A welding robot

Abstract

This invention relates to the field of workpiece welding technology and discloses a welding robotic arm, including a base, a first driving structure, a first positioning component, and a welding structure. The first driving structure includes a vertical moving component and a horizontal moving component, with the horizontal moving component mounted on the vertical moving component. The horizontal moving component includes a first deflector and a second deflector. A first deflection angle detection component is provided at the rotatable connection between the first deflector and the vertical moving component, and a second deflection angle detection component is provided at the rotatable connection between the second deflector and the first deflector. A third deflection angle detection component is provided at the connection between the welding structure and the second deflector. This invention can expand the working range of the robotic arm, thereby avoiding the process of manual handling and re-fixing of the robot due to insufficient robot movement range in traditional operations. It realizes continuous and automated large-area welding, adapts to various welding scenarios, meets the processing needs of production welding, and further improves production efficiency.

Description

Technical Field

[0001] This invention relates to the field of workpiece welding technology, and more specifically to a welding robotic arm. Background Technology

[0002] In industrial production, with the increasing prevalence of intelligent manufacturing, industrial robots are playing an increasingly important role. In the field of steel structure welding, automated welding robots can provide stable welding quality, reduce human labor intensity, improve work efficiency, and reduce costs.

[0003] In the current manufacturing industry, the increasing complexity of workpiece structures poses greater challenges to welding processes. Welding robots, with their strong environmental adaptability, high repeatability, and continuous operation, have become the mainstream solution in industrial scenarios. However, current small welding equipment requires highly skilled workers, has a limited operating range, and involves multiple equipment handling operations, which greatly increases the intensity of manual labor and affects production efficiency. Summary of the Invention

[0004] In view of this, the present invention provides a welding robotic arm to solve the problems of current small welding equipment requiring high worker skills, limited operating range, and multiple equipment handling during operation, which greatly increases the intensity of manual labor and affects production efficiency.

[0005] This invention provides a welding robotic arm, comprising: Base; The first driving structure includes a vertical moving member and a horizontal moving member mounted on the vertical moving member, wherein the horizontal moving member is configured to be driven by the vertical moving member to generate an upward or downward movement; A first positioning element is disposed on the vertical moving element, and the first positioning element is configured to mark the travel distance of the horizontal moving element; The horizontal moving component includes: A first deflector is rotatably connected at one end to the vertical moving member. The first deflector is configured to rotate relative to the vertical moving member on a horizontal plane. A first deflection angle detection member is provided at the rotatable connection between the first deflector and the vertical moving member to detect and mark the deflection angle of the first deflector. The second deflector is rotatably connected at one end to the other end of the first deflector. The second deflector is configured to rotate relative to the first deflector on a horizontal plane. A second deflection angle detection element is provided at the rotatable connection between the second deflector and the first deflector to detect and mark the deflection angle of the second deflector. A welded structure is connected to the other end of the second deflector; a third deflection angle detection element is provided at the connection between the welded structure and the second deflector to detect and mark the deflection angle of the welded structure.

[0006] Through the aforementioned structure, the first drive mechanism achieves linear motion in the vertical direction and extension / orientation functions in the horizontal plane via two-stage deflection joints. The various position components and the deflection angle detection components together constitute a multi-degree-of-freedom, high-precision motion and position feedback system, providing fundamental mechanical and sensory support for subsequent precise path planning and welding posture control. This structural design allows the device to reduce its footprint in non-working states through folding and retraction without occupying a large fixed space, and to achieve a larger working radius through extension.

[0007] In one alternative implementation, the deflection angle detection element is an encoder.

[0008] In one alternative embodiment, the first deflector and the second deflector may be arranged in an overlapping manner.

[0009] To achieve a more compact storage configuration of the device and further reduce its footprint when not in use, the first deflector and the second deflector are configured to overlap.

[0010] When the first drive structure needs to retract or is in a non-working standby state, the first deflector and the second deflector can partially or completely overlap in a parallel plane, thereby significantly reducing the overall profile size of the horizontal moving part.

[0011] In one alternative embodiment, the vertical moving member includes: A vertical base frame is vertically mounted on the base, and a rack is vertically mounted on the vertical base frame; A guide rail is vertically mounted on the vertical base frame, and the horizontal moving component is mounted on the guide rail; A lifting drive frame is mounted on the guide rail, and the horizontal moving component is mounted on the lifting drive frame; A lifting drive component is mounted on the lifting drive frame, and a drive gear is provided at the output end of the lifting drive component corresponding to the rack.

[0012] In one alternative embodiment, the first deflector includes: A first driving component is mounted on the lifting drive frame; A first deflection arm is horizontally positioned, with one end of the first deflection arm coupled to the driving end of the first driving member. The first driving member can drive the first deflection arm to rotate relative to the lifting drive frame.

[0013] In one alternative embodiment, the second deflector includes: A second driving member is installed at the end of the first deflection arm away from the first driving member; The second deflection arm is horizontally positioned, with one end of the second deflection arm mounted on the drive end of the second drive member, which can drive the second deflection arm to rotate.

[0014] In one alternative embodiment, the horizontal moving member further includes a third driving member, which is mounted on the end of the second deflection arm away from the second driving member, and the welding structure is mounted on the third driving member via the second driving structure; the third driving member is used to drive the second driving structure to rotate.

[0015] In one alternative embodiment, the second drive member can drive the second deflection arm to rotate relative to the first deflection arm until it folds with the first deflection arm.

[0016] In one alternative implementation, the second drive structure is a six-axis manipulator.

[0017] In one alternative embodiment, the welded structure includes: welder; A welding torch, which is mounted on the second drive structure and connected to the welding machine; A wire feeder, which is mounted on the second deflection arm, is used to feed welding wire to the welding torch. Attached Figure Description

[0018] To more clearly illustrate the specific embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the specific embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present invention. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0019] Figure 1 This is a schematic diagram of the overall structure of a welding robotic arm according to an embodiment of the present invention; Figure 2 This is a side view of a welding robotic arm according to an embodiment of the present invention; Figure 3This is a partially enlarged schematic diagram of the welding structure in a welding robotic arm according to an embodiment of the present invention.

[0020] Explanation of reference numerals in the attached figures: 1. Base; 2. First drive structure; 21. Vertical moving component; 211. Vertical base frame; 212. Rack; 213. Guide rail; 214. Lifting drive frame; 215. Lifting drive component; 22. Horizontal moving component; 221. First drive component; 222. First deflection arm; 223. Second drive component; 224. Second deflection arm; 225. Third drive component; 3. Second drive structure; 4. Welded structure; 41. Welding machine; 42. Welding torch; 43. Wire feeder; 5. Water tank; 6. Electrical control cabinet. Detailed Implementation

[0021] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0022] In industrial production, with the increasing prevalence of intelligent manufacturing, industrial robots are playing an increasingly important role. In the field of steel structure welding, automated welding robots can provide stable welding quality, reduce human labor intensity, improve work efficiency, and reduce costs.

[0023] In the current manufacturing industry, the increasing complexity of workpiece structures poses greater challenges to welding processes. Welding robots, with their strong environmental adaptability, high repeatability, and continuous operation, have become the mainstream solution in industrial scenarios. However, current small welding equipment requires highly skilled workers, has a limited operating range, and involves multiple equipment handling operations, which greatly increases the intensity of manual labor and affects production efficiency.

[0024] To solve the above technical problems, the following will be combined with... Figures 1 to 3 The following describes embodiments of the present invention.

[0025] According to an embodiment of the present invention, a welding robotic arm is provided, comprising: a base 1, a first driving structure 2, a second driving structure 3, and a welding structure 4.

[0026] like Figures 1 to 3As shown, the first driving structure 2 includes a vertical moving member 21 and a horizontal moving member 22 mounted on the vertical moving member 21. The horizontal moving member 22 is configured to move upward or downward under the drive of the vertical moving member 21. A first positioning member is disposed on the vertical moving member 21 and is configured to mark the travel distance of the horizontal moving member 22. The horizontal moving member 22 includes a first deflector and a second deflector. One end of the first deflector is rotatably connected to the vertical moving member 21, and the first deflector is configured to rotate relative to the vertical moving member 21 on a horizontal plane. The first deflector and the vertical moving member 22 are connected to each other. A first deflection angle detection element is provided at the rotatable connection of component 21 to detect and mark the deflection angle of the first deflection component; one end of the second deflection component is rotatably connected to the other end of the first deflection component, and the second deflection component is configured to rotate relative to the first deflection component on a horizontal plane; a second deflection angle detection element is provided at the rotatable connection between the second deflection component and the first deflection component to detect and mark the deflection angle of the second deflection component; the welding structure 4 is connected to the other end of the second deflection component; a third deflection angle detection element is provided at the connection between the welding structure 4 and the second deflection component to detect and mark the deflection angle of the welding structure 4.

[0027] The first drive structure 2 mainly includes a vertical moving member 21 and a horizontal moving member 22. The horizontal moving member 22 is mounted on the vertical moving member 21 and is configured to be driven by the vertical moving member 21 to generate an upward or downward movement in the vertical direction, thereby adjusting the position of the entire welding actuator in the height direction.

[0028] To precisely control the movement stroke of the horizontal moving member 22, a first position element is provided on the vertical moving member 21. This first position element is used to mark and provide feedback on the actual position of the horizontal moving member 22 in real time, forming part of the position closed-loop feedback to ensure the accuracy of the lifting motion. The first position element can be an encoder.

[0029] The horizontal moving member 22 further includes a first deflector and a second deflector, which together realize the functions of extension, contraction, and direction adjustment in the horizontal plane. Specifically, one end of the first deflector is connected to the vertical moving member 21 through a revolute joint, so that the first deflector can rotate as a whole relative to the vertical moving member 21 in the horizontal plane. At this revolute connection, a first deflection angle detection element is integrated to detect and mark the deflection angle of the first deflector relative to the initial position or reference position in real time.

[0030] One end of the second deflector is connected to the other end of the first deflector via another revolute joint, allowing the second deflector to rotate independently relative to the first deflector in the horizontal plane. Similarly, a second deflection angle detection element is provided at this connection point to detect and mark the deflection angle of the second deflector relative to the first deflector in real time.

[0031] The welding structure 4 (i.e., the end mechanism for performing the welding operation) is connected to the other end of the second deflector. At the connection between the welding structure 4 and the second deflector, a third deflection angle detection element is provided to detect and mark the deflection angle of the welding structure 4 relative to the second deflector.

[0032] Through the aforementioned structure, the first drive mechanism achieves linear motion in the vertical direction and extension / orientation functions in the horizontal plane via two-stage deflection joints. The position component and the deflection angle detection component together constitute a multi-degree-of-freedom, high-precision motion and position feedback system, providing fundamental mechanical and sensory support for subsequent precise path planning and welding posture control. This structural design allows the device to reduce its footprint in non-working mode through folding and retraction without occupying a large fixed space, and to achieve a larger working radius through extension.

[0033] When welding is required on a workpiece, the control system plans the optimal welding path based on the workpiece's CAD model and weld information. First, the first drive structure 2 is controlled to move; the vertical moving part 21 drives the horizontal moving part 22 to rise and fall to the target welding height. Then, the horizontal moving part 22 performs a large-scale horizontal rotation and extension / retraction movement, rapidly moving the second drive structure 3, installed at the end, to the vicinity of the target welding point, where the first drive structure 2 performs coarse positioning. Subsequently, the second drive structure 3 fine-tunes the position and orientation of the welding end of the welding structure 4, ensuring that the welding torch 42 is precisely aligned with the weld initiation point.

[0034] In one specific implementation, to ensure high accuracy and reliability of angle detection, the first deflection angle detection element, the second deflection angle detection element, and the third deflection angle detection element all employ encoders.

[0035] Specifically, a first encoder is installed at the rotational connection between the first deflector and the vertical moving member 21 to detect and provide feedback on the absolute or relative rotation angle of the first deflector in real time. A second encoder is installed at the rotational connection between the second deflector and the first deflector to detect and provide feedback on the rotation angle of the second deflector relative to the first deflector in real time. Similarly, a third encoder is installed at the connection between the welded structure 4 and the second deflector to detect and provide feedback on the end-effector attitude angle of the welded structure 4 in real time.

[0036] Using an encoder as the deflection angle detection device provides high-resolution, high-precision digital angle signals that can be directly connected to the control system to form a precise closed-loop position feedback. This helps to achieve precise control and position recording of the movement of each joint, thereby improving the motion trajectory accuracy and repeatability of the entire first drive structure 2, laying the foundation for achieving a precise and stable welding path in the future.

[0037] In one embodiment, the first deflector and the second deflector may be arranged in an overlapping manner.

[0038] In one specific implementation, to achieve a more compact storage state for the device and further reduce its footprint when not in operation, the first deflector and the second deflector are configured to overlap.

[0039] When the first drive structure 2 needs to retract or is in a non-working standby state, the first deflector and the second deflector can partially or completely overlap in the parallel plane, so that the overall outline size of the horizontal moving part 22 is significantly reduced.

[0040] In one embodiment, the vertical moving member 21 includes a vertical base frame 211, a guide rail 213, a lifting drive frame 214, and a lifting drive member 215. The vertical base frame 211 is vertically mounted on the base 1, and a rack 212 is vertically mounted on the vertical base frame 211. The guide rail 213 is vertically mounted on the vertical base frame 211, and a horizontal moving member 22 is mounted on the guide rail 213. The lifting drive frame 214 is mounted on the guide rail 213, and the horizontal moving member 22 is mounted on the lifting drive frame 214. The lifting drive member 215 is mounted on the lifting drive frame 214, and a drive gear is provided at the output end of the lifting drive member 215 corresponding to the rack 212. The aforementioned first position member is mounted on the lifting drive frame 214.

[0041] The vertical base frame 211 is a rectangular frame welded from high-strength steel plates, securely mounted on the base 1 via anchor bolts through its bottom flange. A rack 212 is vertically mounted on its working side. Two guide rails 213 are provided, also vertically mounted on the working side of the vertical base frame 211, positioned on either side of the rack 212. The guide rails 213 can be high-precision ball linear guides 213 pairs, featuring high rigidity, high load capacity, and low friction, providing precise guidance and support for lifting movements. Each guide rail 213 is also equipped with a slider. The lifting drive frame 214 is an L-shaped steel frame with a vertical plate and a horizontal plate. The vertical plate, near the vertical base frame 211, is mounted on two sliders. The horizontal moving part 22 is bolted to the horizontal plate at the top of the lifting drive frame 214. The lifting drive component 215 is a servo motor, which is fixed to the vertical plate of the lifting drive frame 214 on the side away from the vertical base frame 211 by a mounting plate. The output shaft of the lifting drive component 215 passes through the lifting mounting plate and extends to the other side. The drive gear is mounted on the output end of the lifting drive component 215 by a coupling. The module and tooth profile of the drive gear are fully engaged with the rack 212 on the vertical base frame 211.

[0042] When the control system issues a lifting command, the lifting drive component 215 starts, driving the drive gear to rotate. The meshing transmission of the drive gear on the rack 212 is converted into linear motion of the gear itself and its load along the rack 212, that is, driving the entire lifting drive frame 214 to rise or fall along the guide rail 213.

[0043] In one embodiment, the first deflection member includes a first drive member 221 and a first deflection arm 222. The first drive member 221 is mounted on the lifting drive frame 214. The first deflection arm 222 is horizontally arranged, and one end of the first deflection arm 222 is coupled to the drive end of the first drive member 221. The first drive member 221 can drive the first deflection arm 222 to rotate relative to the lifting drive frame 214.

[0044] Specifically, the first drive component 221 (e.g., a servo motor, typically integrated with a reducer to form a drive unit) is fixedly mounted on the vertical moving component 21. The first deflection arm 222 is horizontally positioned, with one end connected to the power output end (i.e., the drive end) of the first drive component 221 via a coupling or other mechanical coupling method. When the first drive component 221 is working, its output rotational torque directly drives the first deflection arm 222, causing it to rotate relative to the vertical moving component 21 (lifting drive frame 214) in the horizontal plane.

[0045] This design, which directly mounts the drive component to the main structure and rigidly drives the deflection arm, ensures that the first-stage horizontal rotary joint has high rigidity and high responsiveness, which helps to improve the structural stability and motion accuracy of the entire robotic arm. This structure is the core mechanical foundation for realizing the function of large-range, controllable rotation of the first deflection component in the horizontal plane.

[0046] In one embodiment, the second deflector includes a second drive member 223 and a second deflection arm 224. The second drive member 223 is mounted on the end of the first deflection arm 222 away from the first drive member 221. The second deflection arm 224 is horizontally arranged, and one end of the second deflection arm 224 is mounted on the drive end of the second drive member 223. The second drive member 223 can drive the second deflection arm 224 to rotate.

[0047] Specifically, the second drive unit 223 (e.g., an integrated drive unit of another servo motor and reducer) is fixedly mounted on the first deflection arm 222, and is located at the end of the first deflection arm 222 away from the first drive unit 221 to which it is connected. The second deflection arm 224 is horizontally arranged, and one end of it is mounted on the power output end (i.e., the drive end) of the second drive unit 223 by mechanical coupling (such as a coupling or gear set). When the second drive unit 223 is working, its output rotational torque directly drives the second deflection arm 224, causing it to rotate relative to the first deflection arm 222 in the horizontal plane.

[0048] This structure constitutes the second rotary joint of the horizontal moving member 22. By installing the second driving member 223 at the end of the first deflecting arm 222, the distributed arrangement of the driving source and the direct transmission of motion are realized, so that the second deflecting arm 224 can rotate controllably independently of the first deflecting arm 222, thereby jointly realizing more complex telescoping, folding and attitude adjustment functions in the horizontal plane.

[0049] In one embodiment, the horizontal moving member 22 further includes a third driving member 225, which is mounted on the end of the second deflection arm 224 away from the second driving member 223. The welding structure 4 is mounted on the third driving member 225 via the second driving structure 3. The third driving member 225 is used to drive the second driving structure 3 to rotate.

[0050] Specifically, the third drive element 225 (e.g., a servo motor with an integrated reducer) is fixedly mounted on the second deflection arm 224 and located at the end of the second deflection arm 224 away from the second drive element 223 to which it is connected. The output end of the third drive element 225 faces downward and extends through the second deflection arm 224 to its lowest point. The second drive structure 3 is mounted on its drive end via a flange. The third drive element 225 is used to drive the entire second drive structure 3 to rotate in the horizontal plane.

[0051] In one embodiment, the second drive member 223 can drive the second deflection arm 224 to rotate relative to the first deflection arm 222 until it folds with the first deflection arm 222.

[0052] In one embodiment, the second drive structure 3 is a six-axis manipulator.

[0053] The six axes of the second drive structure 3 all employ precision joint servo motors and force sensors to ensure smoother motion control and more flexible and reliable posture. The welding structure 4 includes a welding machine 41, a welding torch 42, and a wire feeder 43. The welding machine 41 is a standard welding power source, placed on the ground, and connected to the welding torch 42 via a cable. The welding torch 42 can be fixedly mounted on the second drive structure 3 via a flange. The wire feeder 43 is mounted on the second deflection arm 224. The wire feeder 43 is connected to the welding torch 42 via a wire feeding hose, used to stably deliver the welding wire to the nozzle of the welding torch 42. A water tank 5 is installed below the welding machine 41.

[0054] With the above settings, the six-axis robot can flexibly adjust the welding torch angle to ensure it is always perpendicular to the tangent of the complex weld and maintains the optimal welding posture, which is beneficial for obtaining high-quality welds.

[0055] Mounting the wire feeder 43 on the second deflection arm 224 shortens the wire feeding path and avoids problems such as wire jamming and poor wire feeding caused by long-distance wire feeding, thereby ensuring the stability of the welding process and the quality of the weld formation. During the welding process, the first drive structure 2 and the second drive structure 3 can be used to dynamically adjust the posture in multi-axis coordination to avoid collision between the welding torch 42 and the workpiece, thus improving production safety.

[0056] The first drive structure 2 and the second drive structure 3 use coordinate interpolation to generate a smooth trajectory via linear interpolation, ensuring that the welding torch 42 moves at a constant speed along a straight line and reducing mechanical vibration. The entire welding arm supports arbitrary arcs in space, adapting to complex weld surfaces.

[0057] In one embodiment, such as Figures 1 to 3 As shown, the welding robotic arm also includes an electrical control cabinet 6, which is mounted on a vertical base frame 211. The electrical control cabinet 6 is electrically connected to the first drive structure 2, the second drive structure 3, and the welding structure 4, and can control the motor in the first drive structure 2, the second drive structure 3, and the welding structure 4 using the control cabinet. The core electrical components are concentrated in one cabinet, providing a high level of protection and facilitating centralized inspection, maintenance, and fault diagnosis by technicians.

[0058] In one embodiment, the welding robot arm is also equipped with anti-collision sensors. These sensors include, for example, three-dimensional laser scanning anti-collision sensors mounted on the base of the welding torch 42 or on the end flange of the six-axis robot. This prevents collisions, protects the welding robot arm and workpiece from impact damage, and reduces maintenance costs and the risk of production interruptions.

[0059] According to an embodiment of the present invention, another aspect provides a welding system including a motion controller and the aforementioned welding robotic arm, wherein the motion controller is used to plan the motion paths of the first drive structure 2 and the second drive structure 3.

[0060] The welding system also includes a data processing module and a data transmission module; the data processing module includes an industrial control host, a safety module, and a storage module; the data transmission module is used to realize communication between the motion controller, the industrial control host, the safety module, and the storage module.

[0061] The motion controller internally integrates path planning algorithms, multi-axis linkage interpolation algorithms, and forward and inverse kinematics calculation programs. The industrial control host can store and analyze data, and interact with the motion controller to achieve motion control and path planning for welding. The safety module includes a safety PLC, emergency stop relays, alarm lights, and buzzers, used to process input signals from all safety chain signals such as anti-collision sensors and limit switches, and output safety control commands. The storage module is a solid-state drive, used to store welding programs, process parameter libraries, equipment operation logs, fault records, and production process data, providing data support for quality traceability and equipment maintenance. The data transmission module includes an industrial Ethernet switch and a fieldbus master module, used to achieve high-speed, stable communication and data exchange between the motion controller, industrial control host, safety module, storage module, and all intelligent devices such as welding machine 41 and wire feeder 43.

[0062] Before welding, the operator selects or imports a welding program into the industrial control host. According to the program requirements, the industrial control host retrieves the corresponding parameters such as current, voltage, and speed from the welding process library in the storage module and sends the complete welding task to the motion controller.

[0063] After receiving the task, the motion controller uses its built-in algorithm to plan the motion path. It decomposes a complex welding trajectory into coordinated motion commands for the first drive structure 2 and the second drive structure 3.

[0064] Throughout the welding process, the safety module monitors the status of all sensors in real time. Once the anti-collision sensor or any emergency stop button is triggered, the safety module will immediately send a safety stop signal to the motion controller and driver through the data transmission module to interrupt all motion and ensure safety.

[0065] The industrial control host collects and records welding process data in real time to the storage module through the data transmission module.

[0066] The above setup enables intelligent and automated welding, and the high-precision interpolation algorithm of the motion controller ensures high-quality and consistent welds. A real-time safety monitoring network, comprised of the safety module and data transmission module, enhances equipment safety.

[0067] Although embodiments of the invention have been described in conjunction with the accompanying drawings, those skilled in the art can make various modifications and variations without departing from the spirit and scope of the invention, and such modifications and variations all fall within the scope defined by the appended claims.

Claims

1. A welding robotic arm, characterized in that, include: Base (1); The first driving structure (2) includes a vertical moving member (21) and a horizontal moving member (22) mounted on the vertical moving member (21), the horizontal moving member (22) being driven by the vertical moving member (21) to produce an upward or downward movement; A first position member is disposed on the vertical moving member (21) and configured to mark the travel distance of the horizontal moving member (22); The horizontal moving part (22) includes: The first deflector is rotatably connected at one end to the vertical moving member (21). The first deflector is configured to rotate relative to the vertical moving member (21) on a horizontal plane. A first deflection angle detection member is provided at the rotatable connection between the first deflector and the vertical moving member (21) to detect and mark the deflection angle of the first deflector. The second deflector is rotatably connected at one end to the other end of the first deflector. The second deflector is configured to rotate relative to the first deflector on a horizontal plane. A second deflection angle detection element is provided at the rotatable connection between the second deflector and the first deflector to detect and mark the deflection angle of the second deflector. A welding structure (4) is connected to the other end of the second deflector; a third deflection angle detection element is provided at the connection between the welding structure (4) and the second deflector to detect and mark the deflection angle of the welding structure (4).

2. The welding robotic arm according to claim 1, characterized in that, The deflection angle detection component is an encoder.

3. The welding robotic arm according to claim 1, characterized in that, The first deflector and the second deflector can be arranged in an overlapping manner.

4. The welding robotic arm according to any one of claims 1-3, characterized in that, The vertical moving member (21) includes: A vertical base frame (211) is vertically mounted on the base (1), and a rack (212) is vertically mounted on the vertical base frame (211). The guide rail (213) is vertically mounted on the vertical base frame (211), and the horizontal moving part (22) is mounted on the guide rail (213); A lifting drive frame (214) is mounted on the guide rail (213), and a horizontal moving part (22) is mounted on the lifting drive frame (214); A lifting drive component (215) is mounted on the lifting drive frame (214), and the output end of the lifting drive component (215) is provided with a drive gear corresponding to the rack (212).

5. The welding robotic arm according to claim 4, characterized in that, The first deflector includes: The first driving component (221) is mounted on the lifting drive frame (214); The first deflection arm (222) is horizontally arranged, and one end of the first deflection arm (222) is coupled to the driving end of the first driving member (221). The first driving member (221) can drive the first deflection arm (222) to rotate relative to the lifting drive frame (214).

6. The welding robotic arm according to claim 5, characterized in that, The second deflector includes: The second drive member (223) is mounted on the end of the first deflection arm (222) away from the first drive member (221); The second deflection arm (224) is horizontally arranged, and one end of the second deflection arm (224) is installed on the driving end of the second driving member (223). The second driving member (223) can drive the second deflection arm (224) to rotate.

7. The welding robotic arm according to claim 6, characterized in that, The horizontal moving part (22) further includes a third driving part (225), which is mounted on the end of the second deflection arm (224) away from the second driving part (223). The welding structure (4) is mounted on the third driving part (225) through the second driving structure (3). The third driving part (225) is used to drive the second driving structure (3) to rotate.

8. The welding robotic arm according to claim 6, characterized in that, The second drive member (223) can drive the second deflection arm (224) to rotate relative to the first deflection arm (222) until it folds with the first deflection arm (222).

9. The welding robotic arm according to claim 7, characterized in that, The second drive structure (3) is a six-axis manipulator.

10. The welding robotic arm according to claim 7, characterized in that, The welded structure (4) includes: Welding machine (41); A welding torch (42) is mounted on the second drive structure (3) and is connected to the welding machine (41); A wire feeder (43) is mounted on the second deflection arm (224) and is used to feed welding wire to the welding torch (42).

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