An automatic welding robot for automobile parts

Abstract

The application discloses an automatic welding robot for automobile accessories, and relates to the technical field of welding devices.The automatic welding robot comprises a projection welding machine and a mechanical arm, and the mechanical arm is used for controlling automobile accessories; further comprising a chassis; a servo module is fixedly installed on the chassis, a switching motor is fixedly connected to a movable end of the servo module, an output end of the switching motor is fixedly connected with a rotating frame, and six rotating arms are arranged at equal intervals on the periphery of the rotating frame; and a detection component is arranged.The application automatically triggers fine detection and intelligent diagnosis through abnormal electric parameters, realizes predictive maintenance and closed-loop quality control of the electrode head state, can timely intervene before performance degradation of the electrode head leads to a batch of defective products, can quickly find problems, distinguishes two core failure modes of surface adhesion and body wear, calls a targeted maintenance process, solves the problem from the root cause, avoids insufficient or excessive maintenance, and significantly improves maintenance accuracy and service life of the electrode head.

Description

Technical Field

[0001] This invention relates to the field of welding equipment technology, and more specifically to an automatic welding robot for automotive parts. Background Technology

[0002] In modern automobile manufacturing, projection welding is widely used to weld connecting parts such as nuts onto sheet metal for the car body and many accessories. This process relies on a welding robot carrying an electrode head to apply pressure and pass a strong current, achieving metal fusion through resistance heating.

[0003] In projection welding, the electrode head and electrode arm are subjected to a high-voltage (6-8kN) and high-current (12-18kA) working environment for a long time after assembly, which can easily lead to various types of damage: First, normal wear, the electrode head end face is repeatedly pressed by contact with the workpiece, resulting in excessive wear of the end face dimensions (e.g., diameter reduction > 1mm); Second, adsorption of impurities and granules, metal spatter, oil and other substances generated during welding can adhere to the surface of the electrode head, forming hard granules, causing fluctuations in contact resistance; Third, damage or excessive deformation due to repeated repairs, traditional manual grinding repair is prone to uneven grinding force, which can cause deformation of the electrode head sidewall, or the overall size of the electrode head may exceed the standard range after repeated repairs (e.g., length reduction > 0.5mm), failing to meet the welding accuracy requirements.

[0004] Existing automated projection welding equipment is mostly in continuous operation mode, lacking real-time monitoring and automatic maintenance mechanisms for electrode head status. When problems such as electrode head wear or adhering impurities occur, the equipment cannot detect them in time and continues welding, resulting in defects such as incomplete welds and asymmetrical weld nuggets in subsequent welds, producing a large number of defective products. Moreover, the maintenance and replacement of electrode heads in the current technology rely entirely on manual labor, requiring operators to disassemble, grind, or replace them after the machine is stopped. This not only interrupts continuous operation but also presents problems such as cumbersome operation, time and labor costs, seriously affecting production efficiency. Summary of the Invention

[0005] The purpose of this invention is to provide an automatic welding robot for automotive parts to solve the problems mentioned in the background art.

[0006] To solve the above-mentioned technical problems, the technical solution adopted by the present invention is as follows: An automated welding robot for automotive parts includes a projection welding machine and a robotic arm, the robotic arm being used to manipulate the automotive parts; it also includes: a base frame; a servo module fixedly mounted on the base frame, a switching motor fixedly connected to the movable end of the servo module, a rotating frame fixedly connected to the output end of the switching motor, and six rotating arms arranged equidistantly in a ring around the periphery of the rotating frame; a detection component for collecting the radius of the electrode head at different circumferential positions at its end and middle; a rough grinding component for grinding away contaminants adhering to the outside of the electrode head; a fine grinding component for finishing the end and sidewalls of the electrode head; a positioning component mounted on the electrode arm of the projection welding machine for detachably fixing the electrode head to the electrode arm; and a replacement component for... The system includes: a replacement component for damaged electrode heads; a data comparison component for receiving signals from the detection component and comparing them with the initial radius of the electrode head; a maintenance and control component for generating maintenance and control instructions based on the comparison results from the data comparison component and transmitting these instructions to the execution component, which includes a rough grinding component, a replacement component, or a combination of a rough grinding component and a fine grinding component; a welding parameter monitoring unit for communicating with the control system of the projection welding machine to monitor electrical parameters during the welding process in real time and determine if any continuous abnormalities occur; and a controller for communicating with the welding parameter monitoring unit, the control system of the robotic arm, the switching motor, and the detection component.

[0007] By adopting the above technical solution, predictive maintenance and closed-loop quality control of electrode head status are achieved through automatic triggering of fine detection and intelligent diagnosis by abnormal electrical parameters. This allows for timely intervention before performance degradation leads to batch defects, enabling rapid problem detection. However, the above monitoring can only detect problems but cannot determine their root causes, thus failing to address them in a targeted manner. In response, this system can intelligently distinguish between two core failure modes: surface adhesion and body wear, and call upon targeted maintenance processes to avoid insufficient or excessive maintenance, significantly improving maintenance accuracy and electrode head lifespan. The entire process from diagnosis to treatment requires no manual intervention, greatly reducing equipment downtime and completely solving the problems of cumbersome, time-consuming, and labor-intensive traditional manual maintenance operations, effectively improving the overall efficiency of the equipment and the automation level of the production line.

[0008] A further improvement of the technical solution of the present invention is that: the coarse grinding component includes a coarse grinding motor fixedly connected to the bottom of the rotating arm, the output end of the coarse grinding motor extends to the top of the rotating arm and is fixedly connected to a turntable, a wire brush is rotatably connected to the edge of the turntable, the central shaft of the wire brush extends to the bottom of the turntable and is fixedly connected to a driven gear, and a gear ring is fixedly connected to the rotating arm on the side with the coarse grinding motor, and the gear ring meshes with the driven gear; the fine grinding component includes a fine grinding motor fixedly connected to the bottom of the rotating arm, the output end of the fine grinding motor extends to the top of the rotating arm and is fixedly connected to a grinding wheel.

[0009] By adopting the above technical solution, the dual motion structure of the steel wire wheel brush in the coarse grinding component, which involves both revolution and rotation, completely solves the problems of incomplete range and residue of traditional single-rotation grinding, achieving comprehensive removal of the residue on the electrode head surface. The grinding wheel structure of the fine grinding component can simultaneously grind the end and sidewall of the electrode head, ensuring the dimensional accuracy of the repaired electrode head, providing precise assurance for the quality of the weld nugget of the sealing weld nut, and extending the service life of the electrode head.

[0010] A further improvement of the technical solution of the present invention is that: the positioning component includes an electric push rod fixedly connected to the motor arm of the projection welding machine; an electric clamp is fixedly connected to the movable end of the electric push rod; mounting blocks are fixedly connected to both clamps of the electric clamp; an arc surface is provided on the side of the two mounting blocks that are close to each other; a U-shaped plate is fixedly connected to the side of the two mounting blocks that are far apart; a through hole is opened in the middle of each mounting block; a first pressure rod is slidably connected to the U-shaped plate; a tray is fixedly connected to the end of the two first pressure rods that are far apart; a pressure block is fixedly connected to the end of the first pressure rod that is far apart from the tray; a first spring is sleeved on the outside of the first pressure rod and located between the U-shaped plate and the pressure block; both the mounting block and the pressure block are insulating blocks.

[0011] Using the above technical solution, an electric clamp is set up to clamp and fix the electrode head in conjunction with the mounting block, and an electric push rod is used to move the electric clamp in the vertical direction, thereby meeting the action requirements of inserting or removing the electrode head into the installation position, so as to facilitate quick installation or disassembly. The electrical connection relies on the tight fit between the upper conical surface of the electrode head and the groove that matches the inside of the installation position to meet the conductivity requirements. Furthermore, by setting up a collaborative structure of tray support and pressure block pre-tightening, the problem of tipping during electrode head clamping is completely solved (avoiding electrode head falling off during automated replacement, thus preventing replacement failure), reducing the coaxiality deviation between the electrode head and the electrode arm, and ensuring stable current conduction in the future.

[0012] A further improvement of the technical solution of the present invention is that: a guide groove is provided on the side wall of the first pressure rod, the two ends of the guide groove are straight grooves and the middle part is a spiral groove, and a sliding ball is fixedly connected to the U-shaped plate, and the sliding ball is slidably connected to the guide groove.

[0013] By adopting the above technical solution, a guide groove with a spiral shape is set on the first pressure rod, and a sliding ball is used to make the first pressure rod rotate during axial movement, thereby realizing the automatic flipping function of the pallet. This allows the pallet to be flipped to an inclined or vertical avoidance position during welding or maintenance, eliminating potential motion interference and greatly improving the space utilization and operational flexibility of the system.

[0014] A further improvement of the technical solution of the present invention is as follows: the replacement component includes a fixed frame fixedly connected to the rotating arm, a bidirectional screw rotatably connected between the inner sides of the fixed frame, a replacement motor fixedly connected to one side of the fixed frame, the output end of the replacement motor fixedly connected to one end of the bidirectional screw, and two sliders symmetrically connected to the outer side of the bidirectional screw, the sliders being slidably connected to the fixed frame; the replacement component also includes two scissor structures, each scissor structure consisting of two support rods rotatably connected in the middle, the rotating shafts in the middle of the two scissor structures being fixedly connected; a bottom block is hinged to the bottom of each support rod, the bottom block being fixedly connected to the slider; a top block is hinged to the top of each support rod, a guide rod is slidably connected to the bottom block, the top of the guide rod being fixedly connected to the top block; a connecting plate is fixedly connected between every two top blocks, a rack is fixedly connected to the side of the two connecting plates that are close to each other, a support block is slidably connected between the tops of the racks, a centering gear is rotatably connected to the bottom of the support block, the centering gear being slidably connected to both racks; a flexible pad is fixedly connected to the side of the top block that is close to the support block.

[0015] By adopting the above technical solution, the lifting and lowering of the top block is achieved through a scissor fork structure. Combined with the slider transmission of the bidirectional screw and the centering positioning of the centering gear, the automatic disassembly of the damaged electrode head and the precise installation of the new electrode head are realized without manual intervention, reducing the time of each replacement and thus reducing downtime. The replacement process mainly relies on the above-mentioned disassembly and replacement components to place the electrode head on the tray, and then relies on the above-mentioned positioning components for installation. High-precision installation is achieved under the coordinated action of various components, without the need for secondary debugging, directly meeting the welding accuracy requirements, ensuring that the automated equipment can quickly resume continuous operation, while reducing the intensity of manual operation and avoiding the risk of errors caused by manual operation.

[0016] A further improvement of the technical solution of the present invention is that: the detection component includes a detection motor fixedly connected to the bottom of the rotating arm, the output end of the detection motor extends to the top of the rotating arm and is fixedly connected to a rotating plate, a mounting platform is fixedly connected to the top of the rotating plate at a position off-center, and two photoelectric sensors are fixedly installed on the side of the mounting platform near the central axis of the rotating plate.

[0017] By adopting the above technical solution, the rotating plate is driven by the detection motor to realize the full circumference detection of the electrode head by the photoelectric sensor, and the radius data of the entire circumference of the electrode head is collected, which completely solves the problem of missed detection in single-point detection. The collection of multiple sets of data makes the data comparison of the components more sufficient, reduces the false judgment rate, ensures the accuracy of maintenance instructions, and further improves the welding quality and stability of the sealing welding nut.

[0018] A further improvement of the technical solution of the present invention is that: the detection component further includes a mounting plate fixedly connected to the top of the rotating plate, a second pressure rod slidably connected to one side of the mounting plate, a roller frame fixedly connected to one end of the second pressure rod, a detection roller rotatably connected to the inner side of the roller frame, the end of the second pressure rod away from the roller frame extending to the other side of the mounting plate and fixedly connected to a feedback plate, a second spring sleeved on the outside of the second pressure rod between the mounting plate and the roller frame, and a pressure sensor fixedly installed on the side wall of the mounting plate, the detection head of the pressure sensor contacting the feedback plate.

[0019] By adopting the above technical solution, and by setting the detection roller to fit closely to all areas along the axial direction of the electrode head, the problem of the inability to detect the axial blind zone of the photoelectric sensor is completely solved; local weld defects caused by untreated blind zone abnormalities are avoided, further improving the stability and reliability of welding quality.

[0020] During the testing process, the rotating plate rotates with the testing motor. The testing roller not only rolls around the electrode head circumferentially with the rotating plate, but also slides adaptively along the electrode head radially (when there is a change in the diameter of the electrode head in the axial direction, the extension and retraction of the second spring drives the second pressure rod to slide along the mounting plate to ensure that the testing roller continuously fits the axial regions of the electrode head). A further improvement of the technical solution of the present invention is that a collection cover is fixedly connected to the outside of the rotating frame, and the collection cover is located below the rotating arm.

[0021] By adopting the above technical solution, the closed collection structure of the collection hood enables the centralized collection of grinding debris and damaged electrode heads, preventing debris from scattering onto the moving parts of the equipment and ensuring the long-term stable operation of the automated welding robot.

[0022] Due to the adoption of the above technical solution, the technical progress achieved by this invention compared to the prior art is as follows: 1. This invention provides an automatic welding robot for automotive parts. By automatically triggering precise detection and intelligent diagnosis through abnormal electrical parameters, it achieves predictive maintenance and closed-loop quality control of the electrode head condition. It can intervene in time before the performance deteriorates and leads to batch defective products, and can quickly detect problems. By distinguishing between the two core failure modes of surface adhesion and body wear and calling targeted maintenance processes, it solves the problem at its root, avoids insufficient or excessive maintenance, and significantly improves maintenance accuracy and electrode head lifespan.

[0023] 2. This invention provides an automatic welding robot for automotive parts. The entire process from diagnosis to treatment requires no human intervention, greatly reducing equipment downtime and completely solving the problems of cumbersome, time-consuming, and labor-intensive traditional manual maintenance operations. It effectively improves the overall efficiency of the equipment and the automation level of the production line.

[0024] 3. This invention provides an automatic welding robot for automotive parts. Through the dual motion structure of the steel wire brush in the rough grinding component, which involves both revolution and rotation, it completely solves the problems of incomplete range and residue of traditional single-rotation grinding, achieving comprehensive removal of residue from the electrode head surface. The grinding wheel structure of the fine grinding component can simultaneously grind the electrode head end and sidewall, ensuring the dimensional accuracy of the repaired electrode head, providing precise assurance for the quality of the weld nugget for sealing the welding nut, and extending the service life of the electrode head.

[0025] 4. This invention provides an automatic welding robot for automotive parts. It utilizes a scissor-fork structure to lift and lower the top block, combined with a bidirectional screw-driven slider transmission and a centering gear for positioning. This enables automatic disassembly of damaged electrode heads and precise installation of new ones, eliminating the need for manual intervention and reducing replacement time, thus minimizing downtime. The replacement process primarily relies on the aforementioned disassembly components to place the electrode head on a tray, followed by installation using the positioning components. The coordinated action of these components achieves high-precision installation without secondary adjustments, directly meeting welding accuracy requirements. This ensures the automated equipment can quickly resume continuous operation while reducing manual labor intensity and avoiding the risk of errors inherent in manual operation.

[0026] 5. This invention provides an automatic welding robot for automotive parts. By using a detection motor to drive the rotating plate to rotate, photoelectric sensors can perform full-circumference detection of the electrode head, collecting the radius data of the entire circumference of the electrode head, thus completely solving the problem of missed detection in single-point detection. The collection of multiple sets of data makes the data comparison of components more sufficient as a basis for judgment, reducing the false judgment rate, ensuring the accuracy of maintenance instructions, and further improving the welding quality and stability of sealing welding nuts. Attached Figure Description

[0027] The invention will now be further described with reference to the accompanying drawings.

[0028] Figure 1 This is a three-dimensional structural diagram of the entire invention; Figure 2 This is a three-dimensional structural diagram of the projection welding machine of the present invention; Figure 3 This is a schematic diagram of the rotating frame of the present invention; Figure 4 This is a schematic diagram of the detection component of the present invention; Figure 5 This is one of the schematic diagrams showing the working process of the replacement component and the positioning component of the present invention. Figure 6 This is the second schematic diagram showing the working process of the replacement component and the positioning component of the present invention. Figure 7 This is a schematic diagram of the positioning component of the present invention; Figure 8 This is a schematic diagram of the structure of the coarse grinding component of the present invention; Figure 9 This is a first-view structural schematic diagram of the replaceable component of the present invention; Figure 10 This is a structural schematic diagram of the replacement component of the present invention from a second perspective; Figure 11 For the present invention Figure 1 Enlarged view of point A in the middle; Figure 12 For the present invention Figure 2 Enlarged view of section B in the middle.

[0029] In the diagram: 1. Projection welding machine; 2. Robotic arm; 301. Base frame; 302. Servo module; 304. Switching motor; 305. Rotating frame; 306. Rotating arm; 4. Rough grinding component; 401. Rough grinding motor; 402. Turntable; 403. Wire brush wheel; 404. Driven gear; 405. Gear ring; 5. Fine grinding component; 501. Fine grinding motor; 502. Grinding wheel; 6. Detection component; 601. Detection motor; 602. Rotating plate; 603. Mounting platform; 604. Photoelectric sensor; 611. Mounting plate; 612. Second pressure bar; 613. Roller frame; 614. Detection roller; 615. Feedback plate; 61 6. Second spring; 617. Pressure sensor; 7. Replacement component; 701. Fixing frame; 702. Bidirectional screw; 703. Replacement motor; 704. Slider; 705. Support rod; 706. Top block; 707. Rack; 708. Support block; 709. Centering gear; 710. Flexible pad; 711. Bottom block; 712. Guide rod; 8. Positioning component; 801. Electric push rod; 802. Electric clamp; 803. Mounting block; 804. U-shaped plate; 805. First pressure rod; 806. Pressure block; 807. Tray; 808. First spring; 809. Sliding ball; 810. Guide groove; 9. Collection cover. Detailed Implementation

[0030] The present invention will be further described in detail below with reference to the embodiments.

[0031] Example 1 like Figures 1-12As shown, this invention provides an automatic welding robot for automotive parts, including a projection welding machine 1 and a robotic arm 2, the robotic arm 2 being used to control automotive parts; it also includes: a base frame 301; a servo module 302 fixedly mounted on the base frame 301, a switching motor 304 fixedly connected to the movable end of the servo module 302, a rotating frame 305 fixedly connected to the output end of the switching motor 304, and six rotating arms 306 arranged in a ring at equal intervals around the periphery of the rotating frame 305; a detection component 6, used to collect the radius of the electrode head at different circumferential positions at the end and middle; a coarse grinding component 4, used to grind away contaminants adhering to the outside of the electrode head; a fine grinding component 5, used to grind the end and sidewalls of the electrode head; and a positioning component 8, mounted on the electrode arm of the projection welding machine 1, used to detach the electrode head. The electrode head is fixed to the electrode arm; the replacement component 7 is used to replace the damaged electrode head; the data comparison component is used to receive the signal collected by the detection component and compare the collected signal with the initial radius of the electrode head; the maintenance and control component is used to generate maintenance and control instructions based on the comparison results of the data comparison component and transmit the generated instructions to the execution component, which includes the rough grinding component 4, the replacement component 7, or a combination of the rough grinding component 4 and the fine grinding component 5; the welding parameter monitoring unit is connected to the control system of the projection welding machine 1 to monitor the electrical parameters during the welding process in real time and determine whether a continuous abnormality occurs; the controller is connected to the welding parameter monitoring unit, the control system of the robotic arm 2, the switching motor 304, and the detection component 6 respectively.

[0032] The six rotating arms 306 are divided into two types: long arms and short arms. There are four long arms, which are used to install the detection component 6, the rough grinding component 4, the fine grinding component 5, and the replacement component 7, respectively; the two short arms provide working space for the electrode head.

[0033] The central controller is configured to: when it receives an abnormal signal from the welding parameter monitoring unit, control the robotic arm 2 to pause welding and move the electrode head to the detection station, and then control the switching motor 304 to switch the rotating arm 306 with the detection component 6 installed to the working position and start the detection component 6.

[0034] The welding parameter monitoring unit includes a current sensor and a voltage sensor. The current sensor is electrically connected to the welding circuit of the projection welding machine 1 to collect the real-time welding current, and the voltage sensor is electrically connected to the electrode head to collect the real-time welding voltage. Both the current sensor and the voltage sensor are electrically connected to the data comparison component. When the real-time welding current fluctuates by more than ±5% or the real-time welding voltage changes by more than 20V, the data comparison component sends a trigger signal to the maintenance and control component.

[0035] In this embodiment, by automatically triggering precise detection and intelligent diagnosis through abnormal electrical parameters, predictive maintenance and closed-loop quality control of the electrode head status are achieved. This allows for timely intervention before performance degradation leads to batch defects, enabling rapid problem detection. However, the aforementioned monitoring can only detect problems but cannot determine their root causes, thus failing to address them effectively. To address this, this system can intelligently distinguish between two core failure modes: surface adhesion and body wear, and invoke targeted maintenance processes, avoiding insufficient or excessive maintenance, significantly improving maintenance accuracy and electrode head lifespan. The entire process from diagnosis to treatment requires no manual intervention, greatly reducing equipment downtime and completely solving the problems of cumbersome, time-consuming, and labor-intensive traditional manual maintenance operations, effectively improving overall equipment efficiency and the automation level of the production line. During the operation of the automatic welding robot for automotive parts, its welding parameter monitoring unit monitors the current and voltage of the welding circuit of the projection welding machine 1 in real time. When the electrical parameters (such as the voltage required to maintain the set welding energy) are detected to continuously exceed the normal threshold range, it is determined that the electrode head is in an abnormal state and sends a signal to the central controller. The central controller then responds and instructs the robotic arm 2 to pause the operation after completing the welding of the current part, and controls the electrode arm to rise to the position to be inspected and maintained. The central controller then controls the servo module 302 and the switching motor 304 to rotate the rotating frame 305, precisely positioning the rotating arm 306, on which the detection component 6 is mounted, directly below the electrode head. The detection component 6 is activated, and its detection motor 601 drives the rotating plate 602 and the photoelectric sensor 604 to rotate around the electrode head, systematically collecting radius data at multiple circumferential positions at the end and middle of the electrode head. These data are sent to a data comparison component, which determines the type of anomaly by calculating the coefficient of variation (the ratio of standard deviation to mean) of the collected data: if the coefficient of variation exceeds a set threshold, it indicates that the radius data fluctuates violently and is unevenly distributed, and is judged as foreign matter adhesion; if the coefficient of variation does not exceed the threshold, but the mean radius has changed significantly and gradually compared to the initial value, it is judged as deformation caused by normal wear. Finally, the maintenance and control component generates classification and treatment instructions based on this diagnostic result: if it is foreign matter adhesion, the coarse grinding component 4 is triggered to perform treatment; if it is wear and deformation, the coarse grinding component 4 and the fine grinding component 5 are instructed to perform combined grinding in sequence; if the diagnosis finds that the electrode head has serious defects, the replacement component 7 is instructed to perform replacement operation.

[0036] The aforementioned data comparison component compares the collected radius data with the initial radius of the electrode head (e.g., the initial end radius of the electrode head for welding M6 nuts is 3mm), and simultaneously uses the variance formula (variance...). , where x iLet x be the radius of each point, k be the initial average radius of the electrode head, and k be the index variable for summation, used to sequentially select the radius data x of different detection points along the circumference of the electrode head. i , where n is the total number of detection points involved in the variance calculation.

[0037] The dispersion of the radius at each point along the circumference is calculated using the above formula: If the dispersion is > 0.02 mm 2 If the dispersion is ≤0.02mm, it is determined that there is foreign matter adhering to the electrode head surface; 2 If the average radius deviation is >0.3mm, it is determined to be normal wear of the electrode head; if the average radius deviation is >1mm, it is determined to be severe damage to the electrode head and needs to be replaced. The maintenance and control component generates instructions based on the above judgment results: when foreign matter adheres, the servo module 302 drives the rotating frame 305 to move the coarse grinding component 4 to the electrode head to perform grinding; when there is normal wear, the coarse grinding component 4 is started first to remove the surface oxide layer, and then the fine grinding component 5 is started to repair the dimensions; when there is severe damage, the replacement component 7 is started to replace the electrode head; throughout the process, the two short arms always reserve working space for the electrode head to ensure that there is no interference when switching between components.

[0038] Example 2 like Figure 3 and Figure 8 As shown, based on Embodiment 1, the present invention provides a technical solution: Preferably, the coarse grinding component 4 includes a coarse grinding motor 401 fixedly connected to the bottom of the rotating arm 306, the output end of the coarse grinding motor 401 extends above the rotating arm 306 and is fixedly connected to a turntable 402, a wire brush 403 is rotatably connected to the edge of the turntable 402, the central axis of the wire brush 403 extends below the turntable 402 and is fixedly connected to a driven gear 404, and a gear ring 405 is fixedly connected to the rotating arm 306 on the side with the coarse grinding motor 401, the gear ring 405 meshing with the driven gear 404; the fine grinding component 5 includes a fine grinding motor 501 fixedly connected to the bottom of the rotating arm 306, the output end of the fine grinding motor 501 extends above the rotating arm 306 and is fixedly connected to a grinding wheel 502.

[0039] In this embodiment, the dual motion structure of the steel wire brush 403 in the coarse grinding component 4, which involves both revolution and rotation, completely solves the problems of incomplete range and residue of traditional single-rotation grinding, achieving comprehensive removal of the residue on the electrode head surface. The grinding wheel 502 structure in the fine grinding component 5 can simultaneously grind the end and sidewall of the electrode head, ensuring the dimensional accuracy of the repaired electrode head, providing precise assurance for the quality of the weld nugget of the sealing welding nut, and extending the service life of the electrode head. By controlling the switching motor 304 to work, the rotating frame 305 is driven to rotate until the coarse grinding part 4 or the fine grinding part 5 is directly below the electrode head, and the corresponding coarse grinding or fine grinding operation can be performed. When the electrode head needs to be coarsely ground, the coarse grinding motor 401 mounted on the long arm is started, and its output end drives the turntable 402 to rotate at high speed. The wire wheel brush 403 connected to the edge of the turntable 402 rotates synchronously with the turntable 402. At the same time, the driven gear 404, whose central shaft of the wire wheel brush 403 extends to the turntable 402, meshes with the gear ring 405 fixed on the rotating arm 306. During the revolution, the driven gear 404 is driven by the teeth of the gear ring 405 to rotate, so that the wire wheel brush 403 rotates while revolving around the electrode head. Through the coordinated action of revolution and rotation, the contaminants adhering to the outside of the electrode head are ground in all directions. When fine grinding is required, the fine grinding motor 501 starts, and its output drives the grinding wheel 502 to rotate at high speed. The top shape of the grinding wheel 502 matches the lower shape of the electrode head in its normal state. The operator adjusts the position of the rotating frame 305 through the servo module 302 so that the grinding wheel 502 is in contact with the end and side wall of the electrode head respectively. The high-speed rotation of the grinding wheel 502 performs planar grinding on the end of the electrode head and cylindrical grinding on the side wall, restoring the standard size and shape of the electrode head.

[0040] Example 3 like Figure 5 , Figure 6 and Figure 7 As shown, based on Embodiment 2, the present invention provides a technical solution: Preferably, the positioning component 8 includes an electric push rod 801 fixedly connected to the motor arm of the projection welding machine 1. An electric clamp 802 is fixedly connected to the movable end of the electric push rod 801. Mounting blocks 803 are fixedly connected to both clamps of the electric clamp 802. An arc surface is provided on the side of the two mounting blocks 803 that are close to each other. A U-shaped plate 804 is fixedly connected to the side of the two mounting blocks 803 that are far apart. A through hole is opened in the middle of each mounting block 803. A first pressure rod 805 is slidably connected to the U-shaped plate 804. A tray 807 is fixedly connected to the end of the two first pressure rods 805 that is far apart. The end of the first pressure rod 805 that is far away from the tray 807 passes through the through hole and is fixedly connected to a pressure block 806. A first spring 808 is sleeved outside the first pressure rod 805 and between the U-shaped plate 804 and the pressure block 806. The mounting block 803 and the pressure block 806 are both insulating blocks.

[0041] The existing connection methods between the electrode head and the electrode arm have obvious shortcomings: either they are fixed by welding, which makes it impossible to disassemble and replace quickly; or they are manually bolted, which makes it difficult to achieve quick clamping in automated equipment and reduces the overall operation efficiency. In this embodiment, the electrode head is clamped and fixed by setting an electric clamp 802 in conjunction with the mounting block 803, and the electric clamp 802 is moved in the vertical direction by using an electric push rod 801, thereby meeting the action requirements of inserting or removing the electrode head into the installation position, so as to facilitate quick installation or disassembly. The electrical connection relies on the tight fit between the upper conical surface of the electrode head and the groove that matches the inside of the installation position to meet the conductivity requirements. In terms of installation, a collaborative structure of tray 807 lifting and pressure block 806 pre-tightening is set up, which completely solves the problem of tipping when clamping the electrode head (avoiding the electrode head falling off during automated replacement and causing replacement failure), reduces the coaxiality deviation between the electrode head and the electrode arm, and provides a guarantee for the stable conduction of subsequent current.

[0042] Specifically, when an electrode head needs to be clamped, the electric push rod 801 is energized, and its movable end pushes the two clamps of the electric clamp 802 closer together in the horizontal direction. The mounting block 803 fixed on the clamps moves synchronously with the clamps. When no electrode head is placed, the first spring 808 is in a natural, uncompressed state, the first pressure rod 805 passing through the U-shaped plate 804 is not under force, and the trays 807 at its ends are close together with a gap matching the diameter of the electrode head. The operator or the automated feeding mechanism places the electrode head between the two trays 807. The electrode head is supported from the bottom. In this state, the pressure block 806 squeezes the electrode head and relies on the elastic force of the first spring 808 to pre-tighten and clamp the electrode head. In this state, the electrode head will not easily fall off, but its position can be adjusted by external force. In this state, the electric push rod 801 is controlled to work and lift the electric clamp upward until the electrode head is inserted into the installation position. Under the guidance of the upper conical structure, it automatically centers and is fixed. After the fixing is completed, the electric clamp 802 is controlled to further clamp until both mounting blocks 803 squeeze the electrode head, and the installation is completed. As the electric clamp 802 continues to drive the mounting block 803 closer, the pressure block 806 on the inner side of the mounting block 803 contacts the outer wall of the electrode head and applies pressure, pushing the first pressure rod 805 to slide and compress the first spring 808; the reaction force generated by the first spring 808 is transmitted to the electrode head through the pressure block 806, realizing the pre-tightening and fixing of the electrode head, and at the same time pushing the tray 807 away in a direction away from each other, thereby relieving the supporting effect on the electrode head, and will not hinder subsequent processing.

[0043] like Figure 7 As shown, preferably, the first pressure rod 805 has guide grooves 810 on its side wall. The two ends of the guide groove 810 are straight grooves and the middle part is a spiral groove. A sliding ball 809 is fixedly connected to the U-shaped plate 804 and is slidably connected to the guide groove 810.

[0044] The aforementioned pallet 807 may interfere with other components during welding or certain maintenance operations, affecting the robot's normal working space; In this embodiment, by providing a guide groove 810 with a spiral shape on the first pressure rod 805, and cooperating with the sliding ball 809, the first pressure rod 805 will also rotate during axial movement, realizing the automatic flipping function of the tray 807; so that during welding or maintenance, the tray 807 can be flipped to an inclined or vertical avoidance position, eliminating potential motion interference and greatly improving the space utilization and operational flexibility of the system. When the first pressure rod 805 moves axially, the sliding ball 809 fixed on the U-shaped plate 804 moves along the guide groove 810 on the side wall of the first pressure rod 805. The middle part of the guide groove 810 is a spiral groove. When the first pressure rod 805 moves axially due to pressure, the sliding ball 809 enters the spiral groove section from the straight groove section, forcing the first pressure rod 805 to rotate while moving axially, thereby driving the tray 807 fixed to it to flip between horizontal and inclined states.

[0045] Example 4 like Figure 9 and Figure 10 As shown, based on Embodiment 3, the present invention provides a technical solution: Preferably, the replacement component 7 includes a fixed frame 701 fixedly connected to the rotating arm 306, a bidirectional screw 702 rotatably connected between the inner sides of the fixed frame 701, a replacement motor 703 fixedly connected to one side of the fixed frame 701, the output end of the replacement motor 703 fixedly connected to one end of the bidirectional screw 702, and two sliders 704 symmetrically threaded to the outer side of the bidirectional screw 702, the sliders 704 being slidably connected to the fixed frame 701; the replacement component 7 also includes two scissor structures, each consisting of two support rods 705 rotatably connected in the middle, the rotating shafts in the middle of the two scissor structures being fixedly connected. Connections: The bottom of each support rod 705 is hinged to a base block 711, which is fixedly connected to the slider 704; the top of each support rod 705 is hinged to a top block 706, and a guide rod 712 is slidably connected to the base block 711, with the top of the guide rod 712 fixedly connected to the top block 706; a connecting plate is fixedly connected between every two top blocks 706, and a rack 707 is fixedly connected to the side of the two connecting plates that are close to each other; a support block 708 is slidably connected between the tops of the racks 707, and a centering gear 709 is rotatably connected to the bottom of the support block 708, with the centering gear 709 slidably connected to both racks 707; a flexible pad 710 is fixedly connected to the side of the top block 706 that is close to the support block 708.

[0046] In this embodiment, the lifting and lowering of the top block 706 is achieved through a scissor fork structure. Combined with the transmission of the slider 704 of the bidirectional screw 702 and the centering positioning of the centering gear 709, automatic disassembly of the damaged electrode head and precise installation of the new electrode head are realized without manual intervention, reducing the time required for each replacement and thus minimizing downtime. The replacement process mainly relies on the aforementioned disassembly component 7 to place the electrode head on the tray 807, and then on the aforementioned positioning component 8 for installation. High-precision installation is achieved through the coordinated action of all components, eliminating the need for secondary adjustments and directly meeting welding accuracy requirements. This ensures that the automated equipment can quickly resume continuous operation while reducing the intensity of manual operation and avoiding the risk of errors from manual operation.

[0047] When the data comparison component determines that the electrode head is severely damaged and needs to be replaced, the electric push rod 801 is controlled to work, and the electric clamp 802 pulls the electrode head downward. Then, the positioning component 8 is controlled to release the electrode head. After being released, the electrode head is pressed by the pressure block 806 and its bottom is on the tray 807, so it will not fall off. In this state, the electric push rod 801 is controlled to repeatedly shake up and down until the electrode head falls off, thus completing the disassembly of the electrode head.

[0048] like Figure 5 and Figure 6 The diagram shows several states during the installation process of replacing component 7 and positioning component 8. Figure 5 The upper middle figure shows the state where the electrode head is fixed by the replacement component 7 and sent upward into the positioning component 8; the lower figure shows the state where the electrode head is on the tray 807 and the tray 807 is moving towards the center. Figure 6 The top image shows the state where component 7 descends and detaches from the electrode head, while tray 807 supports the electrode head. The bottom image shows the state after the electrode head is inserted into the installation position using the electric push rod 801.

[0049] Before the electrode head is mounted on the replacement component 7, the rotating frame 305 is rotated by the switching motor 304, moving the long arm with the replacement component 7 directly below the electrode head. Then, the replacement motor 703 is started, and its output drives the bidirectional screw 702 to rotate clockwise. The two sliders 704 connected by the symmetrical threads on the outside of the bidirectional screw 702 slide towards each other along the fixed frame 701. The sliders 704 drive the bottom block 711 to move synchronously. The bottom block 711 pushes the bottom of the scissor structure support rod 705 closer together, and the scissor structure unfolds. The top block 706 is moved upward by the guide rod 712 until the top block 706 is in a half-raised state. The side of the top block 706 with the flexible pad 710 presses the electrode head tightly. This state is the default state before the electrode head is placed. The above operation is based on the state after the replacement component 7 has been installed and readjusted to the default state, and can adapt to the installation of electrode heads of different sizes. During installation, the new electrode head is placed on the support block 708. The centering gear 709 at the bottom of the support block 708 meshes with the two racks 707 to ensure that the new electrode head is centered. With the electrode head directly below the installation position, the servo module 302 controls the rotating frame 305 to rise until the electrode head is delivered from the gap between the two trays 807 to above the trays 807. Then, the two trays 807 are controlled to move towards each other, ensuring that the gap is smaller than the diameter of the electrode head. The replacement motor 703 drives the bidirectional screw 702 to rotate counterclockwise, the slider 704 slides in the opposite direction, the scissor structure retracts, and the top block 706 moves the new electrode head downward. The top block 706 is withdrawn downward from the gap between the two trays 807, and the electrode head is supported by the trays 807 (when the top block 706 is lower than the trays 807). At this time, the electrode head is taken over by the positioning component 8, thus completing the installation using the above method.

[0050] Example 5 like Figure 3 and Figure 4 As shown, based on Embodiment 4, the present invention provides a technical solution: Preferably, the detection component 6 includes a detection motor 601 fixedly connected to the bottom of the rotating arm 306, the output end of the detection motor 601 extends above the rotating arm 306 and is fixedly connected to a rotating plate 602, the top of the rotating plate 602 is fixedly connected to a mounting platform 603 at a position off-center, and two photoelectric sensors 604 are fixedly installed on the side of the mounting platform 603 near the central axis of the rotating plate 602.

[0051] Existing technologies for electrode head radius detection have significant shortcomings: they mostly use single-point fixed sensors for detection, which can only collect radius data at a fixed position of the electrode head and cannot cover all circumferential positions, making it easy to miss detections (such as local wear or adhesion on one side of the electrode head that are not detected), leading to misjudgment by the data comparison component. In this embodiment, the rotating plate 602 is driven to rotate by the detection motor 601, so that the photoelectric sensor 604 can detect the entire circumference of the electrode head and collect the radius data of the entire circumference of the electrode head, which completely solves the problem of missed detection in single-point detection. The collection of multiple sets of data makes the judgment basis of the data comparison component more sufficient, reduces the false judgment rate, ensures the accuracy of maintenance instructions, and further improves the welding quality and stability of the sealing welding nut.

[0052] Specifically, the detection component 6 is mounted on the corresponding long arm. When the radius of the electrode head needs to be detected, the servo module 302 drives the rotating frame 305 to move the detection component 6 below the electrode head. The detection motor 601 is powered on and started, and its output drives the rotating plate 602 to rotate at a constant speed around the axis of the electrode head (here it can be controlled to maintain a slow rotation speed of 10 r / min). The mounting platform 603 on the top of the rotating plate 602 rotates synchronously with the rotating plate 602. The two photoelectric sensors 604 on the side of the mounting platform 603 near the central axis of the rotating plate 602 (corresponding to the end and middle of the electrode head respectively) will change position after fine grinding and finishing. At this time, the servo module 302 will control the rotation of the rotating plate 602. 2. The height of the photoelectric sensor 604 is adaptively adjusted; during rotation, a laser signal is continuously emitted to the surface of the electrode head, and the reflected laser signal is received; the distance between the surface of the electrode head and the sensor is calculated by the propagation time difference of the laser signal (speed of light × time difference / 2), and then combined with the fixed distance between the sensor and the central axis of the rotating plate 602, the radius of different circumferential positions at the end and middle of the electrode head is derived; when the rotating plate 602 rotates one revolution, the photoelectric sensor 604 completes the radius data acquisition of the entire circumference (360°) of the electrode head, and transmits the acquired data (such as one data acquisition every 10°, for a total of 36 sets) to the data comparison component.

[0053] like Figure 3 and Figure 4 As shown, preferably, the detection component 6 further includes a mounting plate 611 fixedly connected to the top of the rotating plate 602. A second pressure rod 612 is slidably connected to one side of the mounting plate 611. A roller frame 613 is fixedly connected to one end of the second pressure rod 612. A detection roller 614 is rotatably connected to the inner side of the roller frame 613. The end of the second pressure rod 612 away from the roller frame 613 extends to the other side of the mounting plate 611 and is fixedly connected to a feedback plate 615. A second spring 616 is sleeved on the outside of the second pressure rod 612 between the mounting plate 611 and the roller frame 613. A pressure sensor 617 is fixedly installed on the side wall of the mounting plate 611. The detection head of the pressure sensor 617 is in contact with the feedback plate 615.

[0054] The existing photoelectric sensor 604 is fixed only at a single axial position on the top of the rotating plate 602 (such as only corresponding to the end of the electrode head or only corresponding to the middle part), which cannot cover all areas of the electrode head axis (such as the transition section between the end and the middle part, and the connection area between the middle part and the root part), forming an axial detection blind zone; In this embodiment, by setting the detection roller 614 to fit closely to all areas along the axial direction of the electrode head, the problem of the photoelectric sensor 604 being unable to detect the axial blind zone is completely solved; local weld nugget defects caused by untreated blind zone abnormalities are avoided, further improving the stability and reliability of welding quality.

[0055] During the testing process, the rotating plate 602 rotates with the testing motor 601. The testing roller 614 not only rolls around the electrode head circumferentially with the rotating plate 602, but also slides adaptively along the electrode head radially (when there is a change in the diameter of the electrode head in the axial direction, the extension and retraction of the second spring 616 drives the second pressure rod 612 to slide along the mounting plate 611 to ensure that the testing roller 614 continuously fits against each area of ​​the electrode head in the axial direction). When there are granular impurities on the outer wall of the electrode head, when the detection roller 614 rolls to the granulation position, it will be pushed up by the locally protruding granules, pushing the second pressure rod 612 to slide away from the electrode head, compressing the second spring 616. During the sliding process, the second pressure rod 612 drives the feedback plate 615 to move synchronously, increasing the squeezing force on the detection head of the pressure sensor 617, and the pressure sensor 617 outputs a signal that rises instantaneously. After the detection roller 614 rolls over the granules, the second spring 616 resets, pulling the second pressure rod 612 back, and the squeezing force of the feedback plate 615 on the pressure sensor 617 decreases, the signal drops instantaneously, causing frequent fluctuations in the rolling process of the detection roller 614. If the electrode head is worn normally, the outer surface of the electrode head is worn evenly, and there are no local protrusions or depressions to obstruct the rolling of the detection roller 614. The second pressure rod 612 only slides slightly with the gradual change of the overall radius of the electrode head. The pressure of the feedback plate 615 on the pressure sensor 617 rises and falls slowly, outputting a "gradually changing" pressure signal, reflecting the low dispersion of the shape.

[0056] like Figure 1 and Figure 2 As shown, preferably, a collection cover 9 is fixedly connected to the outside of the rotating frame 305, and the collection cover 9 is located below the rotating arm 306.

[0057] In this embodiment, the closed collection structure of the collection cover 9 enables the centralized collection of grinding debris and damaged electrode heads, preventing debris from scattering onto the moving parts of the equipment and ensuring the long-term stable operation of the automated welding robot.

[0058] The collection cover 9 is fixed to the outside of the rotating frame 305 and completely covers the area below the rotating arm 306, forming a closed collection space. When the coarse grinding component 4 grinds the electrode head, the metal debris generated by the high-speed rotating wire brush 403 falls downward under the action of gravity and falls directly into the collection cover 9. The debris generated by the grinding wheel 502 during the grinding of the fine grinding component 5 also falls into the collection cover 9. When the replacement component 7 replaces the damaged electrode head, the damaged electrode head is released from the positioning component 8 and falls vertically under the action of gravity, and is caught by the collection cover 9 below. The collection cover 9 is connected to the rotating frame 305 by screws. When the debris or damaged electrode head accumulates to a certain amount, the operator removes the collection cover 9, cleans the debris and damaged electrode head inside, and reinstalls the collection cover 9 after cleaning, without affecting the normal rotation of the rotating frame 305.

[0059] It is important to note that in projection welding of automotive parts, the electrode tip, while having a relatively long overall lifespan (typically capable of 5000-8000 welding operations) due to factors such as usage frequency and welding current intensity, exhibits unpredictable failure times (e.g., sudden localized excessive wear, deformation caused by abnormal impacts). In existing automated welding equipment, to prevent the production of defective products from continued operation after electrode tip damage, operators must monitor the electrode tip status in real time. This not only increases the workload but also risks failure to detect damage promptly due to operator inattention or missed inspection intervals, leading to a batch of defective welds. This solution, through the collaboration of component replacement 7 and the detection and control components, achieves automatic identification and replacement of damaged electrode tips. Operators no longer need to continuously monitor the equipment; they only need to replace the electrode tip in the replacement component 7 when an empty slot is found during routine inspections. This significantly simplifies the operation process, reduces manual intervention costs, and ensures timely electrode tip replacement, preventing the production of defective products.

[0060] The present invention has been described in detail above. However, modifications or improvements can be made to it, which will be obvious to those skilled in the art. Therefore, any modifications or improvements that do not depart from the spirit of the present invention are within the scope of protection of the present invention.

Claims

1. An automatic welding robot for automotive parts, comprising a projection welding machine (1) and a robotic arm (2), said robotic arm (2) being used to manipulate automotive parts; characterized in that, Also includes: A base frame (301) is fixedly mounted on the base frame (301). A switching motor (304) is fixedly connected to the movable end of the servo module (302). A rotating frame (305) is fixedly connected to the output end of the switching motor (304). Six rotating arms (306) are arranged in a ring at equal intervals around the rotating frame (305). The detection component (6) is used to collect the radius of the electrode head at different circumferential positions at the end and middle. The coarse grinding component (4) is used to grind away contaminants adhering to the outside of the electrode head; Fine grinding component (5) is used to grind the end and sidewall of the electrode head; Positioning component (8) is installed on the electrode arm of projection welding machine (1) for detachably fixing the electrode head on the electrode arm; Replacement component (7) is used to replace the damaged electrode head; The data comparison component is used to receive the signal collected by the detection component and compare the collected signal with the initial radius of the electrode head; The maintenance and control component is used to generate maintenance and control instructions based on the comparison results of the data comparison component, and to transmit the generated instructions to the execution component. The execution component includes a coarse grinding component (4), a replacement component (7), or a combination of a coarse grinding component (4) and a fine grinding component (5). The welding parameter monitoring unit is connected in communication with the control system of the projection welding machine (1) to monitor the electrical parameters during the welding process in real time and determine whether a continuous abnormality occurs. The controller is communicatively connected to the welding parameter monitoring unit, the control system of the robotic arm (2), the switching motor (304), and the detection component (6).

2. The automatic welding robot for automotive parts according to claim 1, characterized in that: The coarse grinding component (4) includes a coarse grinding motor (401) fixedly connected to the bottom of the rotating arm (306). The output end of the coarse grinding motor (401) extends to the top of the rotating arm (306) and is fixedly connected to a turntable (402). A wire wheel brush (403) is rotatably connected to the edge of the turntable (402). The central axis of the wire wheel brush (403) extends to the bottom of the turntable (402) and is fixedly connected to a driven gear (404). A gear ring (405) is fixedly connected to the rotating arm (306) on the side with the coarse grinding motor (401). The gear ring (405) meshes with the driven gear (404). The fine grinding component (5) includes a fine grinding motor (501) fixedly connected to the bottom of the rotating arm (306). The output end of the fine grinding motor (501) extends to the top of the rotating arm (306) and is fixedly connected to a grinding wheel (502).

3. The automatic welding robot for automotive parts according to claim 2, characterized in that: The positioning component (8) includes an electric push rod (801) fixedly connected to the motor arm of the projection welding machine (1). An electric clamp (802) is fixedly connected to the movable end of the electric push rod (801). Mounting blocks (803) are fixedly connected to both clamps of the electric clamp (802). An arc surface is provided on the side of the two mounting blocks (803) that are close to each other. A U-shaped plate (804) is fixedly connected to the side of the two mounting blocks (803) that are far apart from each other. A central part of each mounting block (803) is provided. The through hole is provided. A first pressure rod (805) is slidably connected to the U-shaped plate (804). A tray (807) is fixedly connected to one end of the two first pressure rods (805) that are far apart from each other. The ends of the first pressure rods (805) that are far away from the tray (807) pass through the through hole and are fixedly connected to a pressure block (806). A first spring (808) is sleeved on the outside of the first pressure rod (805) and between the U-shaped plate (804) and the pressure block (806). The mounting block (803) and the pressure block (806) are both insulating blocks.

4. The automatic welding robot for automotive parts according to claim 3, characterized in that: The first pressure rod (805) has guide grooves (810) on its side wall. The two ends of the guide groove (810) are straight grooves and the middle part is a spiral groove. A sliding ball (809) is fixedly connected to the U-shaped plate (804). The sliding ball (809) is slidably connected to the guide groove (810).

5. The automatic welding robot for automotive parts according to claim 4, characterized in that: The replacement component (7) includes a fixed frame (701) fixedly connected to the rotating arm (306). A bidirectional screw (702) is rotatably connected between the inner sides of the fixed frame (701). A replacement motor (703) is fixedly connected to one side of the fixed frame (701). The output end of the replacement motor (703) is fixedly connected to one end of the bidirectional screw (702). Two sliders (704) are symmetrically threaded on the outside of the bidirectional screw (702). The sliders (704) are slidably connected to the fixed frame (701). The replacement component (7) also includes two scissor structures. The scissor structures are composed of two support rods (705) rotatably connected in the middle. The rotating shafts in the middle of the two scissor structures are fixedly connected. The bottom of each support rod (705) is hinged with a base block (7). 11) The bottom block (711) is fixedly connected to the slider (704); the top of each support rod (705) is hinged to a top block (706), and a guide rod (712) is slidably connected to the bottom block (711). The top of the guide rod (712) is fixedly connected to the top block (706); a connecting plate is fixedly connected between each pair of top blocks (706), and a rack (707) is fixedly connected to the side of the two connecting plates that are close to each other. A support block (708) is slidably connected between the tops of the racks (707), and a centering gear (709) is rotatably connected to the bottom of the support block (708). The centering gear (709) is slidably connected to both racks (707); a flexible pad (710) is fixedly connected to the side of the top block (706) that is close to the support block (708).

6. The automatic welding robot for automotive parts according to claim 5, characterized in that: The detection component (6) includes a detection motor (601) fixedly connected to the bottom of the rotating arm (306). The output end of the detection motor (601) extends above the rotating arm (306) and is fixedly connected to a rotating plate (602). A mounting platform (603) is fixedly connected to the top of the rotating plate (602) at a position off-center. Two photoelectric sensors (604) are fixedly installed on the side of the mounting platform (603) near the central axis of the rotating plate (602).

7. The automatic welding robot for automotive parts according to claim 6, characterized in that: The detection component (6) further includes a mounting plate (611) fixedly connected to the top of the rotating plate (602). A second pressure rod (612) is slidably connected to one side of the mounting plate (611). A roller frame (613) is fixedly connected to one end of the second pressure rod (612). A detection roller (614) is rotatably connected to the inner side of the roller frame (613). The end of the second pressure rod (612) away from the roller frame (613) extends to the other side of the mounting plate (611) and is fixedly connected to a feedback plate (615). A second spring (616) is sleeved on the outside of the second pressure rod (612) between the mounting plate (611) and the roller frame (613). A pressure sensor (617) is fixedly installed on the side wall of the mounting plate (611). The detection head of the pressure sensor (617) is in contact with the feedback plate (615).

8. The automatic welding robot for automotive parts according to claim 7, characterized in that: A collection cover (9) is fixedly connected to the outside of the rotating frame (305), and the collection cover (9) is located below the rotating arm (306).

Images