Manipulator structure of test-teaching-free programming-free welding device

Abstract

The invention relates to the technical field of welding, in particular to a manipulator structure of a test-teaching-free programming-free welding device, which comprises a linkage mechanism provided with a Hall sensor and an infrared temperature detection device, the Hall sensor is connected with a wire of a welding gun to monitor the current change of the welding gun, the Hall sensor is electrically connected with a rolling module, and the rolling module is electrically connected with the infrared temperature detection device. The pressure of the rolling module is adjusted in real time along with current changes of a welding gun, the infrared temperature detection device is fixedly connected with the rolling module, the monitoring end of the infrared temperature detection device is close to a welding face, the temperature of a welding seam is monitored to control the lag distance of the rolling module, the rolling module comprises an adjusting assembly, a cleaning assembly and a rolling wheel, and the input end of the adjusting assembly is connected with the linkage mechanism. The output end of the cleaning assembly is slidably connected with the rolling wheel, and the cleaning assembly is rotationally attached to the working face of the rolling wheel. Welding current and welding seam temperature behind a molten pool are monitored in real time through a linkage structure, so that the device does not need manual teaching, and positive pressure of a rolling wheel to a welding seam is controlled through a rolling module.

Description

Technical Field

[0001] This invention relates to the field of welding technology, specifically to a robotic arm structure for a welding device that requires no testing, teaching, or programming. Background Technology

[0002] In the field of automated welding, robotic welding systems have been widely used in the manufacturing of various metal structural parts due to their advantages such as high efficiency, stability and good repeatability. Currently, the most common type of robotic welding in large equipment is industrial equipment that achieves automated welding operations through a multi-axis linkage control system. It uses a robotic arm as its core, in conjunction with a welding power source, sensors and control system, to complete high-precision and high-consistency welding tasks.

[0003] Existing robotic welding devices typically require a demonstration before welding operations, known as the "trial teaching-reproduction" mode. Operators need to guide the robotic arm along the predetermined weld seam trajectory point by point using a manual teaching pendant. The robotic arm then generates a processing program, which is completed before batch welding can be performed. During the welding process, the robotic arm also needs to roll the weld seam.

[0004] However, the above-mentioned "trial teaching-reproduction" mode has high skill requirements for operators and a long overall teaching time. At the same time, since the welding torch current and environmental conditions will have different degrees of impact on the weld during the welding process, and since the speed and distance of the rolling path and welding path are completely fixed in this mode, the rolling process will cause damage and impact on the weld. When the damage is serious, it is necessary to re-teach, but the frequent trial teaching process will seriously restrict production efficiency. Summary of the Invention

[0005] The purpose of this invention is to provide a robotic arm structure for a welding device that requires no testing or programming, in order to solve the problems mentioned in the background art.

[0006] To achieve the above objectives, the present invention provides the following technical solution: a robotic arm structure for a no-test-teach, no-programming welding device, comprising... A fixed frame is fixedly connected to the end of the robot arm, and a coaxial welding gun is detachably mounted on the fixed frame; The stabilizing platform is fixedly connected to the lower end of the fixed frame and arranged coaxially with the welding torch. A grinding component is hinged to the front end of the stabilizing platform, and a rolling module is slidably connected to the rear end. The grinding component and the rolling module are located in front of and behind the welding torch in the welding travel direction, respectively. The linkage mechanism is equipped with a Hall sensor and an infrared temperature detection device. The Hall sensor is connected to the welding torch wire to monitor the change of welding torch current. The Hall sensor is electrically connected to the rolling module to adjust the pressure of the rolling module in real time according to the change of welding torch current. The infrared temperature detection device is fixedly connected to the rolling module and the monitoring end is close to the welding surface to monitor the weld temperature and control the hysteresis distance of the rolling module. The rolling module includes an adjustment component, a cleaning component, and a rolling wheel. The input end of the adjustment component is connected to the linkage mechanism, and the output end is slidably connected to the rolling wheel. The cleaning component rotates and fits against the working surface of the rolling wheel.

[0007] Preferably, the welding torch is detachably installed in the fixed frame, the lower surface of the welding torch is fixedly connected to the stabilizing platform, the stabilizing platform has a sliding groove and a mounting groove, the rolling module is slidably connected to the sliding groove through a T-shaped protrusion, an electric push rod two is fixedly connected to one side of the stabilizing platform, the output end of the electric push rod two is fixedly connected to the rolling module, and the electric push rod two is electrically connected to the infrared temperature detection device.

[0008] Preferably, the grinding assembly includes an electric push rod, a connecting rod, and a wire wheel. One end of the electric push rod is hinged to the mounting groove, and the output end of the electric push rod is rotatably connected to the middle position of the connecting rod. One end of the connecting rod is hinged to the wire wheel, and the other end of the connecting rod is hinged to the stabilizing platform.

[0009] Preferably, the adjustment assembly includes a motor, a first guide rod, a second guide rod, an inclined plate, and a sliding component. The output end of the motor is fixedly connected to an output shaft. The upper and lower end surfaces of the output shaft are respectively fixedly connected to the first guide rod and the second guide rod. There are four first guide rods and four second guide rods, which are evenly distributed. The length of the first guide rod is longer than that of the second guide rod. There are four inclined plates.

[0010] Preferably, the lower ends of the four inclined plates are all inclined toward the output shaft. The outer surface of each inclined plate is fitted with a number of evenly arranged counterweight balls through a clearance fit. The upper and lower ends of the inclined plates are slidably connected to a guide rod one and a guide rod two, respectively. A spring one is sleeved on the surface of the output shaft. The upper end of the spring one is fixedly connected to the guide rod one, and the lower end of the spring one is fixedly connected to the sliding member. In the initial state, the spring one is in a compressed state, and the sliding member is sleeved on the surface of the output shaft. The four outer corners of the sliding member are fitted with counterweight balls through a clearance fit.

[0011] Preferably, the rolling module is equipped with a monitoring component, which includes a conical ring, a second spring, and a pressure sensor. The conical ring is a frustum-shaped cone with its tip pointing downwards. The inner wall of the conical ring is in contact with four inclined plates and is in rolling connection with a counterweight ball. A connecting plate is fixedly connected to the surface of the conical ring. A limit rod is fixedly connected to the connecting plate. A second spring is sleeved on the surface of the limit rod. One end of the second spring is fixedly connected to the connecting plate, and the other end is in contact with the measuring end of the pressure sensor. The pressure sensor is slidably connected to the limit rod. A guide plate is slidably connected to the end of the connecting plate away from the conical ring.

[0012] Preferably, the cleaning assembly includes a mounting plate, a scraper, a cleaning wheel, and a rolling wheel. The mounting plate is fixedly connected to a limiting rod, and the inner wall of the mounting plate is elastically hinged to the scraper via a torsion spring hinge. The cleaning wheel and the rolling wheel are both hinged to the mounting plate, and the cleaning wheel is in contact with the rolling wheel.

[0013] Preferably, the mounting plate is rotatably connected to a connecting column via a bearing, a synchronizing rod is fixedly connected to the upper end of the connecting column, the synchronizing rod is inserted into the output shaft, a second bevel gear is fixedly connected to the lower end of the connecting column, a first bevel gear is fixedly connected to one side of the cleaning wheel, and the first bevel gear meshes with the second bevel gear.

[0014] Preferably, the surface of the rolling module is provided with a mounting frame, a fan is fixedly connected to one side of the mounting frame, the output direction of the fan is towards the contact surface between the cleaning wheel and the rolling wheel, the pressure sensor, the guide plate and the motor are all fixedly connected to the mounting frame, and the mounting plate is slidably connected to the mounting frame.

[0015] Compared with the prior art, the beneficial effects of the present invention are: 1. By real-time monitoring of welding current and weld temperature behind the molten pool through the linkage structure, the device does not require manual point-by-point teaching and parameter programming for different plates and different welding currents. It only needs to preset the basic mapping relationship to realize adaptive rolling of the entire welding process, thereby improving production efficiency. 2. The adjustment components in the rolling module can be perfectly adapted to the dual-parameter cross-correction logic, thereby steplessly adjusting the downward pressure of the cone ring by instantaneously changing the motor speed, and thus controlling the positive pressure of the rolling roller on the weld. The overall structure is compact, has a fast response speed, a wide pressure adjustment range, and good linearity, making it easy to achieve closed-loop control. 3. The grinding and cleaning components enable pre-welding grinding and cleaning as well as real-time cleaning of the roller surface, thereby preventing foreign objects on the roller surface from causing secondary indentations or pits in the weld and ensuring a smooth and consistent roller surface. Attached Figure Description

[0016] Figure 1 This is a schematic diagram of the overall structure of the present invention; Figure 2 This is a schematic diagram of the fixing frame structure of the present invention; Figure 3 This is a schematic diagram of the stabilization platform structure of the present invention; Figure 4 This is a schematic diagram of the internal structure of the rolling module of the present invention; Figure 5 This is a schematic diagram of the adjustment component structure of the present invention; Figure 6 This is a schematic diagram of the sliding component structure of the present invention; Figure 7 This is a schematic diagram of the anti-synchronization rod of the present invention located on one side of the output shaft.

[0017] In the diagram: 1. Workstation; 2. Robotic arm; 3. Welding torch; 4. Fixture; 5. Stabilizer; 51. Slide; 52. Mounting slot; 6. Grinding assembly; 61. Electric push rod one; 62. Connecting rod; 63. Wire wheel; 7. Rolling module; 71. Mounting frame; 72. Fan; 73. Adjustment assembly; 731. Motor; 732. Output shaft; 733. Guide rod one; 734. Guide rod two; 735. Inclined plate; 736. Counterweight ball; 737. Spring one; 738. Sliding component; 74. Monitor Measurement components; 741, cone ring; 742, connecting plate; 743, spring two; 744, limit rod; 745, pressure sensor; 75, cleaning component; 751, mounting plate; 752, guide plate; 753, torsion spring hinge; 754, scraper; 755, cleaning wheel; 756, bevel gear one; 757, bevel gear two; 758, connecting column; 759, synchronizing rod; 7510, rolling roller; 8, linkage structure; 81, Hall sensor; 82, infrared temperature detection device; 9, electric push rod two. Detailed Implementation

[0018] 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.

[0019] Please see Figure 1-7 This invention provides a technical solution: a robotic arm structure for a welding device that requires no trial teaching or programming, comprising a fixed frame 4, which is fixedly connected to the end of a robotic arm 2. A coaxial welding torch 3 is detachably mounted on the fixed frame 4. The position of the welding torch 3 can be adjusted by the robotic arm 2. The robotic arm 2 is installed in a movable workstation 1 for easy movement and adjustment. The workstation 1 has a built-in algorithm that can automatically process the data of the linkage structure 8 for precise adjustment. Simultaneously, in conjunction with the recognition module of the robotic arm 2, it can generate three-dimensional spatial trajectory, bevel type, and size information, and automatically generate subsequent adjustment parameters based on this. The entire process requires no manual programming or teaching. A stabilizing platform 5 is fixedly connected to the lower end of the fixed frame 4. It is coaxially arranged with the welding torch 3. A grinding component 6 is hinged to the front end of the stabilizing platform 5, and a rolling module 7 is slidably connected to the rear end. The grinding component 6 and the rolling module 7 are located in front of and behind the welding torch 3 in the welding travel direction, respectively. The grinding component 6 can grind the welding surface before welding to avoid the surface material from affecting the welding effect. The rolling module 7 can roll the welding surface after welding, thereby causing the weld area to produce an extension plastic deformation opposite to the direction of welding compression plastic deformation through the mechanical pressure of rolling, compensating for the uncoordinated strain pair after welding. The welding module is adjusted in real time through the linkage mechanism 8.

[0020] The linkage mechanism 8 includes a Hall sensor 81 and an infrared temperature detection device 82. The Hall sensor 81 is connected to the conductive cable of the welding torch 3 to monitor the welding current in real time. The Hall sensor 81 is electrically connected to the rolling module 7 and adjusts the pressure of the rolling module 7 in real time according to the change of the welding torch 3 current. The infrared temperature detection device 82 is fixedly connected to the rolling module 7 and its monitoring end is close to the welding surface. It monitors the weld temperature and controls the hysteresis distance of the rolling module 7. Both the Hall sensor 81 and the infrared temperature detection device 82 are electrically connected to a PLC controller. Their output ends are respectively connected to the pressure actuator of the rolling module 7 and the electric push rod 9. At this time, the state of the rolling module 7 can be adjusted when the current of the welding torch 3 changes or the temperature of the welding surface changes. The infrared temperature detection device 82 is equipped with protective components such as a filter to prevent sputtering damage.

[0021] The welding torch 3 is detachably installed in the mounting bracket 4. The lower surface of the welding torch 3 is fixedly connected to the stabilizing platform 5 to fix the position and angle of the welding torch 3. The stabilizing platform 5 has a sliding groove 51 and a mounting groove 52. The rolling module 7 is slidably connected to the sliding groove 51 through a T-shaped protrusion. An electric push rod 9 is fixedly connected to one side of the stabilizing platform 5. The output end of the electric push rod 9 is fixedly connected to the rolling module 7. The electric push rod 9 can drive the rolling module 7 to move, thereby adjusting the distance between the rolling module 7 and the welding torch 3. The electric push rod 9 is electrically connected to the infrared temperature detection device 82. At this time, the infrared temperature detection device 82 can control the extension and retraction of the electric push rod 9. The rolling module 7 is equipped with a cleaning component 75 and an adjustment component 73.

[0022] The grinding assembly 6 includes an electric push rod 61, a connecting rod 62, and a wire wheel 63. One end of the electric push rod 61 is hinged to the mounting groove 52. The output end of the electric push rod 61 is rotatably connected to the middle position of the connecting rod 62 through an interference fit of a bearing. One end of the connecting rod 62 is hinged to the wire wheel 63. A drive device is pre-installed inside the connecting rod to drive the wire wheel 63 to rotate. The other end of the connecting rod 62 is hinged to the stabilizing platform 5. At this time, the electric push rod 61 can drive the connecting rod 62 to rotate, thereby changing the position of the wire wheel 63 and its pressure on the welding surface.

[0023] The adjusting assembly 73 includes a motor 731, a first guide rod 733, a second guide rod 734, an inclined plate 735, and a sliding member 738. An output shaft 732 is fixedly connected to the output end of the motor 731. The first guide rod 733 and the second guide rod 734 are fixedly connected to the upper and lower surfaces of the output shaft 732, respectively. When the motor 731 drives the output shaft 732 to rotate, the first guide rod 733 and the second guide rod 734 also rotate. There are four first guide rods 733 and four second guide rods 734, evenly distributed. The first guide rod 733 is longer than the second guide rod 734. Both have spherical members at their ends for limiting movement. There are four inclined plates 735, with the lower ends of each inclined plate 735 inclined towards the output shaft 732. The outer surface of each inclined plate 735 is fitted with several evenly distributed counterweight balls 736 through a clearance fit. At this time, the counterweight balls 736 can... The inclined plate 735 rotates freely, with its upper and lower ends slidably connected to a guide rod 733 and a guide rod 734, respectively. When the guide rods 733 and 734 rotate, the inclined plate 735 rotates accordingly. Under the action of the counterweight balls 736 and centrifugal force, the inclined plate 735 begins to slide outward along the guide rod 733. A spring 737 is fitted onto the surface of the output shaft 732. The upper end of the spring 737 is fixedly connected to the guide rod 733, and the lower end of the spring 737 is fixedly connected to the slider 738. In the initial state, the spring 737 is in a compressed state, and the slider 738 is fitted onto the surface of the output shaft 732. The four outer corners of the slider 738 are fitted with counterweight balls 736 through clearance. The slider 738 and the spring provide the initial force for the sliding of the inclined plate 735, thereby offsetting some of the frictional losses.

[0024] The rolling module 7 is equipped with a monitoring component 74, which includes a conical ring 741, a second spring 743, and a pressure sensor 745. The conical ring 741 is a frustum-shaped cone with its tip pointing downwards. The inner wall of the conical ring 741 is in contact with four inclined plates 735 and is rolledly connected to the counterweight balls 736. When the inclined plates 735 slide outwards along the guide rod 733, they can apply pressure to the conical ring 741, generating a downward force. This force can drive the conical ring 741 to slide downwards. A connecting plate 742 is fixedly connected to the surface of the conical ring 741, and a limit rod 744 is fixedly connected to the connecting plate 742. A second spring 743 is fitted onto the surface of 744. One end of the second spring 743 is fixedly connected to the connecting plate 742, and the other end is in contact with the measuring end of the pressure sensor 745. When the conical ring 741 moves downward, it will drive the limiting rod 744 to move through the connecting plate 742, thereby compressing the spring. The pressure sensor 745 can determine the pressure of the rolling roller 7510 on the welding surface. The pressure sensor 745 is slidably connected to the limiting rod 744. A guide plate 752 is slidably connected to the end of the connecting plate 742 away from the conical ring 741. The guide plate 752 limits the connecting plate 742 to prevent the conical ring 741 from rotating.

[0025] The cleaning assembly 75 includes a mounting plate 751, a scraper 754, a cleaning wheel 755, and a rolling wheel 7510. The inner wall of the mounting plate 751 is elastically hinged to the scraper 754 via a torsion spring hinge 753. The torsion spring is in a torsional state, thus ensuring that the scraper 754 can tightly fit against the rolling wheel 7510. Both the cleaning wheel 755 and the rolling wheel 7510 are hinged to the mounting plate 751. The cleaning wheel 755 and the rolling wheel 7510 are in contact and rotate in opposite directions. The mounting plate 751 is rotatably connected to a connecting post 758 via a bearing. A synchronizing rod 759 is fixedly connected to the upper end of the connecting post 758. The synchronizing rod 759 is inserted into the output shaft 732, at which point the motor 731 can be powered. The connecting column 758 is driven to rotate at high speed by the synchronous rod 759. The lower end of the connecting column 758 is fixedly connected to the bevel gear 757. The cleaning wheel 755 is fixedly connected to one side of the bevel gear 756. The bevel gear 756 and the bevel gear 757 are meshed. When the connecting column 758 rotates at high speed, the bevel gear 757 rotates accordingly. Then, the cleaning wheel 755 is driven to rotate through the bevel gear 756. The bevel gear 756 and the bevel gear 757 are protected and isolated by a dustproof net. The mounting plate 751 is fixedly connected to the limit rod 744. At this time, when the cone ring 741 moves down, the cleaning assembly 75 can be moved down synchronously through the limit rod 744, thereby adjusting the pressure.

[0026] The surface of the rolling module 7 is provided with a mounting frame 71. A fan 72 is fixedly connected to one side of the mounting frame 71. The output direction of the fan 72 is directed towards the contact surface between the cleaning wheel 755 and the rolling wheel 7510, thereby cleaning the impurities accumulated on the contact surface. The pressure sensor 745, the guide plate 752 and the motor 731 are all fixedly connected to the mounting frame 71 to ensure the overall operation. The mounting plate 751 is slidably connected to the mounting frame 71.

[0027] In actual use, before welding begins, workstation 1 moves to the designated location, and then the robotic arm 2 moves the welding torch 3 to the starting point. At this time, the electric push rod 61 extends, so that the wire wheel 63 contacts the weld surface and performs grinding and cleaning. Then the welding torch 3 starts to ignite. During this process, the Hall sensor 81 collects the welding current signal of the welding torch 3 in real time, and the infrared temperature detection device 82 collects the temperature signal of the weld behind the molten pool in real time. The PLC controller that controls the two has preset pressure and current mapping relationship and hysteresis distance and temperature threshold logic.

[0028] When the welding current increases, the controller synchronously increases the output power of the motor 731, causing the output shaft 732 to rotate faster. At this time, the centrifugal force of the inclined plate 735 increases, and the inclined plate 735 pushes the cone ring 741 to move downward. As the downward movement of the cone ring 741 increases, the feedback value of the pressure sensor 745 gradually increases, and the pressure of the rolling roller 7510 on the weld increases accordingly. Conversely, when the current decreases, the pressure decreases. At the same time, when the weld temperature is higher than the preset threshold, the controller drives the electric push rod 9 to extend, thereby increasing the hysteresis distance between the rolling roller 7510 and the welding torch 3, thus preventing the collapse of the not-yet-fully-solidified molten pool. When the weld temperature is lower than the preset threshold, the electric push rod 9 begins to retract, thereby reducing the hysteresis distance, thus ensuring that the rolling is completed while the weld still has sufficient plasticity. The pressure regulation and hysteresis distance regulation are independent yet work together, so that the rolling process parameters can be matched with the welding heat input and weld cooling state in real time, thereby achieving adaptive rolling without trial teaching or programming.

[0029] During the rolling process, when the rolling roller 7510 rolls the weld seam, the surface of the rolling roller 7510 is prone to being covered with debris. At this time, the scraper 754 can scrape off the obvious spatter adhering to the surface of the rolling roller 7510, while the cleaning roller 755 can clean the fine protrusions on the surface of the rolling roller 7510 through friction with the rolling roller 7510, thereby avoiding pits and bumps on the surface of the weld seam during the rolling process. At the same time, the blower 72 can blow away the cleaned debris to prevent accumulation.

[0030] Although embodiments of the invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the appended claims and their equivalents.

Claims

1. A robotic arm structure for a welding device that requires no testing or programming, characterized in that: include A fixed frame (4) is fixedly connected to the end of the robot (2), and a coaxial welding gun (3) is detachably mounted on the fixed frame (4). The stabilizing platform (5) is fixedly connected to the lower end of the fixed frame (4) and arranged coaxially with the welding gun (3). The front end of the stabilizing platform (5) is hinged with a grinding component (6), and the rear end is slidably connected with a rolling module (7). The grinding component (6) and the rolling module (7) are located in front of and behind the welding gun (3) in the welding travel direction, respectively. The linkage mechanism (8) is equipped with a Hall sensor (81) and an infrared temperature detection device (82). The Hall sensor (81) is connected to the wire of the welding torch (3) to monitor the change of the welding torch (3) current. The Hall sensor (81) is electrically connected to the rolling module (7) to adjust the pressure of the rolling module (7) in real time according to the change of the welding torch (3) current. The infrared temperature detection device (82) is fixedly connected to the rolling module (7) and its monitoring end is close to the welding surface to monitor the weld temperature and control the hysteresis distance of the rolling module (7). The rolling module (7) includes an adjustment component (73), a cleaning component (75), and a rolling wheel (7510). The input end of the adjustment component (73) is connected to the linkage mechanism (8), and the output end is slidably connected to the rolling wheel (7510). The cleaning component (75) rotates and fits against the working surface of the rolling wheel (7510).

2. The robotic arm structure of a welding device requiring no testing or programming as described in claim 1, characterized in that: The welding torch (3) is detachably installed in the fixed frame (4). The lower surface of the welding torch (3) is fixedly connected to the stabilizing platform (5). The stabilizing platform (5) has a sliding groove (51) and a mounting groove (52). The rolling module (7) is slidably connected to the sliding groove (51) through a T-shaped protrusion. An electric push rod (9) is fixedly connected to one side of the stabilizing platform (5). The output end of the electric push rod (9) is fixedly connected to the rolling module (7). The electric push rod (9) is electrically connected to the infrared temperature detection device (82).

3. The robotic arm structure of a welding device requiring no testing or programming as described in claim 1, characterized in that: The grinding assembly (6) includes an electric push rod (61), a connecting rod (62) and a wire wheel (63). One end of the electric push rod (61) is hinged to the mounting groove (52), and the output end of the electric push rod (61) is rotatably connected to the middle position of the connecting rod (62). One end of the connecting rod (62) is hinged to the wire wheel (63), and the other end of the connecting rod (62) is hinged to the stabilizing platform (5).

4. The robotic arm structure of a welding device requiring no testing or programming as described in claim 1, characterized in that: The adjustment assembly (73) includes a motor (731), a guide rod one (733), a guide rod two (734), an inclined plate (735), and a sliding member (738). The output end of the motor (731) is fixedly connected to an output shaft (732). The upper and lower end surfaces of the output shaft (732) are respectively fixedly connected to guide rod one (733) and guide rod two (734). There are four guide rods one (733) and four guide rods two (734) evenly distributed. The length of guide rod one (733) is longer than that of guide rod two (734). There are four inclined plates (735).

5. The robotic arm structure of a welding device requiring no testing or programming as described in claim 4, characterized in that: The lower ends of the four inclined plates (735) are all inclined toward the output shaft (732). The outer surface of each inclined plate (735) is fitted with a number of evenly arranged counterweight balls (736) through clearance. The upper and lower ends of the inclined plate (735) are slidably connected to a guide rod one (733) and a guide rod two (734) respectively. The surface of the output shaft (732) is fitted with a spring one (737). The upper end of the spring one (737) is fixedly connected to the guide rod one (733), and the lower end of the spring one (737) is fixedly connected to the slider (738). In the initial state, the spring one (737) is in a compressed state, and the slider (738) is fitted onto the surface of the output shaft (732). The four outer corners of the slider (738) are fitted with counterweight balls (736) through clearance.

6. The robotic arm structure of a welding device requiring no testing or programming, as described in claim 5, is characterized in that: The rolling module (7) is equipped with a monitoring component (74), which includes a conical ring (741), a second spring (743), and a pressure sensor (745). The conical ring (741) is a frustum-shaped cone with its tip pointing downwards. The inner wall of the conical ring (741) is in contact with four inclined plates (735) and is in rolling connection with the counterweight ball (736). A connecting plate (742) is fixedly connected to the surface of the conical ring (741). A limit rod (744) is fixedly connected to the connecting plate (742). A second spring (743) is sleeved on the surface of the limit rod (744). One end of the second spring (743) is fixedly connected to the connecting plate (742), and the other end is in contact with the measuring end of the pressure sensor (745). The pressure sensor (745) is slidably connected to the limit rod (744). A guide plate (752) is slidably connected to the end of the connecting plate (742) away from the conical ring (741).

7. The robotic arm structure of a welding device requiring no testing or programming as described in claim 1, characterized in that: The cleaning assembly (75) includes a mounting plate (751), a scraper (754), a cleaning wheel (755), and a rolling wheel (7510). The mounting plate (751) is fixedly connected to the limiting rod (744). The inner wall of the mounting plate (751) is elastically hinged to the scraper (754) through a torsion spring hinge (753). The cleaning wheel (755) and the rolling wheel (7510) are both hinged to the mounting plate (751), and the cleaning wheel (755) is in contact with the rolling wheel (7510).

8. The robotic arm structure of a welding device requiring no testing or programming as described in claim 7, characterized in that: The mounting plate (751) is rotatably connected to a connecting column (758) via a bearing. A synchronizing rod (759) is fixedly connected to the upper end of the connecting column (758). The synchronizing rod (759) is inserted into the output shaft (732). A bevel gear two (757) is fixedly connected to the lower end of the connecting column (758). A bevel gear one (756) is fixedly connected to one side of the cleaning wheel (755). The bevel gear one (756) meshes with the bevel gear two (757).

9. The robotic arm structure of a welding device requiring no testing or programming as described in claim 8, characterized in that: The surface of the rolling module (7) is provided with a mounting frame (71). A fan (72) is fixedly connected to one side of the mounting frame (71). The output direction of the fan (72) is directed towards the contact surface between the cleaning wheel (755) and the rolling wheel (7510). The pressure sensor (745), the guide plate (752) and the motor (731) are all fixedly connected to the mounting frame (71). The mounting plate (751) is slidably connected to the mounting frame (71).

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