Automatic feeding device for laser tailor-welding

Abstract

The present disclosure discloses a laser tailor-welding automatic feeding device, belonging to the field of automatic mechanical manufacturing and intelligent manufacturing technology, comprising: a feeding robot, a loading table, and a centering table, the loading table is arranged on the other side of the feeding robot, and is used for accurately centering and positioning the plate material carried by the feeding robot; the centering table comprises a supporting base, a table top arranged on the supporting base, a servo motor for providing driving force, an X-direction push-pull mechanism and a Y-direction push-pull mechanism mounted on the table top, and at least one quick-release limiting block for limiting the plate material on the table top, wherein the X-direction push-pull mechanism is configured to adjust the position of the plate material in the X-axis direction of the table top as the coordinate system, and the Y-direction push-pull mechanism comprises at least one guide rail arranged on one side of the table top and end seats arranged at both ends of the guide rail. The laser tailor-welding automatic feeding device has compact structure, stable gas supply, and can realize efficient separation of multiple varieties of plate materials and accurate double-plate detection.

Description

Technical Field

[0001] This invention belongs to the field of automated mechanical manufacturing and intelligent manufacturing technology, and specifically relates to an automatic feeding device for laser welding. Background Technology

[0002] Laser welding is an advanced manufacturing process that welds steel plates of different thicknesses, materials, or surface coatings into a single unit. It has been widely used in automobile body manufacturing (such as the splicing of large and small plates like roof ribs and door inner panels).

[0003] In existing laser welding production lines, the handling, separation, alignment, and delivery of raw material sheets (substrates) to the welding station still largely rely on manual operation or single-unit equipment with low automation. As automobile manufacturing moves towards greater flexibility, faster production cycles, and intelligence, existing material handling and alignment methods reveal numerous technical shortcomings. For example, when handling stacked steel sheets, the presence of rust-preventive oil on the sheet surface or the influence of intermolecular vacuum adsorption forces can easily cause two or more sheets to stick together (i.e., "double-layer" or "multiple-layer") during robotic arm suction. If double-layer sheets enter the subsequent welding process, it not only leads to direct product scrap but also easily impacts and damages expensive laser welding heads or clamping mechanisms. Furthermore, large-size suction cups or multi-suction cup end effectors consume a huge amount of air during instantaneous gripping. If a sudden pressure loss occurs in a typical production line's centralized air supply network, it can lead to unstable adsorption and sheet drop, posing a significant safety hazard. Additionally, laser welding production lines often need to process multiple products simultaneously or in switching modes, such as large sheets, small rectangular sheets, and irregularly shaped small sheets. However, traditional material loading and sheet separation devices are mostly rigid structures designed for specific dimensions. For sheets with different stacking heights and contour shapes, magnetic sheet separation and outer contour limiting are difficult to adjust flexibly, resulting in poor sheet separation effects, easy jamming, and difficulty meeting the requirements of flexible co-production of multiple production lines or multiple product types. Furthermore, existing laser welding has extremely stringent requirements for the butt joint gap and alignment accuracy (typically required to be at the 0.1mm level) of two or more sheets. Existing centering platforms mainly use cylinders to drive positioning blocks for simple coarse centering. When dealing with irregularly shaped sheets or lightweight thin sheets, they are prone to edge deformation due to impact, or centering accuracy exceeding tolerances due to incomplete pushing and pulling.

[0004] Therefore, there are currently many technical problems that urgently need to be solved in the field of laser welding automation. Summary of the Invention

[0005] In view of the above-mentioned problems existing in the prior art, one aspect of the present invention is to provide an automatic feeding device for laser welding. This automatic feeding device for laser welding has a compact structure, stable gas supply, and can achieve efficient sheet metal separation and accurate double-material detection for multiple types of sheet metal. Furthermore, it can perform high-precision adaptive push-pull alignment and tool-based quick-change adjustments for the central platform.

[0006] To achieve the first objective mentioned above, the present invention provides an automatic feeding device for laser welding, characterized in that it includes: The loading robot, controlled by a robot control system, includes a first axis rotating base and a robot body mounted on the first axis rotating base. The end effector of the robot body is equipped with a robot loading fixture for gripping the sheet metal. A loading platform, located on one side of the loading robot, is used to stack and provide plates to be welded; and The central platform is located on the other side of the loading robot and is used to accurately center and position the sheet material transported by the loading robot. The centering platform includes a support base, a platform disposed on the support base, a servo motor for providing driving force, an X-axis push-pull mechanism and a Y-axis push-pull mechanism mounted on the platform, and a quick-release limiting block for limiting the sheet metal at least partially located on the platform. The X-axis push-pull mechanism is configured to adjust the position of the sheet metal in the X-axis direction with the platform as the coordinate system. The Y-axis push-pull mechanism includes a guide rail disposed at least on one side of the platform and end seats disposed at both ends of the guide rail, as well as a push-pull assembly that can be variably fixed along the guide rail.

[0007] As a further improvement, an air tank bracket is fixed on the first axis rotating base by a mounting seat. An air tank specifically for supplying air to the robot loading fixture is installed on the air tank bracket, and a one-way valve is configured on the front end pipeline of the air tank. The robot loading fixture is also equipped with a pressure regulating valve, which is connected to the exhaust end of the air tank.

[0008] As a further improvement, the robot loading fixture includes a main frame and a plurality of transverse support arms spaced apart on the main frame. The main frame is provided with a transition connection seat in the middle for connecting with the end effector flange of the robot body. A plurality of first vacuum suction cups for picking up sheet metal are evenly arranged on the transverse support arms.

[0009] As a further improvement, a dual-material detection controller is configured on the first axis rotating base or the robot loading fixture, and at least two sets of dual-material detection sensors are provided in the middle of the lower part of the main frame. The dual-material detection sensors are electrically connected to the dual-material detection controller to detect whether multiple sheets of material are stuck together when the first vacuum suction cup picks up the sheet material.

[0010] As a further improvement, the loading platform includes a platform body and a loading tray that can be detachably placed on the platform body. The bottom of the loading tray is provided with tray legs, and the platform body is provided with a first positioning pin that engages with the tray legs. The top surface of the loading tray is a tray bearing surface, and multiple material bearing strips are arranged at intervals on the tray bearing surface.

[0011] As a further improvement, the loading platform also includes a second limiting post and a magnetic separator disposed around the platform body; The second limiting post includes at least a first post, a second post, and a third post that limit the sheet metal from three directions respectively; The magnetic sheet separator is fixed by a mounting bracket. The magnetic sheet separator includes a sheet separator body and a positioning post inserted into the side of the sheet separator body. The mounting bracket is also integrated with a sheet presence detection sensor for detecting whether there is material in the current tray and a material end detection sensor for detecting whether the entire stack of material is about to be used up.

[0012] As a further improvement, the push-pull assembly includes a base, a telescopic cylinder fixed on the base, and a second vacuum suction cup for fixing the sheet metal to be welded, which is driven to extend and retract by the telescopic cylinder. A telescopic spring for shock absorption is connected in series between the second vacuum suction cup and the piston rod of the telescopic cylinder. The base is also equipped with a locking knob, and the end seat is provided with a plurality of first positioning holes. The locking knob is configured to fix the base, and the first positioning holes are configured to fix the push-pull assembly to the table surface by means of a second positioning pin.

[0013] As a further improvement, the X-axis push-pull mechanism is a conveyor system driven by the servo motor to move the sheet metal along the X-axis direction of the table.

[0014] As a further improvement, the quick-release limiting block includes a limiting block body, a third positioning pin fixed to the bottom of the limiting block body, and a first fastening bolt penetrating the limiting block body. The top of the first fastening bolt is provided with a tool-free fixing knob. By manually rotating the fixing knob, the first fastening bolt is engaged with the threaded hole on the table surface and locked.

[0015] As a further improvement, a quick-release lifting mechanism is also provided on the platform. The quick-release lifting mechanism is fixed to the lower edge of the platform and includes an L-shaped support frame, a lifting cylinder and a linear guide rail vertically fixed on the L-shaped support frame, and a movable mounting plate fixedly connected to the output end of the lifting cylinder and the slider of the linear guide rail. A horizontally extending connecting cantilever is fixed to the top of the movable mounting plate, and a quick-release positioning block is fixed to the end of the connecting cantilever. The lifting cylinder can drive the quick-release positioning block to pass through the platform and perform vertical lifting.

[0016] Compared with existing technologies, the automatic laser welding feeding device described in this invention achieves an independent and highly stable air supply, completely eliminating the safety hazards of dual materials. It possesses comprehensive material status monitoring and multi-specification adaptive sheet splitting capabilities, achieving a perfect combination of long-distance efficient conveying and flexible, non-destructive precision alignment. This enables the entire system to achieve "tool-free quick disassembly and production changeover," significantly improving the overall efficiency of the equipment. Attached Figure Description

[0017] Figure 1 This is an overall isometric view of the automatic laser welding feeding device of the present invention; Figure 2 This is a three-dimensional structural schematic diagram of the automatic laser welding feeding device of the present invention from another perspective; Figure 3 This is a three-dimensional structural diagram of the loading platform of an embodiment of the automatic laser welding feeding device of the present invention; Figure 4 This is a three-dimensional structural diagram of the loading platform of another embodiment of the automatic laser welding feeding device of the present invention; Figure 5 This is a partial structural schematic diagram of the loading robot of the automatic laser welding loading device of the present invention; Figure 6 This is a three-dimensional structural diagram of the robotic loading fixture for the automatic laser welding loading device of the present invention; Figure 7 This is a three-dimensional structural diagram of the centering platform according to an embodiment of the automatic laser welding feeding device of the present invention; Figure 8 This is a three-dimensional structural diagram of the centering platform of another embodiment of the automatic laser welding feeding device of the present invention; Figure 9 This is a three-dimensional structural diagram of the Y-axis push-pull mechanism of the laser welding automatic feeding device of the present invention. Figure 10 This is a three-dimensional structural schematic diagram (enlarged view) of the Y-axis push-pull mechanism of the laser welding automatic feeding device of the present invention for the center platform. Figure 11This is a three-dimensional structural diagram of the quick-release lifting mechanism of the center platform of the automatic laser welding feeding device of the present invention; Figure 12 This is a three-dimensional structural schematic diagram of one embodiment of the quick-release limiting block of the center platform of the automatic laser welding feeding device of the present invention; Figure 13 This is a three-dimensional structural schematic diagram of another embodiment of the quick-release limiting block of the center platform of the automatic laser welding feeding device of the present invention. Figure 14 This is a schematic diagram of the structure of the automatic laser welding feeding device of the present invention, which has a material detection device at the bottom of the material loading platform.

[0018] Key reference numerals: 1-Feeding Robot 11-Robot loading fixture, 12-Robot base, 13-Mounting seat, 14-First axis rotating base, 15-Air tank, 16-Air tank bracket, 17-Dual material detection controller, 18-Pressure regulating valve, 111-Main frame, 112-Horizontal support arm, 113-Transition connection seat, 114-First vacuum suction cup, 115-Dual material detection sensor; 2-Carrying platform, 21-Platform body, 211-First limiting post, 212-Right-angle limiting seat, 22-Carrying pallet, 221-Pallet support leg, 222-First positioning pin, 223-Pallet bearing surface, 2231-Material bearing strip, 23-Second limiting post, 231-First column, 232-Second column, 233-Third column, 24-Magnetic sheet separator, 241-Positioning post, 242-Sheet separator body, 243-Sheet presence / absence detection sensor; 244-Mounting bracket, 245-End-of-material detection sensor; 3-Center platform, 31-Support column, 310-Support box, 32-Servo motor, 33-Tabletop, 34-X-axis push-pull mechanism, 35-Y-axis push-pull mechanism, 36-Quick-release limit block, 37-Quick-release lifting mechanism, 351-Push-pull assembly, 352-Guide rail, 353-End seat, 3511-Base, 3512-Telescopic cylinder, 3513-Locking knob, 3514-Second vacuum suction cup 3515-Telescopic spring; 3531-First positioning hole; 361-Limit block body; 362-Third positioning pin; 363-First fastening bolt; 3631-Fixing knob; 364-Adjusting stop; 365-Stop adjusting bolt; 371-L-shaped support frame; 372-Lifting cylinder; 373-Linear guide rail; 374-Modible mounting plate; 375-Connecting cantilever; 376-Quick release positioning block; 4-Robot control system, 5-Electrical cabinet, 100-Safety fence, 200-Sheet material. Detailed Implementation

[0019] To enable those skilled in the art to better understand the technical solution of the present invention, the present invention will be described in detail below with reference to the accompanying drawings and specific embodiments.

[0020] These and other features of the invention will become apparent from the following description of preferred forms of embodiments given as non-limiting examples, with reference to the accompanying drawings.

[0021] It should also be understood that although the invention has been described with reference to some specific examples, those skilled in the art can certainly implement many other equivalent forms of the invention, which have the features described in the claims and are therefore all within the scope of protection defined herein.

[0022] The above and other aspects, features and advantages of the invention will become more apparent when taken in conjunction with the accompanying drawings and in view of the following detailed description.

[0023] like Figure 1 , Figure 2 , Figure 5 and Figure 6 As shown, the automatic laser welding feeding device provided by this invention is fixed within the enclosed working area enclosed by a safety fence 100. Two sets of automatic laser welding feeding devices are deployed side-by-side within the safety fence 100. The entire device operates fully automatically, with signal interaction and logic control driven by an electrical cabinet 5 and a robot control system 4 electrically connected to it. In terms of overall spatial layout, the loading platform 2 and the centering platform 3 are symmetrically and spaced apart on both sides of the working area, while the feeding robot 1, which serves as the core power source for handling and gripping, is located between the loading platform 2 and the centering platform 3. The bottom of the feeding robot 1 is anchored to the ground via robot foot bases 12, and its robot body (not shown) is supported on a first axis rotation base 14 to achieve large-angle horizontal rotation. A robot feeding fixture 11 is rigidly connected to the end effector flange of the robot body via a transition connecting seat 113. This robot feeding fixture 11 adopts a high-rigidity frame structure, including a main frame 111 and multiple transverse support arms 112 fixed laterally at intervals on the main frame 111. Each horizontal support arm 112 has several sets of first vacuum suction cups 114 evenly distributed and mounted on its bottom surface, thus forming a large-area end-effector grasping array in space, which is used to perform large-area, highly stable adsorption and handling of stacked initial sheet materials 200.

[0024] To fundamentally address the risk of material falling due to the instantaneous depressurization of the centralized air network during high-flow suction cup gripping, and to completely eliminate the safety hazard of material adhesion, this device incorporates an air tank bracket 16 welded to a mounting base 14 on the first axis, which rotates horizontally with the loading robot 1. An 80L local air tank 15 is fixedly attached to this bracket 16. A one-way valve is installed on the inlet pipe of the air tank 15 for connecting to an external air supply network, while its exhaust end is connected to a pressure regulating valve 18. The output of the pressure regulating valve 18 is led to the robot loading fixture 11 via a flexible air tube. When a negative pressure generator (not shown) provides negative pressure for each of the first vacuum suction cups 114, the air tank 15 can adjust the adsorption and release using independently adjustable compressed air. Meanwhile, a dual-material detection controller 17 is configured on the first axis rotating base 14 or the robot loading fixture 11, and at least two sets of dual-material detection sensors 115 are symmetrically arranged in the geometric center area below the main frame 111. The dual-material detection sensors 115 are electrically connected to the dual-material detection controller 17. When the robot loading fixture 11 presses down and the first vacuum suction cup 114 picks up the sheet 200, the two sets of dual-material detection sensors 115 measure the physical thickness of the picked-up sheet in real time through electromagnetic or ultrasonic principles. Once it is determined that multiple sheets 200 are stuck together due to oil film adsorption, the dual-material detection controller 17 will immediately send an abnormal signal to the robot control system 4 and stop the subsequent cross-area handling operation, effectively protecting the expensive laser welding head and mechanical clamping mechanism in the subsequent workstation.

[0025] As a platform that provides material storage and pre-splitting, such as Figure 3 and Figure 4As shown, the loading platform 2 not only enables adaptive coarse positioning of multi-specification sheet metal 200, but also integrates comprehensive intelligent monitoring of material status. The basic part of the loading platform 2 includes a frame-type platform body 21 welded from profiles, on which a loading tray 22 is detachably placed. The bottom of the loading tray 22 has downwardly protruding tray legs 221, while the corresponding position on the platform body 21 has an upwardly protruding first positioning pin 222. Through the insertion and engagement of the first positioning pin 222 with the tray legs 221, the loading tray 22 is quickly and accurately positioned on the platform body 21. In another embodiment, the periphery of the platform body 21 is also provided with a right-angle limiting seat 212 for positioning the loading tray 22 or the sheet metal 200 stacked on it. In this embodiment, the tray legs 221 and the first positioning pin 222 can be used to position the loading tray 22. The top surface of the material tray 22 is constructed as a tray bearing surface 223, on which multiple horizontally spaced material-bearing strips 2231 are arranged to support stacked sheets 200. The periphery of the platform 21 is fixed with first limiting posts 211 and right-angle limiting seats 212 for rough guidance of the outer contour when additional stacks of sheets 200 are hoisted from the outside. Around the platform 21, multiple second limiting posts 23 and magnetic sheet separators 24 are further provided. The magnetic sheet separator 24 uses the principle of magnetic repulsion to separate two sheets of metal; this part is actually existing technology. The second limiting posts 23 may specifically include a first post 231, a second post 232, and a third post 233. Meanwhile, the magnetic sheet separator 24 includes a separator body 242 and a positioning post 241 inserted into the side. The separator body 242 releases a strong magnetic field to magnetize the edges of the stacked sheets 200, thereby causing the top few sheets 200 to levitate naturally under the repulsive force of like magnetic poles. In addition, two optical sensors are integrated on the mounting bracket 244. The sheet presence detection sensor 243 is used to monitor in real time whether there are sheets of sheet 200 on the current material tray 22, while the end-of-life detection sensor 245 is set at a low physical position near the bottom of the tray and fixed by the mounting bracket 244. When the entire stack of sheets 200 is about to be picked up and the material height drops to the critical height, the end-of-life detection sensor 245 is triggered and sends a signal to the electrical cabinet 5, thereby prompting the outside to prepare new material in advance without stopping the machine.

[0026] Further reference Figure 7 and Figure 8As shown, the platform 3 has a two-dimensional spatial conveying and adaptive flexible buffer centering structure. It is anchored to the ground via multiple support columns 31, and a large platform 33 is fixed above it. In another embodiment, the support foundation of the platform 3 is constructed as a support box 310, which provides more stable support. Furthermore, the material conveying of the platform 3 along the X-axis with the platform 33 as the coordinate system relies entirely on an X-axis push-pull mechanism 34 that runs longitudinally through the platform 33. This mechanism is directly constructed as a conveyor belt system and driven by a high-precision servo motor 32. When the loading robot 1 places the gripped sheet material 200 onto the conveyor belt system, the servo motor 32 drives the conveyor belt system to operate, causing the sheet material 200 to move long distances smoothly and efficiently without scratches along the X-axis. At this time, the quick-release lifting mechanism 37, located below the table 33, is activated. This mechanism includes an L-shaped support frame 371 fixed below the table 33. A lifting cylinder 372 and a linear guide rail 373 are vertically mounted on the L-shaped support frame 371. The output end of the lifting cylinder 372 and the slider of the linear guide rail 373 are rigidly connected to a movable mounting plate 374. A horizontally extending connecting cantilever 375 is fixed to the top of the movable mounting plate 374, and a quick-release positioning block 376 is connected to the end of the connecting cantilever 375. During material transport, the lifting cylinder 372 retracts, driving the quick-release positioning block 376 to retract downwards below the table 33 to complete space clearance. When the sheet metal 200 is transported to the position, the lifting cylinder 372 quickly extends, driving the quick-release positioning block 376 to pass through the table 33 and protrude above the table 33, forming a physical alignment barrier, so that the front edge of the sheet metal 200 on the conveyor belt is close to the quick-release positioning block 376, completing the precise position adjustment in the X-axis direction.

[0027] After X-axis positioning is completed, the alignment and edge-fitting of the sheet metal 200 in the Y-axis direction is accomplished by the cooperation of the Y-axis push-pull mechanism 35 on one side of the table 33 and the quick-release limiting block 36. The Y-axis push-pull mechanism 35 includes a guide rail 352 horizontally laid on the table 33 and end seats 353 fixed at both ends of the guide rail 352. A complete push-pull assembly 351 is slidably supported on the guide rail 352. The push-pull assembly 351 includes a base 3511 and a telescopic cylinder 3512 fixed on the base 3511. The piston rod of the telescopic cylinder 3512 is connected to a second vacuum suction cup 3514 for adsorbing and fixing the sheet metal 200 to be welded. The key structure of this invention is that a highly elastic telescopic spring 3515 is connected in series between the second vacuum suction cup 3514 and the piston rod of the telescopic cylinder 3512. When the telescopic cylinder 3512 extends and pushes the sheet metal 200 to the side, the second vacuum suction cup 3514 first contacts the surface or edge of the sheet metal 200. Subsequently, the telescopic spring 3515 generates compression and provides flexible shock absorption. This flexible thrust completely avoids the impact generated by the hard impact of the traditional cylinder, ensuring that the edges of the extremely thin sheet metal will not warp, bend, or undergo local pressure distortion when it is pushed laterally. Under the flexible push of the push-pull assembly 351, the lateral edge of the sheet metal 200 finally fits precisely and abuts against the quick-release limit block 36 set on the other side of the table 33, thus perfectly achieving high-precision two-dimensional non-destructive centering and positioning. This facilitates the subsequent welding line suction cup fixture to pick up the sheets in pairs and feed them into the laser welding machine for seamless welding.

[0028] To achieve tool-free quick-release production changeover across the entire system and adapt to flexible co-line production of various automotive sheet metals, this invention introduces tool-free manual adjustment structures in both the Y-axis push-pull mechanism 35 and the quick-release limit block 36. Several first positioning holes 3531, arranged linearly at intervals, are provided on the end seat 353 or adjacent table 33 in a direction parallel to the guide rail 352. A manual locking knob 3513 is provided on the base 3511 of the push-pull assembly 351. When the production line needs to switch to processing irregularly shaped sheet metals with different cross-sectional dimensions, operators do not need to use any wrenches or screwdrivers. They simply loosen the locking knob 3513 by hand, push the base 3511 along the guide rail 352 to the target position, and then tighten the locking knob 3513 again by passing a second positioning pin (not shown) through the corresponding first positioning hole 3531. This instantly completes the large-span production changeover adjustment of the initial position of the push-pull assembly 351. Meanwhile, the quick-release limiting block 36 used to block the side of the sheet 200 includes a limiting block body 361. The bottom surface of the limiting block body 361 is fixed with a downwardly protruding third positioning pin 362 for insertion into the corresponding positioning reference hole on the table 33. The quick-release limiting block 36 also includes a first fastening bolt 363 that penetrates vertically through the limiting block body 361, and a large-diameter fixing knob 3631 is integrally connected to the top of the first fastening bolt 363. During production changeover, the limiting block body 361 can be quickly loosened, removed, moved, or re-locked from the table 33 by manually rotating the fixing knob 3631. In addition, an adjusting stop 364 can be adjustedly connected to the side of the limiting block body 361 facing the material. The adjusting stop 364 is threadedly connected to the limiting block body 361 by a horizontal stop adjusting bolt 365. By manually rotating the stop adjustment bolt 365, operators can make minor compensations to the extension length of the adjustment stop 364, thereby eliminating the mechanical cumulative errors caused by long-term operation of the equipment and ensuring the high overall efficiency of the entire line.

[0029] The above embodiments are merely exemplary embodiments of the present invention and are not intended to limit the present invention. The scope of protection of the present invention is defined by the claims. Those skilled in the art can make various modifications or equivalent substitutions to the present invention within its spirit and scope of protection, and such modifications or equivalent substitutions should also be considered to fall within the scope of protection of the present invention.

Claims

1. An automatic feeding device for laser welding, characterized in that, include: The loading robot (1) is controlled by the robot control system (4), which includes a first axis rotating base (14) and a robot body mounted on the first axis rotating base (14). The end effector of the robot body is provided with a robot loading fixture (11) for gripping the sheet metal. A loading platform (2), located on one side of the loading robot (1), is used to stack and provide plates (200) to be welded; and The middle platform (3) is set on the other side of the loading robot (1) and is used to accurately center and position the plate (200) transported by the loading robot (1); The centering platform (3) includes a support base, a platform (33) disposed on the support base, a servo motor (32) for providing driving force, an X-axis push-pull mechanism (34) and a Y-axis push-pull mechanism (35) mounted on the platform (33), and a quick-release limiting block (36) for limiting the sheet material located at least partially on the platform (33). The X-axis push-pull mechanism (34) is configured to adjust the position of the sheet material (200) in the X-axis direction with the platform (33) as the coordinate system. The Y-axis push-pull mechanism (35) includes a guide rail (352) disposed at least on one side of the platform (33) and end seats (353) disposed at both ends of the guide rail (352), and a push-pull assembly (351) whose position can be variably fixed along the guide rail (352).

2. The automatic laser welding feeding device according to claim 1, characterized in that, An air tank bracket (16) is fixed on the first shaft rotating base (14) by a mounting seat (13). An air tank (15) is installed on the air tank bracket (16) for supplying air to the robot loading fixture (11). A one-way valve is configured on the front end pipeline of the air tank (15). A pressure regulating valve (18) is also configured on the robot loading fixture (11). The pressure regulating valve (18) is connected to the exhaust end of the air tank (15).

3. The automatic laser welding feeding device according to claim 1, characterized in that, The robot loading fixture (11) includes a main frame (111) and a plurality of transverse support arms (112) spaced apart on the main frame (111). The main frame (111) is provided with a transition connection seat (113) in the middle for connecting with the end effector flange of the robot body. A plurality of first vacuum suction cups (114) for picking up sheet metal (200) are evenly arranged on the transverse support arms (112).

4. The automatic laser welding feeding device according to claim 3, characterized in that, A dual-material detection controller (17) is configured on the first axis rotating base (14) or the robot loading fixture (11), and at least two sets of dual-material detection sensors (115) are provided in the middle of the lower part of the main frame (111). The dual-material detection sensors (115) are electrically connected to the dual-material detection controller (17) to detect whether multiple sheets of board are stuck together when the first vacuum suction cup (114) picks up the board material.

5. The automatic laser welding feeding device according to claim 1, characterized in that, The loading platform (2) includes a platform body (21) and a loading tray (22) that can be detachably placed on the platform body (21). The bottom of the loading tray (22) is provided with tray support legs (221). The platform body (21) is provided with a first positioning pin (222) that engages with the tray support legs (221). The top surface of the loading tray (22) is a tray bearing surface (223). The tray bearing surface (223) is provided with multiple material support strips (2231) arranged at intervals.

6. The automatic laser welding feeding device according to claim 5, characterized in that, The loading platform (2) also includes a second limiting post (23) and a magnetic separator (24) disposed around the platform body (21). The second limiting post (23) includes at least a first post (231), a second post (232) and a third post (233) that limit the sheet (200) from three directions respectively. The magnetic sheet divider (24) is fixed by a mounting bracket (244). The magnetic sheet divider (24) includes a sheet divider body (242) and a positioning post (241) inserted into the side of the sheet divider body (242). The mounting bracket (244) is also integrated with a sheet presence / absence detection sensor (243) for detecting whether there is material in the current tray, and a material end detection sensor (245) for detecting whether the entire stack of material is about to be used up.

7. The automatic laser welding feeding device according to claim 1, characterized in that, The push-pull assembly (351) includes a base (3511), a telescopic cylinder (3512) fixed on the base (3511), and a second vacuum suction cup (3514) driven by the telescopic cylinder (3512) to fix the plate to be welded (200). A telescopic spring (3515) for shock absorption is connected in series between the second vacuum suction cup (3514) and the piston rod of the telescopic cylinder (3512). The base (3511) is also equipped with a locking knob (3513), and the end seat (353) is provided with a plurality of first positioning holes (3531). The locking knob (3513) is configured to fix the base (3511), and the first positioning holes (3531) are configured to fix the push-pull assembly (351) to the table surface (33) by means of a second positioning pin.

8. The automatic laser welding feeding device according to claim 1, characterized in that, The X-axis push-pull mechanism (34) is a conveyor system driven by the servo motor (32) to move the sheet metal (200) along the X-axis direction of the table (33).

9. The automatic laser welding feeding device according to claim 1, characterized in that, The quick-release limiting block (36) includes a limiting block body (361), a third positioning pin (362) fixed to the bottom of the limiting block body (361), and a first fastening bolt (363) penetrating the limiting block body (361). The top of the first fastening bolt (363) is provided with a tool-free fixing knob (3631). By manually rotating the fixing knob (3631), the first fastening bolt (363) is engaged with the threaded hole on the table (33) and locked.

10. The automatic laser welding feeding device according to claim 1, characterized in that, A quick-release lifting mechanism (37) is also provided on the platform (33). The quick-release lifting mechanism (37) is fixed to the lower edge of the platform (33). It includes an L-shaped support frame (371), a lifting cylinder (372) and a linear guide rail (373) that are vertically fixed on the L-shaped support frame (371), and a movable mounting plate (374) that is fixedly connected to the output end of the lifting cylinder (372) and the slider of the linear guide rail (373). A horizontally extending connecting cantilever (375) is fixed at the top of the movable mounting plate (374), and a quick-release positioning block (376) is fixed at the end of the connecting cantilever (375). The lifting cylinder (372) can drive the quick-release positioning block (376) to pass through the platform (33) and perform vertical lifting.

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