaft 29 to rotate, thereby causing laser generator 213 and laser output head 214 to rotate around horizontal shaft 29. This allows for multi-angle adjustment of laser output head 214, enabling more precise adaptation to the surface contours of complex workpieces (such as curved surfaces, grooves, and irregular shapes). This solves the problem of insufficient local quenching energy or excessive ablation caused by fixed posture in traditional equipment.

[0023] In this embodiment, a circular hole is provided at the top center of the horizontal plate 24, and a bearing 215 is fixedly sleeved on the vertical shaft 25. The outer ring of the bearing 215 is fixedly connected to the inner wall of the circular hole. The design of the bearing 215 serves to support and position the installation position of the vertical shaft 25, ensuring that the vertical shaft 25 rotates smoothly and stably.

[0024] In this embodiment, an annular guide groove 216 is provided on the circumferential side of the transverse plate 24, and U-shaped guide rods 217 are fixedly installed on the outer walls of the left and right sides of the U-shaped plate 27. One end of each of the two U-shaped guide rods 217 is slidably installed in the annular guide groove 216. By utilizing the sliding connection between one end of each of the two U-shaped guide rods 217 and the annular guide groove 216, the stability of the U-shaped plate 27 when rotating horizontally is enhanced, and the shaking or displacement of the U-shaped plate 27, the mounting plate 212 and the laser generator 213 during the adjustment process is effectively avoided.

[0025] In this embodiment, the real-time monitoring component includes a displacement sensor 219, an angle sensor 220, an image detection module 221, a temperature detection module 222, a PLC controller 224, a data storage module 225, a data transmission module 226, and an alarm module 227. The displacement sensor 219 is disposed on the front side of the mounting plate 212, the angle sensor 220 is fixedly mounted on the horizontal axis 29, the image detection module 221 is fixedly mounted on the bottom of the mounting plate 212, the temperature detection module 222 is fixedly mounted on the bottom of the laser generator 213, a second mounting slot 223 is provided on the top of the housing 21, and the PLC controller 224 is fixedly mounted on the bottom inner wall of the second mounting slot 223. Motor 1 26, Motor 2 210, and displacement sensor 21 are also included. 9. Angle sensor 220, image detection module 221, and temperature detection module 222 are all electrically connected to PLC controller 224. Displacement sensor 219 is a laser displacement sensor, and multiple displacement sensors 219 can be set and evenly distributed to monitor the distance between laser output head 214 and workpiece surface and the contour change of workpiece surface in real time, and transmit the detection data to PLC controller 224. Angle sensor 220 is used to monitor the tilt angle of laser output head 214 in real time. Then, under the coordinated action of displacement sensor 219, angle sensor 220, PLC controller 224, and motors 26 and 210, the tilt angle and orientation of laser output head 214 can be automatically adjusted by contour following the shape. The angle, posture, and position of the laser output head 214 are designed to ensure that it maintains a set distance from the workpiece surface, allowing the laser beam emitted by the laser output head 214 to act perpendicularly on the workpiece surface. This enables the laser output head 214 to adaptively follow the contour of the workpiece surface. Two image detection modules 221 are symmetrically distributed on the left and right sides of the laser generator 213. Each image detection module 221 is a high-definition industrial camera. The temperature detection module 222 is an infrared thermal imager. The angle between the two infrared thermal imagers and the laser beam emitted by the laser output head 214 is 30-60°. This allows for real-time acquisition of the temperature field distribution data of the quenched area on the workpiece surface and the transmission of the monitored temperature data to the PL (Power Source). The PLC controller 224 has a temperature detection range of 200℃-1500℃. A high-definition industrial camera equipped with a macro lens is used to capture real-time images of the morphological changes in the quenched area of ​​the workpiece surface, such as the presence of cracks or ablation defects. The captured image data is then transmitted to the PLC controller 224. The data storage module 225, data transmission module 226, and alarm module 227 are all fixedly installed on the bottom inner wall of mounting slot 223. These modules are electrically connected to the PLC controller 224. The data storage module 225 stores the monitored temperature and image data for subsequent process analysis and quality traceability. The data transmission module 226 is used for data transmission.The data transmission module 226 supports Ethernet, 4G, or 5G communication, enabling real-time data transmission to an external display (such as a touchscreen monitor in the workshop). This facilitates remote monitoring of production status by management personnel and provides a basis for subsequent process optimization. When the monitored temperature data exceeds the preset range or the image data shows defects on the workpiece surface, the alarm module 227 automatically issues an alarm signal. If the detected temperature exceeds the preset range, the PLC controller 224 issues a command to automatically adjust the output power of the laser generator 213 or the scanning speed of the laser quenching robot 1 to bring the temperature back to the normal range. If the monitored image data shows defects such as cracks or ablation on the workpiece surface, the PLC controller 224 issues a command to promptly stop the quenching operation, ensuring the safety and stability of the quenching process and effectively preventing workpiece scrap.

[0026] In this embodiment, a mounting ear 218 is fixedly installed on the front side wall of the mounting plate 212, and the displacement sensor 219 is fixedly installed at the bottom of the mounting ear 218 to facilitate the installation of the displacement sensor 219.

[0027] In this embodiment, a dustproof net 228 is fixedly installed on the top of the outer casing 21 by screws. The dustproof net 228 is compatible with the mounting groove 223. The design of the dustproof net 228 can prevent external dust from entering the mounting groove 223 and prevent dust from falling on the surfaces of the PLC controller 224, data storage module 225, data transmission module 226 and alarm module 227, which would affect their stable operation.

[0028] Based on the above structure, the working principle of the end effector of the laser quenching robot with adaptive contouring and real-time monitoring provided by the present invention is as follows: By using a laser hardening robot 1 to move the end effector body 2 to the starting position of the workpiece to be hardened, a laser beam is emitted onto the workpiece surface using a displacement sensor 219. The actual distance between the laser output head 214 and the workpiece surface is detected in real time by the reflected light signal, while simultaneously capturing the contour changes of the workpiece surface (such as curved protrusions and groove depth). An angle sensor 220 synchronously monitors the current tilt angle of the horizontal axis 29, indirectly obtaining the tilt attitude of the laser output head 214. The data monitored by the displacement sensor 219 and the angle sensor 220 are transmitted to the PLC controller 224, forming a real-time contour and attitude data set of the workpiece surface. At this time, the PLC controller 224 compares and analyzes the real-time collected distance data and tilt angle data with preset parameters (such as a preset distance of 5mm and the requirement that the laser beam emitted by the laser output head 214 is perpendicular to the workpiece surface). If it is necessary to adjust the horizontal attitude, the PLC controller will adjust accordingly. PLC controller 224 sends a forward or reverse rotation command to motor 1 26. Motor 1 drives vertical shaft 25 to rotate. Vertical shaft 25 drives U-shaped plate 27, mounting plate 212 and laser output head 214 to rotate horizontally around vertical shaft 25 until laser output head 214 is aligned with the horizontal direction of the quenching start area. PLC controller 224 then sends a command to control motor 1 26 to stop running. If it is necessary to adjust the pitch direction attitude, PLC controller 224 sends a forward or reverse rotation command to motor 210. Motor 2 drives horizontal shaft 29 to rotate. Horizontal shaft 29 drives connecting seat 211, mounting plate 212 and laser output head 214 to rotate until angle sensor 220 detects that the tilt angle of laser output head 214 meets the requirement that the laser beam is perpendicular to the workpiece surface, and the distance detected by displacement sensor is consistent with the preset value. PLC controller 224 then sends a command to control motor 210 to stop running, thus completing the adaptive contour calibration. Next, the PLC controller 224 sends a start command to the laser generator 213. The laser generator 213 emits a laser beam from the laser output head 214 at a preset power. The laser beam is precisely applied to the quenching area on the workpiece surface to achieve rapid heating of the metal surface. Furthermore, the laser quenching robot 1 moves the end effector body 2 along a preset scanning path. During the movement, the displacement sensor 219 and the angle sensor 220 continuously monitor the changes in the workpiece surface contour, and the data is transmitted back to the PLC controller 224 in real time. When the workpiece surface shows undulations (such as changes in surface curvature or local protrusions), the PLC controller 224 immediately triggers dynamic contour adjustment. The horizontal and vertical angles of the laser output head 214 are quickly adjusted by the motor 1 26 and the motor 210 to ensure that the laser output head 214 always maintains a preset distance from the workpiece surface during the movement of the laser quenching robot 1. The laser beam emitted by the laser output head 214 always acts vertically on the quenching area, avoiding uneven energy density caused by path movement. During the quenching process of the workpiece, the temperature detection module 222 can collect the temperature field distribution data of the quenching area of ​​the workpiece in real time, and transmit the collected temperature data to the PLC controller 224 to form a temperature change curve and store it in the data storage module 225. The two image detection modules 221 can capture the morphological changes of the quenching area of ​​the workpiece in real time to detect whether defects such as cracks, ablation, and abnormal oxide scale occur. The collected image data is transmitted to the PLC controller 224 and stored in the data storage module 225. At the same time, the temperature data and image data can be transmitted to an external display in real time through the data transmission module 226 for remote monitoring by management personnel. During real-time monitoring of temperature and image data, if the temperature of the workpiece quenching area is detected to be higher than the preset upper limit (e.g., exceeding the set 950℃), the PLC controller 224 immediately sends a power reduction command to the laser generator 213 or a scanning speed increase command to the laser quenching robot. If the temperature of the workpiece quenching area is detected to be lower than the preset lower limit (e.g., below 850℃), the PLC controller 224 immediately sends a power increase command to the laser generator 213 or a scanning speed reduction command to the laser quenching robot until the temperature returns to the acceptable range. If the image detection module 221 detects defects such as cracks or ablation on the workpiece surface, the PLC controller 224 immediately triggers the alarm module 227 to issue an alarm, reminding the operator and suspending the quenching operation until the operator has corrected and confirmed that there are no errors. Then, the laser quenching robot 1 and the end effector body 2 can continue to operate, thereby preventing the workpiece from being scrapped. After the work is completed, the PLC controller 224 sends a stop command to the laser generator 213, and the laser output head 214 stops emitting laser beams. At the same time, the PLC controller 224 issues a command to control motor 1 26 and motor 2 210 to drive the laser output head 214 to reset to the initial posture. The laser quenching robot 1 drives the end effector body 2 back to its original position (standby position).

[0029] The above description is merely a specific embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the technical scope described in the present invention should be included within the scope of protection of the present invention. Therefore, the scope of protection of the present invention should be determined by the scope of the claims.

Claims

1. An end effector for a laser hardening robot with adaptive contouring and real-time monitoring, characterized in that, The device includes an end effector body (2) that is mounted and fixed on a laser hardening robot (1). The end effector body (2) includes a shell (21), an angle adjustment component, a laser generator (213), a laser output head (214), and a real-time monitoring component. The shell (21) is fixedly mounted on the laser hardening robot (1). A mounting groove (22) is provided at the bottom of the shell (21). The angle adjustment component is set in the mounting groove (22). The laser generator (213) is set on the angle adjustment component. The laser output head (214) is fixedly mounted at the bottom of the laser generator (213). The angle adjustment component is used to adjust the orientation of the laser output head (214) at multiple angles.

2. The end effector of a laser hardening robot with adaptive contouring and real-time monitoring as described in claim 1, characterized in that: The angle adjustment assembly includes two suspension rods (23), a horizontal plate (24), a vertical shaft (25), a motor (26), a U-shaped plate (27), a bearing seat (28), a horizontal shaft (29), a second motor (210), a connecting seat (211), and a mounting plate (212). Both suspension rods (23) are fixedly installed on the top inner wall of the mounting groove (22). The horizontal plate (24) is fixedly installed at the bottom end of the two suspension rods (23). The vertical shaft (25) is rotatably installed on the horizontal plate (24). The first motor (26) is fixedly installed on the top inner wall of the mounting groove (22). The output shaft end of the first motor (26) is connected to the top end of the vertical shaft (25). The U-shaped plate (27) is fixedly installed at the bottom of the vertical shaft (25), the shaft seat (28) is fixedly installed on the left inner wall of the U-shaped plate (27), the left end of the horizontal shaft (29) is rotatably connected to the shaft seat (28), the second motor (210) is fixedly installed on the right outer wall of the U-shaped plate (27), the output shaft end of the second motor (210) is fixedly connected to the right end of the horizontal shaft (29), the connecting seat (211) is fixedly sleeved on the horizontal shaft (29), the mounting plate (212) is fixedly installed at the bottom of the connecting seat (211), and the laser generator (213) is detachably installed and fixed at the bottom of the mounting plate (212).

3. The end effector of a laser hardening robot with adaptive contouring and real-time monitoring according to claim 2, characterized in that: A circular hole is provided at the top center of the horizontal plate (24), and a bearing (215) is fixedly sleeved on the vertical shaft (25). The outer ring of the bearing (215) is fixedly connected to the inner wall of the circular hole.

4. The end effector of a laser hardening robot with adaptive contouring and real-time monitoring according to claim 2, characterized in that: The transverse plate (24) has an annular guide groove (216) on its circumferential side. U-shaped guide rods (217) are fixedly installed on the outer walls of the left and right sides of the U-shaped plate (27). One end of each of the two U-shaped guide rods (217) is slidably installed in the annular guide groove (216).

5. The end effector of a laser hardening robot with adaptive contouring and real-time monitoring according to claim 2, characterized in that: The real-time monitoring component includes a displacement sensor (219), an angle sensor (220), an image detection module (221), a temperature detection module (222), and a PLC controller (224). The displacement sensor (219) is located on the front side of the mounting plate (212). The angle sensor (220) is fixedly mounted on the horizontal axis (29). The image detection module (221) is fixedly mounted on the bottom of the mounting plate (212). The temperature detection module (222) is fixedly mounted on the bottom of the laser generator (213). The top of the housing (21) is provided with a second mounting slot (223). The PLC controller (224) is fixedly mounted on the bottom inner wall of the second mounting slot (223). The first motor (26), the second motor (210), the displacement sensor (219), the angle sensor (220), the image detection module (221), and the temperature detection module (222) are all electrically connected to the PLC controller (224).

6. The end effector of a laser hardening robot with adaptive contouring and real-time monitoring according to claim 5, characterized in that: The number of image detection modules (221) is set to two, and the two image detection modules (221) are symmetrically distributed on the left and right sides of the laser generator (213). The image detection module (221) is a high-definition industrial camera, and the temperature detection module (222) is an infrared thermal imager.

7. The end effector of a laser hardening robot with adaptive contouring and real-time monitoring according to claim 5, characterized in that: A mounting ear (218) is fixedly installed on the front side wall of the mounting plate (212), and the displacement sensor (219) is fixedly installed at the bottom of the mounting ear (218).

8. The end effector of a laser hardening robot with adaptive contouring and real-time monitoring according to claim 5, characterized in that: The real-time monitoring component also includes a data storage module (225), a data transmission module (226), and an alarm module (227). The data storage module (225), the data transmission module (226), and the alarm module (227) are all fixedly installed on the bottom inner wall of the second mounting slot (223). The data storage module (225), the data transmission module (226), and the alarm module (227) are all electrically connected to the PLC controller (224).

9. The end effector of a laser hardening robot with adaptive contouring and real-time monitoring according to claim 8, characterized in that: A dustproof net (228) is fixedly installed on the top of the outer shell (21) by screws, and the dustproof net (228) is adapted to the mounting groove (223).

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