Manipulator with roller pressurizing welding actuator

Abstract

The present application relates to the technical field of manipulator, and discloses a manipulator with roller pressurizing welding actuator, which comprises a mechanical arm and a support arranged at the execution end of the mechanical arm, the bottom surface of the support is symmetrically fixedly provided with two guide rails, the bottom surface of the support is symmetrically provided with two mounting bases, the top surface of the mounting base is symmetrically fixedly provided with two sliding seats which are respectively in sliding connection with the two guide rails, and the inner top surface of the support is provided with a distance adjusting assembly for adjusting the distance between the two mounting bases. In the welding process, the two groups of pressure head assemblies can work synchronously along with the laser welding track, realize instant, balanced and controllable precise pressure on the welding bead, effectively compact the welding joint and eliminate the gap between the plates, and meanwhile rely on the real-time feedback of the pressure sensor, so that the staff can accurately fine-tune the output pressure of the servo cylinder, cooperate with the laser head to stabilize the welding operation, ensure that all the welding beads are uniformly formed, and improve the welding quality stability and product qualification rate.

Description

Technical Field

[0001] This invention relates to the field of robotic arm technology, and in particular to a robotic arm with a roller pressure welding actuator. Background Technology

[0002] In the current era of locomotive body lightweighting, laser welding technology has occupied a major share in locomotive body production, especially in the production of components such as locomotive side walls. Laser lap welding between thin sheet (2-3mm thick) skin and frame beams has become a common and routine production technology. In actual production, large two-axis gantry cranes equipped with 5-axis robotic arms are commonly used. The robotic arm holds a laser welding head to perform lap welding. After adjusting various parameters, each weld is completed one by one according to the program.

[0003] However, with the continuous improvement of technical requirements, it has been found that the existing equipment technology has insurmountable technical defects: on the one hand, due to the characteristics of the product's extra-long and wide outline, it is impossible to find a position within the product outline where a platform can be exposed to install the fixture. On the other hand, the use of gantry bracket counter-pressure fixtures cannot avoid the continuous automatic operation of the welding head. This means that the skeleton beam and skin do not receive the necessary clamping force during the overlapping welding, which in turn causes the fit between the two to fail to achieve the micro gap (≤0.2mm) that guarantees the quality of laser overlapping welding, greatly reducing the controllability and stability of the welding quality. On the other hand, considering the symmetrical structural features of the skeleton beam cross section and weld bead, the reasonable and advantageous arrangement should be to perform symmetrical welding on both sides simultaneously and synchronously; however, a single laser head can only weld one side before welding the other side. This unavoidable procedural arrangement ignores the advantageous rule of symmetrical and balanced distribution of welding stress, which easily leads to stress concentration and increases the gap between the overlapping welds on both sides.

[0004] Therefore, a robotic arm with a roller-driven pressure welding actuator is needed to solve the above problems. Summary of the Invention

[0005] The purpose of this invention is to address the shortcomings of existing technologies by proposing a robotic arm with a roller-driven pressure welding actuator.

[0006] To achieve the above objectives, the present invention adopts the following technical solution: A robotic arm with a roller-driven pressure welding actuator includes a robotic arm and a support mounted on the actuator end of the robotic arm. Two guide rails are symmetrically fixedly mounted on the bottom surface of the support. Two mounting bases are symmetrically mounted on the bottom surface of the support. Two sliding seats, each slidably connected to one of the guide rails, are symmetrically fixedly mounted on the top surface of each mounting base. An adjusting assembly for adjusting the distance between the two mounting bases is provided on the inner top surface of the support. A mounting plate one is fixedly mounted on one side of each mounting base, and a mounting plate two is fixedly mounted on the other side. The side of the mounting base is located at the mounting... A servo cylinder is positioned between plate one and mounting plate two. A laser head is slidably mounted on the side of the mounting base via a mounting groove, and the telescopic end of the servo cylinder is fixedly connected to the laser head. A hinge seat is fixedly mounted on the side of the mounting base below mounting plate two. Servo cylinders two are hinged to both the hinge seat and the side of mounting plate one. A pressure head assembly is provided at the telescopic end of the servo cylinder two. Supports are rotatably mounted on the sides of both mounting plate one and mounting plate two, and one end of the support is movably connected to the side of the servo cylinder two via a sliding groove and a slider.

[0007] As a preferred embodiment of the present invention, a robotic arm connector for connecting to a robotic arm is fixedly installed on the top surface of the bracket, and the support frame is configured as L-shaped.

[0008] As a preferred embodiment of the present invention, the adjusting assembly includes an adjusting screw rotatably mounted on the top surface of the bracket, and the top ends of the two mounting bases are respectively threaded onto the outer walls of the two ends of the adjusting screw. A bevel gear one is fixedly mounted on the outer wall of the adjusting screw, a servo motor is fixedly mounted on the top surface of the bracket, and a bevel gear two that meshes with the bevel gear one is fixedly mounted on the output end of the servo motor.

[0009] As a preferred embodiment of the present invention, both ends of the adjusting screw are fixedly mounted with rotating wheels, and the threads on both sides of the adjusting screw are in opposite directions.

[0010] As a preferred embodiment of the present invention, the pressure head assembly includes a shaft connecting sleeve threaded onto the telescopic end of the servo electric cylinder. An outer adjusting sleeve is threaded onto the bottom end of the shaft connecting sleeve. A pressure sensor is fixedly installed on the top of the inner wall of the shaft connecting sleeve. A pressure-bearing block that contacts the contact of the pressure sensor is slidably installed on the inner wall of the shaft connecting sleeve. Several disc springs are provided on the bottom surface of the pressure-bearing block. A washer that contacts the bottommost disc spring is slidably installed on the inner wall of the outer adjusting sleeve. A steel ball is movably installed on the inner wall of the bottom end of the outer adjusting sleeve.

[0011] As a preferred embodiment of the present invention, the bottom surface of the gasket rolls and engages with the apex of the steel ball, and the inner surface of the bottom end of the outer adjusting sleeve is a spherical crown surface that is tangent to the steel ball.

[0012] As a preferred embodiment of the present invention, the telescopic end of the servo electric cylinder 2 is threaded with a set nut for adjusting and locking the position of the shaft connecting sleeve.

[0013] As a preferred embodiment of the present invention, an unfolding assembly for unfolding the two servo electric cylinders 2 to facilitate the maintenance of the laser head is provided between the first mounting plate and the second mounting plate.

[0014] As a preferred embodiment of the present invention, the unfolding assembly includes a horizontal plate disposed between mounting plate one and mounting plate two. A support collar is fixedly installed on the side of the horizontal plate. A threaded sleeve is rotatably installed on the inner wall of the support collar. An unfolding screw is screwed to the inner wall of both ends of the threaded sleeve. A connecting collar is vertically slidably installed at one end of the unfolding screw located outside the threaded sleeve. The connecting collar is connected to the top of the support frame through the connecting screw.

[0015] As a preferred embodiment of the present invention, mounting plates one and two are fixedly mounted with clips on opposite sides, and both ends of the horizontal plate are provided with slots for engaging with the clips.

[0016] The present invention has the following beneficial effects: 1. In this invention, the servo motor drives the gear meshing transmission, which drives the reverse threaded adjusting screw to rotate, thereby realizing the synchronous facing and back-to-back sliding of the two sets of mounting bases and laser heads. This accurately adapts to different workpiece welding widths. At the same time, the height of the pressure head assembly can be preset and adjusted by the cooperation of the set nut and the shaft connecting sleeve. With the help of the servo electric cylinder, the height and clamping stroke can be finely adjusted in real time. This allows for flexible adaptation to different welding thicknesses and the fit gap between the skin and the skeleton beam. It effectively solves the problems of fixed specifications and poor adaptability of traditional welding equipment and can be adapted to standardized welding operations of various types of skeleton beams. 2. In this invention, during the welding process, the two sets of pressure head components can work synchronously with the laser welding trajectory to achieve real-time, balanced, and controllable precise pressure on the weld, effectively compacting the weld joint, eliminating gaps in the plates, and preventing quality defects such as false welding, missed welding, and weld misalignment. At the same time, the equipment relies on pressure sensors to provide real-time feedback on the clamping pressure, and the operator can precisely fine-tune the output pressure of the servo electric cylinder to cooperate with the laser head to stabilize the welding operation, ensuring that all welds are formed uniformly and uniformly, improving the stability of welding quality and product qualification rate, and adapting to mass production. 3. In this invention, during routine maintenance operations such as cleaning, inspection, and debugging of the laser head, the screw and support can be rotated by rotating the threaded sleeve to achieve angle deflection, thereby causing the two sets of pressure head assemblies to open to both sides to avoid obstruction, quickly expanding the operating space around the laser head. This solves the problems of the original structure being compact, having a small operating space, and being difficult to maintain. This mechanical avoidance structure is simple to operate, has stable linkage, and does not require disassembly of parts, reducing the difficulty of equipment operation and maintenance, and effectively improving the efficiency and convenience of equipment inspection and maintenance. Attached Figure Description

[0017] Figure 1 This is a schematic diagram of the overall structure of a robotic arm with a roller pressure welding actuator proposed in this invention; Figure 2 This is a schematic diagram of the manipulator actuator structure of a manipulator with a roller pressure welding actuator proposed in this invention; Figure 3 This is a side view of the actuator end of a robotic arm with a roller pressure welding actuator proposed in this invention. Figure 4 This is a front view structural diagram of the actuator end of a robotic arm with a roller pressure welding actuator proposed in this invention; Figure 5 This is a front view of the support and mounting base of a robotic arm with a roller pressure welding actuator proposed in this invention; Figure 6 for Figure 5 Schematic diagram of the AA section structure; Figure 7 This is a schematic diagram of the unfolded structure of the pressure head assembly of a robotic arm with a roller pressure welding actuator proposed in this invention; Figure 8 This is a schematic diagram of the mounting base structure for a robotic arm with a roller-driven pressure welding actuator proposed in this invention; Figure 9 This is a schematic diagram of the unfolding assembly structure of a robotic arm with a roller pressure welding actuator proposed in this invention.

[0018] In the diagram: 1. Bracket; 11. Robotic arm connector; 12. Guide rail; 2. Mounting base; 21. Sliding seat; 3. Adjustment assembly; 31. Adjustment screw; 32. Bevel gear one; 33. Servo motor; 34. Bevel gear two; 35. Rotary wheel; 4. Mounting plate one; 41. Mounting plate two; 42. Hinge seat; 43. Support frame; 5. Servo electric cylinder 1; 51. Laser head; 6. Servo electric cylinder II; 7. Pressure head assembly; 71. Shaft connecting sleeve; 72. Outer adjusting sleeve; 73. Pressure sensor; 74. Pressure bearing block; 75. Disc spring; 76. Washer; 77. Steel ball; 78. Set nut; 8. Unfolding assembly; 81. Horizontal plate; 82. Support collar; 83. Threaded sleeve; 84. Unfolding screw; 85. Connecting collar; 86. Connecting screw; 87. Locking strip; 88. Locking groove; 9. Robotic arm. Detailed Implementation

[0019] The technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present invention. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments.

[0020] Example 1: This example describes a robotic arm with a roller-driven pressure welding actuator, as disclosed in this embodiment. (Refer to...) Figure 1-9 The system includes a robotic arm 9 and a support 1 mounted on the execution end of the robotic arm 9. Two guide rails 12 are symmetrically fixedly mounted on the bottom surface of the support 1. A robotic arm connector 11 connected to the robotic arm 9 is fixedly mounted on the top surface of the support 1. Two mounting bases 2 are symmetrically mounted on the bottom surface of the support 1. Two sliding seats 21, which are slidably connected to the two guide rails 12, are symmetrically fixedly mounted on the top surface of the mounting bases 2. An adjusting assembly 3 for adjusting the distance between the two mounting bases 2 is provided on the inner top surface of the support 1. A mounting plate 4 is fixedly mounted on one side of the mounting base 2, and a mounting plate 41 is fixedly mounted on the other side. The side of the mounting base 2 is located on the mounting plate 41. A servo cylinder 5 is positioned between the mounting base 4 and the mounting plate 2. A laser head 51 is slidably mounted on the side of the mounting base 2 via a mounting groove, and the telescopic end of the servo cylinder 5 is fixedly connected to the laser head 51. A hinge seat 42 is fixedly mounted on the side of the mounting base 2 below the mounting plate 2. A servo cylinder 6 is hinged to both the hinge seat 42 and the side of the mounting plate 4. A pressure head assembly 7 is provided at the telescopic end of the servo cylinder 6. A support 43 is rotatably mounted on the side of both the mounting plate 4 and the mounting plate 2. The support 43 is L-shaped, and one end of the support 43 is movably connected to the side of the servo cylinder 6 via a sliding groove and a slider.

[0021] The implementation principle of this embodiment is as follows: In actual operation, the staff first precisely connects and fixes the special bracket 1 to the robotic arm 9 through the matching robotic arm connector 11. After the bracket 1 is assembled, the staff can flexibly adjust the distance between the two mounting bases 2 according to the actual width of the skeleton beam to be welded on site through the equipment's built-in distance adjustment component 3. This ensures that the laser head 51 mounted on the mounting base 2 can accurately correspond to the welding width of the skeleton beam, achieving precise alignment of the welding points. After the distance is adjusted and confirmed to be correct, the robotic arm 9 can be started. The robotic arm 9 drives the bracket 1 to move smoothly and uniformly along the welding trajectory of the skeleton beam. Relying on the laser head 51, continuous and stable laser welding operations are carried out at the joint between the skeleton beam and the skin, giving full play to the operational advantages of the robotic arm 9. During the entire welding process, servo cylinder 5 and servo cylinder 6 can independently adjust the height of laser head 51 and pressure head assembly 7 according to real-time welding conditions, sheet metal bonding status, and welding process requirements. This flexibly adapts to different welding thicknesses and bonding gaps, ensuring the adaptability and flexibility of the welding operation. Simultaneously, the equipment adopts a double-sided synchronous welding mode for the frame beam, completely avoiding the problem of low efficiency in single-sided welding, improving overall welding efficiency, and shortening the workpiece processing cycle. Meanwhile, along the welding path of laser head 51, the two sets of pressure head assemblies 7 can follow the welding process throughout, applying precise, balanced, and controllable pressure to the weld bead positions on the frame beam. This effectively compacts the weld joint, eliminates welding gaps, and avoids quality problems such as incomplete welds, missed welds, and weld misalignment. This effectively stabilizes the welding formation effect, ensuring uniform welding quality for each weld bead. While improving welding quality stability and product qualification rate, this also significantly increases overall production efficiency, effectively adapting to the needs of batch and standardized welding production operations.

[0022] Example 2: Based on Example 1, this example discloses a robotic arm with a roller-driven pressure welding actuator, such as... Figure 4-6 As shown, the adjusting assembly 3 includes an adjusting screw 31 rotatably mounted on the top surface of the bracket 1, and the top ends of the two mounting bases 2 are respectively threaded onto the outer walls of the two ends of the adjusting screw 31. A bevel gear 32 is fixedly mounted on the outer wall of the adjusting screw 31. A servo motor 33 is fixedly mounted on the top surface of the bracket 1. A bevel gear 34 that meshes with the bevel gear 32 is fixedly mounted on the output end of the servo motor 33. A rotating wheel 35 is fixedly mounted on both ends of the adjusting screw 31. The threads on both sides of the adjusting screw 31 are in opposite directions.

[0023] The implementation principle of this embodiment is as follows: When adjusting the relative distance between the two mounting bases 2 and the laser head 51, the operator first starts the matching servo motor 33. The servo motor 33 outputs power to drive the bevel gear 2 34 to rotate in a directional manner. Relying on the gear meshing and transmission between the bevel gear 2 34 and the bevel gear 1 32, the bevel gear 1 32 and the coaxially arranged adjusting screw 31 rotate together. Since the adjusting screw 31 forms a threaded connection with the mounting bases 2 on both sides, and the left and right threads of the adjusting screw 31 are set in opposite directions, under the condition that the adjusting screw 31 continues to rotate, the two mounting bases 2 and the laser head 51 mounted on them can be driven by the thread transmission to make smooth sliding movements in opposite directions or in opposite directions along the guide rail 12 with the help of the sliding seat 21. Relying on this linkage transmission structure, the distance between the two mounting bases 2 and the laser head 51 is precisely controlled. In this way, the working distance of the laser head 51 can be adaptively adjusted according to different workpiece sizes to meet the welding alignment requirements of various workpiece sizes.

[0024] Example 3: Based on Example 1, this example discloses a robotic arm with a roller-driven pressure welding actuator, such as... Figure 4 and Figure 7 As shown, the pressure head assembly 7 includes a shaft connecting sleeve 71 threaded onto the telescopic end of the servo electric cylinder 6. An outer adjusting sleeve 72 is threaded onto the bottom end of the shaft connecting sleeve 71. A pressure sensor 73 is fixedly installed on the top of the inner wall of the shaft connecting sleeve 71. A pressure bearing block 74 that contacts the contact of the pressure sensor 73 is slidably installed on the inner wall of the shaft connecting sleeve 71. Several disc springs 75 are provided on the bottom surface of the pressure bearing block 74. A washer 76 that contacts the bottommost disc spring 75 is slidably installed on the inner wall of the outer adjusting sleeve 72. A steel ball 77 is movably installed on the inner wall of the bottom end of the outer adjusting sleeve 72. The bottom surface of the washer 76 rolls and engages with the apex of the steel ball 77. The inner surface of the bottom end of the outer adjusting sleeve 72 is a spherical crown surface that tangent to the steel ball 77. A set nut 78 for adjusting and locking the position of the shaft connecting sleeve 71 is threaded onto the telescopic end of the servo electric cylinder 6.

[0025] The implementation principle of this embodiment is as follows: Before welding work is carried out on the frame beams of different specifications, the staff needs to complete the height preset adjustment of the shaft connecting sleeve 71 in advance. During the height adjustment operation, the operator first tightens the set nut 78, so that the set nut 78 moves axially along the outer wall of the telescopic end of the servo electric cylinder 6. After the set nut 78 moves to the preset height point and is positioned, the shaft connecting sleeve 71 is rotated back so that the upper end face of the shaft connecting sleeve 71 fits tightly against the lower end face of the set nut 78, thereby completing the limit and fixation of the overall height of the shaft connecting sleeve 71. During actual clamping operations, the extension and retraction of servo cylinder 26 drives steel ball 77 to press against the surface of the skeleton beam workpiece. During the pre-assembly stage, the operator gradually tightens the outer adjusting sleeve 72. As the outer adjusting sleeve 72 is continuously screwed in, the axial internal installation space between the outer adjusting sleeve 72 and the shaft connecting sleeve 71 is continuously compressed, forcing the internally mounted disc spring 75 and pressure sensor 73 to be squeezed and generate a uniform and stable rebound force, forming a controllable pre-tightening force reserve inside. In the subsequent process of servo cylinder 26 extending to drive steel ball 77 to compact the weld edge of the skeleton beam, the clamping load borne by steel ball 77 can be accurately transmitted to pressure sensor 73 layer by layer through shim 76, disc spring 75 and bearing block 74. The operator flexibly fine-tunes the output pressure of servo cylinder 26 based on the real-time pressure value fed back by pressure sensor 73, so that the clamping force of the press head can be flexibly changed according to different profiles and different welding conditions, effectively improving the adaptability of the device's clamping operation to various skeleton beam welding conditions.

[0026] Example 4: Based on Example 1, this example discloses a robotic arm with a roller-driven pressure welding actuator, such as... Figure 2 , Figure 4 , Figure 8 and Figure 9 As shown, an unfolding assembly 8 is provided between mounting plate 1 4 and mounting plate 2 41 for unfolding the two servo electric cylinders 2 6 to facilitate maintenance of the laser head 51. The unfolding assembly 8 includes a horizontal plate 81 disposed between mounting plate 1 4 and mounting plate 2 41. A support collar 82 is fixedly installed on the side of the horizontal plate 81. A threaded sleeve 83 is rotatably installed on the inner wall of the support collar 82. An unfolding screw 84 is screwed to the inner wall of both ends of the threaded sleeve 83. A connecting collar 85 is vertically slidably installed at one end of the unfolding screw 84 located outside the threaded sleeve 83. The connecting collar 85 is connected to the top of the support frame 43 by a connecting screw 86. A retaining strip 87 is fixedly installed on the opposite sides of mounting plate 1 4 and mounting plate 2 41. A retaining groove 88 is opened at both ends of the horizontal plate 81 to engage with the retaining strip 87.

[0027] The implementation principle of this embodiment is as follows: During routine operation and maintenance of the equipment, and when performing maintenance on the laser head 51, the laser head 51 is installed in the middle of the two sets of pressure head assemblies 7, resulting in a compact overall structure and limited working space. This makes it difficult for staff to conveniently perform cleaning, inspection, and debugging operations. To effectively solve this problem, the operator can first rotate the threaded sleeve 83 to unfold the connecting collar 85 at the end of the screw 84 and connect it to the top of the support frame 43. The connecting screw 86 is screwed to the support frame 43, and the connecting collar 85 is fitted onto the connecting screw 86 and vertically slidably connected to the end of the unfolding screw 84. Relying on the driving action of the threaded transmission, the threaded sleeve 83 holds... During the continuous rotation, the connecting screws 86 on both sides can be stably driven to move closer to each other in a translational motion. This, in turn, creates a continuous traction force on the support frame 43 through the connecting collar 85, driving the support frame 43 to rotate. Under the linkage of the support frame 43, the assembled servo electric cylinder 6 can be driven to rotate as a whole based on the hinge position, causing the two sets of pressure head assemblies 7 at the bottom to unfold synchronously in a direction away from each other. This effectively widens and frees up the operating space around the laser head 51, avoiding the problems of limited space and inconvenient operation in the original structure. It facilitates various routine maintenance operations on the laser head 51 by the staff, improving the convenience and efficiency of daily maintenance of the equipment.

[0028] The above description is only a preferred embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any equivalent substitutions or modifications made by those skilled in the art within the scope of the technology disclosed in the present invention, based on the technical solution and inventive concept of the present invention, should be covered within the scope of protection of the present invention.

Claims

1. A robotic arm with a roller-driven pressure welding actuator, characterized in that, The system includes a robotic arm (9) and a bracket (1) mounted on the execution end of the robotic arm (9). Two guide rails (12) are symmetrically fixedly mounted on the bottom surface of the bracket (1). Two mounting bases (2) are symmetrically mounted on the bottom surface of the bracket (1). Two sliding seats (21) that are slidably connected to the two guide rails (12) are symmetrically fixedly mounted on the top surface of the mounting bases (2). An adjusting component (3) for adjusting the distance between the two mounting bases (2) is provided on the inner top surface of the bracket (1). A mounting plate one (4) is fixedly mounted on one side of the mounting base (2), and a mounting plate two (41) is fixedly mounted on the other side. The side of the mounting base (2) is located between the mounting plate one (4) and the mounting plate two (41). A servo cylinder 1 (5) is provided at the position. A laser head (51) is slidably installed on the side of the mounting base (2) through the mounting groove. The telescopic end of the servo cylinder 1 (5) is fixedly connected to the laser head (51). A hinge seat (42) is fixedly installed on the side of the mounting base (2) below the mounting plate 2 (41). A servo cylinder 2 (6) is hinged on the hinge seat (42) and the side of the mounting plate 1 (4). A pressure head assembly (7) is provided on the telescopic end of the servo cylinder 2 (6). A support frame (43) is rotatably installed on the side of the mounting plate 1 (4) and the side of the mounting plate 2 (41). One end of the support frame (43) is movably connected to the side of the servo cylinder 2 (6) through a sliding groove and a slider. The adjusting assembly (3) includes an adjusting screw (31) rotatably mounted on the top surface of the bracket (1), and the top ends of the two mounting bases (2) are respectively threaded onto the outer walls of the two ends of the adjusting screw (31). A bevel gear (32) is fixedly mounted on the outer wall of the adjusting screw (31). A servo motor (33) is fixedly mounted on the top surface of the bracket (1). A bevel gear (34) meshing with the bevel gear (32) is fixedly mounted on the output end of the servo motor (33). A rotating wheel (35) is fixedly mounted on both ends of the adjusting screw (31). The threads on both sides of the adjusting screw (31) are in opposite directions. The pressure head assembly (7) includes a shaft connecting sleeve (71) threaded onto the telescopic end of the servo electric cylinder (6). An outer adjusting sleeve (72) is threaded onto the bottom end of the shaft connecting sleeve (71). A pressure sensor (73) is fixedly installed on the top of the inner wall of the shaft connecting sleeve (71). A pressure block (74) that contacts the contact of the pressure sensor (73) is slidably installed on the inner wall of the shaft connecting sleeve (71). Several disc springs (75) are provided on the bottom surface of the pressure block (74). A gasket (76) that contacts the bottommost disc spring (75) is slidably installed on the inner wall of the outer adjusting sleeve (72). A steel ball (77) is movably installed on the inner wall of the bottom end of the outer adjusting sleeve (72).

2. The robotic arm with roller pressure welding actuator according to claim 1, characterized in that, The top surface of the bracket (1) is fixedly installed with a robotic arm connector (11) that is connected to the robotic arm (9), and the support frame (43) is set in an L-shape.

3. The robotic arm with roller pressure welding actuator according to claim 1, characterized in that, The bottom surface of the gasket (76) rolls and engages with the apex of the steel ball (77), and the inner surface of the bottom end of the outer adjusting sleeve (72) is a spherical crown surface that is tangent to the steel ball (77).

4. The robotic arm with roller pressure welding actuator according to claim 1, characterized in that, The telescopic end of the servo electric cylinder 2 (6) is threaded with a set nut (78) for adjusting and locking the position of the shaft connecting sleeve (71).

5. A robotic arm with a roller-driven pressure welding actuator according to claim 1, characterized in that, An unfolding assembly (8) is provided between the mounting plate one (4) and the mounting plate two (41) for unfolding the two servo electric cylinders two (6) to facilitate the maintenance of the laser head (51).

6. A robotic arm with a roller-driven pressure welding actuator according to claim 5, characterized in that, The unfolding assembly (8) includes a horizontal plate (81) disposed between mounting plate one (4) and mounting plate two (41). A support collar (82) is fixedly installed on the side of the horizontal plate (81). A threaded sleeve (83) is rotatably installed on the inner wall of the support collar (82). An unfolding screw (84) is screwed to the inner wall of both ends of the threaded sleeve (83). A connecting collar (85) is vertically slidably installed at one end of the unfolding screw (84) outside the threaded sleeve (83). The connecting collar (85) is connected to the top of the support frame (43) by a connecting screw (86).

7. A robotic arm with a roller-driven pressure welding actuator according to claim 6, characterized in that, The mounting plate 1 (4) and mounting plate 2 (41) are fixedly mounted with clips (87) on opposite sides, and the two ends of the horizontal plate (81) are provided with slots (88) that engage with the clips (87).

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