A mobile welding robot device for unmanned aerial vehicle engines

Abstract

The application discloses a mobile welding robot device for an unmanned aerial vehicle engine and belongs to the technical field of engine welding, comprising a displacement guide rail, a displacement bearing frame being slidably connected to the outer side of the displacement guide rail, and a first folding guide rail being fixedly connected to the front end of the displacement bearing frame. The arc-shaped displacement support is slidably installed in the arc-shaped guide groove, and is slidably matched with the anti-disengagement guide plate and the anti-disengagement guide groove, and the guide motor drives the guide gear to roll along the guide tooth piece, so that the arc-shaped displacement support can stably slide along the arc-shaped track. The device can continuously convey the welding gun module along the predetermined arc-shaped path to the curved surface to-be-welded position of the engine annular combustion chamber or the turbine guide vane, and the mechanical arm driven by the driving part is used for multi-degree-of-freedom attitude adjustment, so that the problem that the end of the mechanical arm is difficult to realize normal alignment and continuous attitude change and is prone to welding gun interference due to the limitation of the two-dimensional motion space of the plane guide rail in the existing device is solved.

Description

Technical Field

[0001] This invention relates to the field of engine welding technology, and in particular to a mobile welding robot device for unmanned aerial vehicle (UAV) engines. Background Technology

[0002] In the field of aero-engine and precision component welding, common mobile welding equipment is mainly designed for workshop or fixed workstation environments. These equipment typically include a base that can move laterally or longitudinally along the workshop floor, and a fixed or single-degree-of-freedom guide rail support is mounted on the base. The welding robot is constrained on the guide rail or support and can only move along a preset straight line (X-axis or Y-axis) to achieve approximate positioning of the workpiece. First, drone engines have complex spatial curved surface structures, such as turbine guide vanes, annular combustion chambers, spiral air intakes, and cylinder heads with cooling fins. These surfaces require the welding torch to approach the area to be welded at multiple angles and in multiple postures. However, in existing devices, the robot is limited by the two-dimensional motion space of the planar guide rail, and its robotic arm end is difficult to achieve normal alignment and continuous posture changes on the complex curved surface of the engine, which easily leads to welding torch interference or reaching the blind zone. Summary of the Invention

[0003] The purpose of this invention is to solve the problem that in existing devices, the robot is limited by the two-dimensional motion space of the planar guide rail, and its end effector is difficult to achieve normal alignment and continuous attitude change on the complex curved surface of the engine, which easily causes welding torch interference or reaches the blind zone. Therefore, a mobile welding robot device for UAV engine is proposed.

[0004] To achieve the above objectives, the present invention adopts the following technical solution: A mobile welding robot device for drone engines includes a displacement guide rail, a displacement support frame slidably connected to the outer side of the displacement guide rail, a first folding guide rail fixedly connected to the front end of the displacement support frame, the first folding guide rail having an arc-shaped structure, a second folding guide rail hinged to the top end of the first folding guide rail, the second folding guide rail having three states: overlapping with the first folding guide rail, perpendicular to the first folding guide rail, and docking with the first folding guide rail, both the first and second folding guide rails having arc-shaped guide grooves inside, both the first and second folding guide rails having anti-detachment guide grooves at their bottom ends, both the first and second folding guide rails having guide teeth fixedly connected in an arc-shaped array on their inner walls, both the first and second folding guide rails having connecting brackets fixedly connected to their left and right sides, both the connecting brackets having folding motors fixedly connected to their outer sides, and both folding motors having drive gears mounted on their output shafts.

[0005] Preferably, a driven gear is fixedly connected to the outer side of the second folding guide rail, and the driven gear is rotatably disposed on the inner side of the connecting bracket. The driven gear meshes with the driving gear for transmission. The folding motor is used to drive the driving gear to rotate.

[0006] Preferably, an arc-shaped displacement support is installed on the inner side of the first folding guide rail and the second folding guide rail. A connecting frame is fixedly connected to the bottom end of the arc-shaped displacement support. There are two connecting frames, which are symmetrically fixedly arranged at the bottom end of the arc-shaped displacement support.

[0007] Preferably, an anti-detachment guide plate is fixedly connected to the side of the two connecting frames away from the arc-shaped displacement support, the anti-detachment guide plate is slidably disposed in the anti-detachment guide groove, and the arc-shaped displacement support is slidably disposed in the arc-shaped guide groove.

[0008] Preferably, a bearing base plate is fixedly connected to the front end of the connecting frame, and assembly holes are provided at the four corners of the bearing base plate. A guide motor is fixedly connected to the bottom end of the arc-shaped displacement support.

[0009] Preferably, a guide gear is mounted on the top output shaft of the guide motor, the guide motor is used to drive the guide gear to rotate, and the guide gear is used to move along the guide gear.

[0010] Preferably, a drive unit is installed at the top of the support substrate, and a robotic arm is installed at the top of the drive unit. The drive unit is used to drive the robotic arm to rotate. A welding machine module is installed on the inner side of the robotic arm, and a welding gun module is installed on the side of the welding machine module away from the robotic arm.

[0011] Preferably, mounting supports are fixedly connected to the four corners of the rear end face of the displacement guide rail, the mounting supports have mounting holes inside, and a horizontally arranged guide tooth row is fixedly connected to the inner side of the displacement guide rail.

[0012] Preferably, the top and bottom ends of the displacement guide rail are provided with guide grooves, which are used to support the displacement support frame. The upper and lower sides of the inner wall of the displacement support frame are fixedly connected with concave guide blocks, and the rear side of the displacement support frame is fixedly connected with a connecting support plate.

[0013] Preferably, there are two connecting support plates, which are symmetrically fixed on the rear side of the displacement bearing frame. A displacement motor is fixedly connected to the top of each connecting support plate, and a displacement gear that meshes with the guide gear is fixedly connected to the bottom of the displacement motor.

[0014] Compared with the prior art, the beneficial effects of the present invention are as follows: 1. In this invention, by setting an arc-shaped displacement support to slide within an arc-shaped guide groove, and cooperating with the sliding engagement of the anti-detachment guide plate and the anti-detachment guide groove, and the guide motor driving the guide gear to roll along the guide gear, the arc-shaped displacement support can slide stably along an arc trajectory. This device can continuously transport the welding torch module along a predetermined arc path to the curved surface to be welded, such as the engine annular combustion chamber or turbine guide blades. With the help of the mechanical arm driven by the drive unit, it can perform multi-degree-of-freedom attitude adjustment, solving the technical problem in existing devices where the end of the mechanical arm is limited by the two-dimensional motion space of the planar guide rail, making it difficult to achieve normal alignment and continuous attitude change, and easily causing welding torch interference or reaching the blind zone. This ensures the continuity and accessibility of the welding operation.

[0015] 2. In this invention, by setting the first folding guide rail and the second folding guide rail to be hinged together, and cooperating with components such as the folding motor, drive gear and driven gear, the second folding guide rail can switch between three states: overlapping, perpendicular or docking relative to the first folding guide rail. This device can flexibly change the working length and direction of the arc-shaped guide rail according to the spatial constraints of different parts of the UAV engine, solving the problem that the welding robot in the existing device can only perform two-dimensional movement on the planar guide rail and is difficult to achieve multi-angle approach on the complex curved surface of the engine, thereby significantly improving the welding reach range.

[0016] 3. In this invention, by setting components such as displacement guide rails, guide gear racks, displacement support frames, displacement motors, and displacement gears, the displacement support frame can drive the entire welding execution unit to adjust its position laterally. This device can combine arc-shaped motion trajectory with lateral linear motion to achieve multi-dimensional welding path planning on the large and complex structure of UAV engines. It solves the problem that existing mobile welding devices, which only have single-direction displacement capabilities, cannot adapt to the welding requirements of multiple curved surfaces and angles of engines, thus realizing full-coverage welding operations for different areas of large UAV engines. Attached Figure Description

[0017] Figure 1 This is a schematic diagram of the front side view of a mobile welding robot device for drone engines in its folded state, as proposed in this invention. Figure 2 This is a schematic diagram of the rear side view of a mobile welding robot device for drone engines in its folded state, as proposed in this invention. Figure 3 This is a top view of the deployed structure of a mobile welding robot device for a drone engine proposed in this invention. Figure 4 This is a schematic diagram of the arc-shaped displacement support structure of a mobile welding robot device for UAV engine proposed in this invention; Figure 5This is a schematic diagram of the combined structure of the first and second folding guide rails of a mobile welding robot device for drone engines proposed in this invention. Figure 6 This is a schematic diagram of the displacement support frame structure of a mobile welding robot device for UAV engines proposed in this invention; Figure 7 This invention proposes a mobile welding robot device for drone engines. Figure 2 Enlarged structural diagram at point A in the middle; Figure 8 This invention proposes a mobile welding robot device for drone engines. Figure 2 Enlarged structural diagram at point B.

[0018] In the diagram: 1. Displacement guide rail; 101. Mounting support column; 1011. Mounting hole; 2. Guide gear rack; 201. Guide groove; 3. Displacement support frame; 301. Concave guide block; 3011. Connecting support plate; 3012. Displacement motor; 3013. Displacement gear; 4. First folding guide rail; 401. Arc-shaped guide groove; 4011. Anti-detachment guide groove; 4012. Guide gear; 4013. Second folding guide rail; 5. Connecting bracket; 501. Folding motor; 5011. Drive gear; 5012. Driven gear; 6. Arc-shaped displacement support; 601. Connecting frame; 6011. Anti-detachment guide plate; 6012. Support base plate; 6013. Assembly hole; 7. Guide motor; 701. Guide gear; 8. Drive unit; 801. Robotic arm; 8011. Welding machine module; 8012. Welding torch module. Detailed Implementation

[0019] The technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present invention. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. All other embodiments obtained by those skilled in the art based on the embodiments of the present invention without creative effort are within the scope of protection of the present invention.

[0020] Example, refer to Figure 1 - Figure 8A mobile welding robot device for drone engines includes a displacement guide rail 1. A displacement support frame 3 is slidably connected to the outer side of the displacement guide rail 1. A first folding guide rail 4 is fixedly connected to the front end of the displacement support frame 3. The first folding guide rail 4 has an arc-shaped structure. A second folding guide rail 4013 is hinged to the top end of the first folding guide rail 4. The second folding guide rail 4013 has three states: overlapping with the first folding guide rail 4, perpendicular to it, and docking with it. Both the first folding guide rail 4 and the second folding guide rail 4013 have arc-shaped guide grooves 401 inside. Both the first folding guide rail 4 and the second folding guide rail 4013 have anti-detachment guide grooves 4011 locked at their bottom ends. The inner walls of the first folding guide rail 4 and the second folding guide rail 4013 have... A guide tooth 4012 is fixedly connected to the arc-shaped array. Connecting brackets 5 are fixedly connected to both sides of the first folding guide rail 4. A folding motor 501 is fixedly connected to the outer side of the connecting brackets 5. A drive gear 5011 is mounted on the output shaft of the folding motor 501. This solves the problem of welding robots struggling to achieve continuous multi-angle attitude changes on the complex curved surface of a drone engine, realizing the arc-shaped guidance and multi-state switching functions of the folding guide rail, and improving welding accessibility and spatial adaptability. A driven gear 5012 is fixedly connected to the outer side of the second folding guide rail 4013. The driven gear 5012 is rotatably mounted inside the connecting bracket 5, and meshes with the drive gear 5011 for transmission. The folding motor 501 drives the drive gear 5011 to rotate.

[0021] Furthermore, an arc-shaped displacement support 6 is installed on the inner side of the first folding guide rail 4 and the second folding guide rail 4013. A connecting frame 601 is fixedly connected to the bottom end of the arc-shaped displacement support 6. There are two connecting frames 601, which are symmetrically fixedly arranged at the bottom end of the arc-shaped displacement support 6. An anti-detachment guide plate 6011 is fixedly connected to the side of the two connecting frames 601 away from the arc-shaped displacement support 6. The anti-detachment guide plate 6011 is slidably arranged in the anti-detachment guide groove 4011. The arc-shaped displacement support 6 is slidably arranged in the arc-shaped guide groove 401. The front end of the connecting frame 601 is fixedly... A support base plate 6012 is fixedly connected, and mounting holes 6013 are provided at the four corners of the support base plate 6012. A guide motor 7 is fixedly connected to the bottom end of the arc-shaped displacement support 6, which realizes the automatic driving and angle switching function of the folding motor 501 to the second folding guide rail 4013, solves the problems of low efficiency and inaccurate positioning of manual adjustment, and improves the automation of guide rail folding and unfolding. A guide gear 701 is installed on the top output shaft of the guide motor 7. The guide motor 7 is used to drive the guide gear 701 to rotate, and the guide gear 701 is used to move along the guide gear 4012.

[0022] Furthermore, a drive unit 8 is installed at the top of the support substrate 6012, and a robotic arm 801 is installed at the top of the drive unit 8. The drive unit 8 is used to drive the robotic arm 801 to rotate. A welding machine module 8011 is installed on the inner side of the robotic arm 801. A welding gun module 8012 is installed on the side of the welding machine module 8011 away from the robotic arm 801. This realizes the stable sliding support function of the arc-shaped displacement support 6 in the first folding guide rail 4 and the second folding guide rail 4013, solves the problem of unstable bearing when the welding module moves on the arc trajectory, and enhances the stability of movement. Mounting pillars 101 are fixedly connected to the four corners of the rear end face of the displacement guide rail 1. Mounting holes 1011 are opened inside the mounting pillars 101. A horizontally arranged guide tooth row 2 is fixedly connected to the inner side of the displacement guide rail 1.

[0023] Furthermore, guide grooves 201 are provided at both the top and bottom of the displacement guide rail 1. The guide grooves 201 are used to support the displacement support frame 3. Concave guide blocks 301 are fixedly connected to both the upper and lower sides of the inner wall of the displacement support frame 3. A connecting support plate 3011 is fixedly connected to the rear side of the displacement support frame 3, realizing the cooperative guiding function of the anti-detachment guide plate 6011 and the anti-detachment guide groove 4011, solving the problem of easy derailment of the arc-shaped displacement support 6 during operation, and improving the safety of movement. There are two connecting support plates 3011. The two connecting support plates 3011 are symmetrically fixedly arranged on the rear side of the displacement support frame 3. A displacement motor 3012 is fixedly connected to the top of the connecting support plate 3011. A displacement gear 3013 that meshes with the guide gear rack 2 is fixedly connected to the bottom of the displacement motor 3012.

[0024] In use, the displacement guide rail 1 is first fixed to the external work platform or tooling base by mounting the support column 101 and mounting holes 1011; a horizontally arranged guide tooth row 2 is fixedly connected to the inner side of the displacement guide rail 1, and guide grooves 201 are opened at the top and bottom ends of the displacement guide rail 1; the displacement support frame 3 is slidably fitted into the guide groove 201 by the concave guide block 301, so that the displacement support frame 3 can move laterally along the length direction of the displacement guide rail 1; a displacement motor 3012 is fixedly connected to the rear side of the displacement support frame 3 by the connecting support plate 3011, and the bottom end of the displacement motor 3012 is connected to the displacement tooth. Wheel 3013, the displacement gear 3013 meshes with the guide gear row 2; when the displacement motor 3012 starts, the displacement motor 3012 drives the displacement gear 3013 to rotate, the displacement gear 3013 rolls along the guide gear row 2, thereby driving the displacement support frame 3 and all components connected to it to move laterally along the displacement guide rail 1, so as to adjust the overall lateral position of the welding operation. The front end of the displacement support frame 3 is fixedly connected to the first folding guide rail 4, which has an arc structure, and the top end of which is hinged to the second folding guide rail 4013; the left and right sides of the first folding guide rail 4 are connected by brackets 5. A folding motor 501 is installed, and a drive gear 5011 is mounted on the output shaft of the folding motor 501. A driven gear 5012 is fixedly connected to the outer side of the second folding guide rail 4013. The driven gear 5012 is rotatably disposed on the inner side of the connecting bracket 5 and meshes with the drive gear 5011. When it is necessary to change the working state of the guide rail, the folding motor 501 is started, and the folding motor 501 drives the drive gear 5011 to rotate. The drive gear 5011 drives the driven gear 5012 to rotate through the meshing relationship, thereby driving the second folding guide rail 4013 to swing relative to the first folding guide rail 4. The second folding guide rail 4013 can achieve three states: overlapping with the first folding guide rail 4, perpendicular to it, or docking with it. When the second folding guide rail 4013 and the first folding guide rail 4 are docked, they together form a continuous arc-shaped guide rail, extending the length of the arc-shaped motion trajectory. When the second folding guide rail 4013 and the first folding guide rail 4 are overlapping, the overall structure is compact, making it easy to store or pass through narrow spaces. When the second folding guide rail 4013 is perpendicular, it can avoid workpieces or other external equipment, adapting to the needs of arc-shaped motion trajectory length and spatial layout under different working conditions. Both the first folding guide rail 4 and the second folding guide rail 4013 have arc-shaped guide grooves 401 inside, and both have anti-detachment guide grooves 4011 at their bottom ends. Guide teeth 4012 are fixedly connected to the inner walls of both in an arc-shaped array. Arc-shaped displacement supports 6 are installed on the inner sides of the first folding guide rail 4 and the second folding guide rail 4013, and these arc-shaped displacement supports 6 are slidably disposed within the arc-shaped guide grooves 401. A connecting frame 601 is fixedly connected to the bottom end of the arc-shaped displacement support 6. Two connecting frames 601 are provided and symmetrically fixedly disposed at the bottom ends of the arc-shaped displacement supports 6. Of the two connecting frames 601... A guide plate 6011 is fixedly connected to the side away from the arc-shaped displacement support 6. The guide plate 6011 is slidably disposed in the guide groove 4011. When the arc-shaped displacement support 6 slides along the arc-shaped guide rail, the guide plate 6011 is always constrained in the guide groove 4011 to prevent the arc-shaped displacement support 6 from coming out of the guide groove 401 due to gravity or vibration during the arc-shaped movement. A bearing base plate 6012 is fixedly connected to the front end of the connecting frame 601. The bearing base plate 6012 has mounting holes 6013 at the four corners inside for installing and fixing external related equipment. A guide motor 7 is fixedly connected to the bottom end of the arc-shaped displacement support 6. A guide gear 701 is mounted on the top output shaft of the guide motor 7, and the guide gear 701 meshes with the guide tooth component 4012. When it is necessary to adjust the welding position along the arc-shaped trajectory, the guide motor 7 starts, and the guide motor 7 drives the guide gear 701 to rotate. The guide gear 701 rolls along the guide tooth component 4012. Since the guide tooth component 4012 is fixed on the inner wall of the first folding guide rail 4 and the second folding guide rail 4013, the guide gear 701 drives the arc-shaped displacement support 6 to slide along the arc-shaped guide groove 401 in an arc shape during the rolling process. The arc-shaped displacement support 6 drives the bearing plate 6012 to move synchronously along the arc-shaped trajectory through the connecting frame 601; when the second folding guide rail 4013 is in the state of docking with the first folding guide rail 4, the arc-shaped displacement support 6 can slide continuously from the arc-shaped guide groove 401 of the first folding guide rail 4 into the arc-shaped guide groove 401 of the second folding guide rail 4013, realizing continuous arc-shaped movement across the guide rail; when the anti-detachment guide plate 6011 crosses the joint between the first folding guide rail 4 and the second folding guide rail 4013, it is still constrained by the anti-detachment guide groove 4011, ensuring that the movement process is uninterrupted and does not derail; A drive unit 8 is mounted on the top of the support substrate 6012, and a robotic arm 801 is mounted on the top of the drive unit 8. The drive unit 8 is used to drive the robotic arm 801 to rotate in space with multiple degrees of freedom. A welding module 8011 is mounted on the inner side of the robotic arm 801, and a welding gun module 8012 is mounted on the side of the welding module 8011 away from the robotic arm 801. When the arc-shaped displacement support 6 transports the support substrate 6012 to the preset arc-shaped working position by the drive of the guide motor 7, the drive unit 8 is activated. The drive unit 8 drives the robotic arm 801 to adjust its posture in space so that the welding gun module 8012 is aligned with the UAV engine part to be welded. At the same time, the welding module 8011 provides the energy required for welding, and the welding gun module 8012 performs the welding operation. During the welding process, the displacement motor 3012 can be activated at any time to drive the displacement support frame 3 to move laterally, thereby changing the first folding guide rail 4 and the second folding guide rail 4. The guide rail 4013 is positioned laterally in space; the guide motor 7 can be started at any time, driving the arc-shaped displacement support 6 to slide along the arc-shaped guide groove 401, thereby changing the position of the supporting substrate 6012 on the arc-shaped trajectory; the folding motor 501 can be started at any time, driving the second folding guide rail 4013 to swing relative to the first folding guide rail 4, changing the working state of the arc-shaped guide rail; the drive unit 8 can drive the robotic arm 801 to adjust the direction and attitude of the welding gun module 8012 at any time; the above-mentioned moving parts can move independently or in coordination, so that the welding gun module 8012 can approach the complex curved surface to be welded area of ​​the UAV engine from multiple angles and directions, and complete the welding operation during continuous movement; when it is necessary to store or transfer this device, the folding motor 501 drives the second folding guide rail 4013 to swing to the state of overlapping with the first folding guide rail 4, so that the overall structure occupies a large amount of space in the lateral direction, which is convenient for transportation or storage.

[0025] The above description is only a preferred embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any equivalent substitutions or modifications made by those skilled in the art within the scope of the technology disclosed in the present invention, based on the technical solution and inventive concept of the present invention, should be covered within the scope of protection of the present invention.

Claims

1. A mobile welding robot device for unmanned aerial vehicle (UAV) engines, comprising a displacement guide rail (1), characterized in that, The displacement guide rail (1) is slidably connected to a displacement support frame (3). The front end of the displacement support frame (3) is fixedly connected to a first folding guide rail (4). The first folding guide rail (4) has an arc-shaped structure. The top end of the first folding guide rail (4) is hinged to a second folding guide rail (4013). The second folding guide rail (4013) has three states: overlapping with the first folding guide rail (4), perpendicular to it, and docking with it. The interior of both the first folding guide rail (4) and the second folding guide rail (4013) is provided with an arc-shaped guide groove (40). 1) The bottom ends of the first folding guide rail (4) and the second folding guide rail (4013) are provided with anti-detachment guide grooves (4011). The inner walls of the first folding guide rail (4) and the second folding guide rail (4013) are fixedly connected with guide teeth (4012) in an arc array. The left and right sides of the first folding guide rail (4) are fixedly connected with connecting brackets (5). The outer side of the connecting brackets (5) is fixedly connected with a folding motor (501). The output shaft of the folding motor (501) is equipped with a drive gear (5011).

2. The mobile welding robot device for UAV engines according to claim 1, characterized in that, A driven gear (5012) is fixedly connected to the outer side of the second folding guide rail (4013). The driven gear (5012) is rotatably disposed on the inner side of the connecting bracket (5). The driven gear (5012) meshes with the drive gear (5011) for transmission. The folding motor (501) is used to drive the drive gear (5011) to rotate.

3. The mobile welding robot device for UAV engines according to claim 1, characterized in that, Arc-shaped displacement supports (6) are installed on the inner side of the first folding guide rail (4) and the second folding guide rail (4013). A connecting frame (601) is fixedly connected to the bottom end of the arc-shaped displacement support (6). There are two connecting frames (601), and the two connecting frames (601) are symmetrically fixed at the bottom end of the arc-shaped displacement support (6).

4. The mobile welding robot device for UAV engines according to claim 3, characterized in that, An anti-detachment guide plate (6011) is fixedly connected to one side of the two connecting frames (601) away from the arc-shaped displacement support (6). The anti-detachment guide plate (6011) is slidably disposed in the anti-detachment guide groove (4011), and the arc-shaped displacement support (6) is slidably disposed in the arc-shaped guide groove (401).

5. The mobile welding robot device for UAV engines according to claim 3, characterized in that, The front end of the connecting frame (601) is fixedly connected to a bearing base plate (6012), and the bearing base plate (6012) has assembly holes (6013) at the four corners inside. The bottom end of the arc-shaped displacement support (6) is fixedly connected to a guide motor (7).

6. The mobile welding robot device for unmanned aerial vehicle engines according to claim 5, characterized in that, A guide gear (701) is mounted on the top output shaft of the guide motor (7). The guide motor (7) is used to drive the guide gear (701) to rotate. The guide gear (701) is used to move along the guide gear (4012).

7. The mobile welding robot device for unmanned aerial vehicle engines according to claim 5, characterized in that, A drive unit (8) is installed at the top of the support substrate (6012), and a robotic arm (801) is installed at the top of the drive unit (8). The drive unit (8) is used to drive the robotic arm (801) to rotate. A welding machine module (8011) is installed on the inner side of the robotic arm (801), and a welding gun module (8012) is installed on the side of the welding machine module (8011) away from the robotic arm (801).

8. The mobile welding robot device for UAV engines according to claim 1, characterized in that, The four corners of the rear end face of the displacement guide rail (1) are fixedly connected to the mounting pillars (101), and the mounting pillars (101) are provided with mounting holes (1011). The inner side of the displacement guide rail (1) is fixedly connected to the guide tooth row (2) arranged laterally.

9. A mobile welding robot device for unmanned aerial vehicle engines according to claim 8, characterized in that, The top and bottom ends of the displacement guide rail (1) are provided with guide grooves (201), the guide grooves (201) are used to support the displacement support frame (3), the upper and lower sides of the inner wall of the displacement support frame (3) are fixedly connected with concave guide blocks (301), and the rear side of the displacement support frame (3) is fixedly connected with a connecting support plate (3011).

10. A mobile welding robot device for unmanned aerial vehicle engines according to claim 9, characterized in that, There are two connecting support plates (3011). The two connecting support plates (3011) are symmetrically fixed on the rear side of the displacement bearing frame (3). The top of the connecting support plate (3011) is fixedly connected to a displacement motor (3012), and the bottom of the displacement motor (3012) is fixedly connected to a displacement gear (3013) that meshes with the guide gear rack (2).

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