CN113333954A

CN113333954A - Industrial robot of steel sheet part surface movement formula laser welding mechanism

Info

Publication number: CN113333954A
Application number: CN202110679572.7A
Authority: CN
Inventors: 刘敏; 彭明花; 刘俊
Original assignee: Nanjing Yusheng Robot Technology Co Ltd
Current assignee: Nanjing Yusheng Robot Technology Co Ltd
Priority date: 2021-06-18
Filing date: 2021-06-18
Publication date: 2021-09-03
Also published as: WO2022262055A1

Abstract

The invention discloses an industrial robot of a steel plate part surface movable type laser welding mechanism, which comprises steel plates with angle welding, wherein the surfaces of the welding positions of the two steel plates are respectively provided with a shaft drive machine body, a circumferential welding machine head, a linear telescopic machine leg and a crawler-type sole. The robot is supported to run on the steel plate through the magnetic lock in the sole and the surface of the steel plate in an adsorption and fixation mode, the circumferential welding head performs circumferential welding on the welding seam of the two welded steel plates at the moment, the tolerance size of the welding seam is ensured, and at the moment, if the welding seam exceeds the tolerance, the linear hydraulic cylinder is controlled to be started to contract or expand simultaneously, the two steel plates are simultaneously outwards or inwards contracted through the sole adsorbed on the steel plates, the welding seam tolerance between the steel plates is controlled, the linear or wireless monitoring can be realized through the camera, the manual field operation is not needed, and the personal safety and the safety factor are ensured.

Description

Industrial robot of steel sheet part surface movement formula laser welding mechanism

Technical Field

The invention relates to the technical field of industrial robots, in particular to an industrial robot of a steel plate part surface movable type laser welding mechanism.

Background

The existing laser industrial robot for welding the steel plate is used for placing the industrial robot and the steel plate in advance when welding, most of the steel plates with smaller sizes are adopted, the industrial robot is immobile, the steel plate moves to realize welding, and the other laser industrial robot is generally immobile when welding the steel plates with larger sizes, and the industrial robot moves to weld along a welding seam.

When the laser welding robot is used for welding a steel plate, most of the situations are based on that the error of the welding seam of the steel plate is within the welding tolerance range, but under the actual situation, the dimensional tolerance of the welding seam is difficult to stabilize, especially when the laser welding robot is in contact with the steel plate, the welding error is fixed in advance, when the welding robot is in contact with the steel plate or the weight of the welding robot is borne by the steel plate, the welding seam at the moment can be influenced by the external force, the welding seam can be increased or reduced, and the welding seam can run out of the welding seam tolerance range;

still be exactly along with the welding seam on the steel sheet is welded gradually the back, the atress of its two steel sheets also can appear slightly changing thereupon, because most steel sheets all can have certain toughness or elasticity, this also can cause unwelded welding seam tolerance to appear changing, especially be two steel sheet welding seams of certain angle welding, along with steel sheet local stress point or welding point constantly change during its welding seam, this moment still need manual adjustment, this has brought the not little degree of difficulty for the welding, especially to the great steel sheet of size, manual adjustment no matter is the adjustment degree of difficulty or factor of safety, all there is uncontrollable factor.

Disclosure of Invention

Based on the technical problems of high manual adjustment difficulty and low safety coefficient in the existing steel plate laser welding with angles, the invention provides an industrial robot of a steel plate part surface movable type laser welding mechanism.

The invention provides an industrial robot of a steel plate part surface movable type laser welding mechanism, which comprises steel plates with angle welding, wherein the surfaces of the welding positions of the two steel plates are respectively provided with a shaft drive machine body, a circumferential welding machine head, a linear telescopic machine leg and a crawler-type sole;

the shaft driving machine body comprises a driving shaft, and the circumferential welding machine head is fixed on the driving shaft and rotates along the axial lead of the driving shaft to weld the welding seam of the steel plate;

the linear telescopic legs are fixed on two sides of the shaft drive machine body along the circumferential direction of the drive shaft, and the included angle of the linear telescopic legs is adjusted when the linear telescopic legs move along the axial direction of the drive shaft;

the crawler-type sole is fixed at the tail part of the linear telescopic leg and adsorbed on the surface of the steel plate to drive the whole robot to walk.

Preferably, the axle drives the fuselage and still includes that the slip cup joints solid fixed ring on drive shaft surface, it is three the constant head tank has all been seted up to the terminal surface of fixed ring contact, the inner wall activity of constant head tank has cup jointed the location ball, is located both sides gu fixed ring and one of them the flexible quick-witted leg fixed connection of straight line, another the flexible quick-witted leg of straight line with be located in the middle gu fixed ring fixed connection.

Through above-mentioned technical scheme, adopt constant head tank and location ball, can guarantee that three holding ring can not cause adverse effect for rotating when receiving terminal surface pressure.

Preferably, the outer surface of drive shaft uses the diameter to offer the curve groove as the symmetrical line mirror image, the inner wall fixedly connected with of solid fixed ring with the curve strip of curve inslot wall sliding plug-in connection is located both sides gu fixed ring and one of them curve groove sliding plug-in connection is located the centre gu fixed ring and another curve groove sliding plug-in connection.

Through above-mentioned technical scheme, two curve grooves slide with two curve strip cooperations respectively, and then control two flexible legs of straight line respectively and rotate in opposite directions or dorsad synchronization, can accurately realize going according to two steel sheet contained angles, realize the welding seam tolerance of accurate control steel sheet at the flexible leg of cooperation straight line.

Preferably, the end faces, back to back, of the fixing rings on the two sides are fixedly connected with miniature hydraulic cylinders for pushing the fixing rings.

Through the technical scheme, the sliding amount of the positioning ring on the surface of the driving shaft is accurately controlled through the micro hydraulic cylinder.

Preferably, circumference welding head include with miniature pneumatic cylinder body fixed connection's end disc, the surface of end disc has the bearing through the recess fixed mounting who sets up, the outer lane fixedly connected with base cover of bearing, the inner wall fixed mounting of base cover has servo motor, servo motor's the fixed coupling of output shaft has the gear, the tooth's socket has been seted up to the surface of end disc, the inner wall of tooth's socket with the surface toothing of gear.

Through above-mentioned technical scheme, the tooth's socket with by servo motor control rotation after the surface meshing of gear again, the rotation angle of base cover can accurate control.

Preferably, the outer fixed surface of the base sleeve is connected with a long hydraulic cylinder coinciding with the diameter direction of the end plate, the top surface of the cylinder body of the long hydraulic cylinder is fixedly provided with a camera for monitoring the welding seam tolerance, and the bottom of the piston rod of the long hydraulic cylinder is fixedly connected with a laser welding gun.

Through above-mentioned technical scheme, the base cover control camera and laser welder's rotation angle, the radial movement amount of long pneumatic cylinder control camera and laser welder can realize accurate welding according to the welding seam type, and the welding seam can both be realized moving on one side according to actual conditions this moment, and the horizontal hunting realizes the biggest welding effect on one side.

Preferably, the linear telescopic legs are composed of two linear hydraulic cylinders of the same type.

Through above-mentioned technical scheme, realize accurate control welding seam tolerance between the steel sheet.

Preferably, the crawler-type sole comprises a bearing rod with two arc-shaped ends, the two ends of the bearing rod are respectively and movably provided with a driving wheel with teeth concentric with the arcs of the two ends through bearings, the surface of the driving wheel is meshed with a running crawler, the driving wheel is driven by a driving motor arranged on the axis of the driving wheel to drive the whole robot on the steel plate, and the driving motor is fixedly connected with a piston rod of the linear hydraulic cylinder through a connecting rod.

Through above-mentioned technical scheme, two driving motor drives with the model are more effective, and simultaneously for better fixed, also realize fixed connection with linear hydraulic cylinder's piston rod and bearing bar surface.

Preferably, the outer surface of the bearing rod is provided with a guide groove, the middle part of the inner side of the traveling crawler is fixedly connected with a bearing hydraulic cylinder, and a piston rod of the bearing hydraulic cylinder slides on the inner wall of the guide groove while moving along with the traveling crawler.

Through above-mentioned technical scheme, the bearing pneumatic cylinder can play the last auxiliary wheel effect of ordinary track drive for the track of traveling the biggest area contacts with the steel sheet, guarantees to travel steadily.

Preferably, the top wall of the guide groove at the bottom of the bearing rod is fixedly connected with a conductive copper bar, and a glass bead screw in contact with the conductive copper bar is arranged in the end face of a piston rod of the bearing hydraulic cylinder;

the outer surface of the traveling crawler is fixedly provided with a plurality of magnetic locks in one-to-one correspondence with the bearing hydraulic cylinders, and the magnetic locks are electrified and adsorbed on the steel plate after the glass bead screws are contacted with the conductive copper strips.

Through above-mentioned technical scheme, when the track drives the electrically conductive copper bar contact of the glass bead screw on the bearing pneumatic cylinder and bearing bar bottom electrically conductive, make magnetic force lock switch on, produce magnetic force, adsorb on the steel sheet, and when the bearing pneumatic cylinder continues to remove, when the electrically conductive copper bar contactless electrically conductive of glass bead screw and bearing bar bottom, make magnetic force lock disconnection power, do not produce magnetic force, break away from the steel sheet and continue to advance above the track of traveling.

The beneficial effects of the invention are as follows:

the robot is supported to run on the steel plate through the magnetic lock in the sole and the surface of the steel plate in an adsorption and fixation mode, the circumferential welding head performs circumferential welding on the welding seam of the two welded steel plates at the moment, the tolerance size of the welding seam is ensured, and at the moment, if the welding seam exceeds the tolerance, the linear hydraulic cylinder is controlled to be started to contract or expand simultaneously, the two steel plates are simultaneously outwards or inwards contracted through the sole adsorbed on the steel plates, the welding seam tolerance between the steel plates is controlled, the linear or wireless monitoring can be realized through the camera, the manual field operation is not needed, and the personal safety and the safety factor are ensured.

Drawings

FIG. 1 is a schematic diagram of an industrial robot of a steel plate part surface movable type laser welding mechanism provided by the invention;

FIG. 2 is a perspective view of an industrial robot of the laser welding mechanism for moving the surface of a steel plate part according to the present invention;

FIG. 3 is a perspective view of the installation of the shaft drive body and the circumferential welding head of the industrial robot of the movable laser welding mechanism for the surface of the steel plate part, which is provided by the invention;

FIG. 4 is an exploded view of a fixing ring structure of an industrial robot of a steel plate part surface movable type laser welding mechanism provided by the invention;

FIG. 5 is a perspective view of an end plate structure of an industrial robot of the movable laser welding mechanism for the surface of a steel plate part, which is provided by the invention;

FIG. 6 is a perspective view of a sole of an industrial robot of the movable laser welding mechanism for the surface of a steel plate part according to the present invention;

fig. 7 is a perspective view of the installation of the conductive copper bar and the magnetic lock of the industrial robot of the movable laser welding mechanism for the surface of the steel plate part.

In the figure: 1. a steel plate; 2. a shaft drive body; 21. a drive shaft; 22. a fixing ring; 221. angle scales; 222. a pointer; 23. positioning a groove; 24. a positioning ball; 25. a curved groove; 26. a curved line; 27. a micro hydraulic cylinder; 3. circumferentially welding a machine head; 31. an end plate; 32. a bearing; 33. a base sleeve; 34. a servo motor; 35. a gear; 36. a tooth socket; 37. a long hydraulic cylinder; 38. a laser welding gun; 39. a camera; 4. a linear telescopic leg; 5. a sole of a foot; 51. a load-bearing bar; 52. a drive wheel; 53. a running track; 54. a drive motor; 55. a guide groove; 56. a load-bearing hydraulic cylinder; 57. a conductive copper bar; 58. a glass bead screw; 59. magnetic lock.

Detailed Description

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments.

Referring to fig. 1-7, an industrial robot of a steel plate part surface movable laser welding mechanism comprises steel plates 1 with angle welding, wherein the surfaces of the welding positions of the two steel plates 1 are respectively provided with a shaft drive machine body 2, a circumferential welding machine head 3, a linear telescopic machine leg 4 and a crawler-type sole 5;

as shown in fig. 1-4, the shaft-driven body 2 comprises a driving shaft 21, and the circumferential welding head 3 is fixed on the driving shaft 21 and rotates along the axial lead of the driving shaft 21 to weld the welding seam of the steel plate 1;

further, in order to avoid the problem that the contact area is big and causes increase frictional force when rotating on the drive shaft 21, the shaft drives fuselage 2 and still includes the solid fixed ring 22 that the slip cup joints on the drive shaft 21 surface, constant head tank 23 has all been seted up to the terminal surface of three solid fixed ring 22 contact, the inner wall activity of constant head tank 23 has cup jointed location ball 24, constant head tank 23 is the same with the diameter of location ball 24, guarantee looks adaptation, when rotating, the problem of radial runout can not take place, the solid fixed ring 22 that is located both sides and one of them sharp flexible leg 4 fixed connection, another sharp flexible leg 4 and the solid fixed ring 22 fixed connection that is located the centre, the solid fixed ring 22 of both sides is with the solid fixed ring 22 clamp of centre after one of them sharp flexible leg 4 is fixed. Adopt constant head tank 23 and location ball 24, can guarantee that three holding ring 22 can not cause adverse effect for rotating when receiving terminal surface pressure, simultaneously for convenient regulation, set up angle scale 221 on the solid fixed ring 22 of both sides, fixed mounting pointer 222 on the solid fixed ring 22 in the middle of, the rotation of conveniently observing the angle changes.

Further, in order to realize the synchronous opening and closing of the linear telescopic leg 4, two curve grooves 25 are arranged on the outer surface of the driving shaft 21 by taking the diameter as a symmetrical line mirror image, the inner wall of the fixing ring 22 is fixedly connected with a curve strip 26 which is in sliding insertion connection with the inner wall of the curve groove 25, the curve strip 26 drives the fixing ring 22 to slide smoothly in the curve groove 25, the friction force during sliding can be reduced, the problem of blocking cannot occur, the fixing rings 22 positioned on two sides are in sliding insertion connection with one curve groove 25, and the fixing ring 22 positioned in the middle is in sliding insertion connection with the other curve groove 25. Two curve grooves 25 slide with two curve strips 26 cooperations respectively, and then control two flexible legs of straight line 4 synchronous rotation in opposite directions or dorsad respectively, can accurately realize going according to two 1 contained angles of steel sheet, realize the welding seam tolerance of accurate control steel sheet 1 at the flexible leg of cooperation straight line 4.

Further, in order to realize the stable opening and closing of the linear telescopic leg 4, the end faces, back to each other, of the fixing rings 22 on the two sides are fixedly connected with the miniature hydraulic cylinders 27 for pushing the fixing rings 22, and the eight miniature hydraulic cylinders 27 are the same in model and convenient to control. The sliding amount of the positioning ring 22 on the surface of the driving shaft 21 is accurately controlled through the micro hydraulic cylinders 27, and the four micro hydraulic cylinders 27 in the annular array can ensure the balance and effectiveness of the pushing force.

Further, in order to achieve laser welding that can accommodate different types of welds, as shown in fig. 1-3 and 5, the peripheral welding head 3 comprises an end disc 31 fixedly connected to the body of the micro-cylinder 27, the end disc 31 being circular in shape, and the cross point of the welding seam of the steel plate 1 is taken as a rotation center, so that the stability of the stress point can be ensured to the greatest extent, also avoid appearing the off-centre problem simultaneously, the surface of end dish 31 has bearing 32 through the recess fixed mounting who sets up, adopt big footpath ball bearing, bearing 32's outer lane fixedly connected with base cover 33, the inner wall fixed mounting of base cover 33 has servo motor 34, servo motor 34's the fixed cover of output shaft has connect gear 35, tooth's socket 36 has been seted up to the surface of end dish 31, the inner wall of tooth's socket 36 and gear 35's surface engagement, gear 35's meshing is convenient for guarantee bigger drive power, on the other hand also can avoid the problem of skidding. The tooth grooves 36 are meshed with the surface of the gear 35 and then controlled to rotate by the servo motor 34, so that the rotation angle of the base sleeve 33 can be accurately controlled.

Further, in order to realize the long-range or unmanned control's of control laser welding effect, the outer fixed surface who is connected with at base cover 33 and the long-type pneumatic cylinder 37 of 31 diameter direction coincidence of end plate, can guarantee the welding point through the centre of a circle of end plate 31, convenient operation, guarantee welding seam welded effect, long-type pneumatic cylinder 37's cylinder body top fixed surface installs the camera 39 of control welding seam tolerance, for better control, can cup joint a light-resistant structure at camera 39's surface, prevent the harm that laser ray when welding caused the eye, long-type pneumatic cylinder 37's piston rod bottom fixedly connected with laser welder 38. The base sleeve 33 controls the rotation angles of the camera 39 and the laser welding gun 38, the long hydraulic cylinder 37 controls the radial movement amount of the camera 39 and the laser welding gun 38, accurate welding can be achieved according to the type of a welding seam, and the welding seam can move while swinging left and right according to actual conditions to achieve the maximum welding effect.

As shown in fig. 1-3 and fig. 6-7, the linear telescopic legs 4 are fixed on both sides of the shaft-driven machine body 2 along the circumferential direction of the driving shaft 21, and the included angle of the linear telescopic legs 4 is adjusted when the linear telescopic legs move along the axial direction of the driving shaft 21;

further, the linear telescopic leg 4 is composed of two linear hydraulic cylinders of the same type. And the welding seam tolerance between the steel plates 1 is accurately controlled.

In order to adapt to welding of welding seams with different angles or suspended running, as shown in figures 1-2 and XXX, a crawler-type sole 5 is fixed at the tail of a linear telescopic leg 4 and adsorbed on the surface of a steel plate 1 to drive the whole robot to run.

Further, the crawler-type sole 5 comprises a bearing rod 51 with two ends in an arc shape, wherein two ends of the bearing rod 51 are respectively and movably provided with a driving wheel 52 with teeth concentric with the arcs of the two ends through a bearing 32, the surface of the driving wheel 52 is engaged with a traveling crawler 53, the driving wheel 52 is driven by a driving motor 54 arranged on the axis of the driving wheel 52 to enable the whole robot to travel on the steel plate 1, and the driving motor 54 is fixedly connected with a piston rod of a linear hydraulic cylinder through a connecting rod. Two drive motors 54 of the same type are driven more effectively, and simultaneously, for better fixation, the piston rod of the linear hydraulic cylinder is fixedly connected with the surface of the bearing rod 51.

Further, a guide groove 55 is formed in the outer surface of the bearing rod 51, a bearing hydraulic cylinder 56 is fixedly connected to the middle portion of the inner side of the traveling crawler 53, and a piston rod of the bearing hydraulic cylinder 56 slides on the inner wall of the guide groove 55 while moving along with the traveling crawler 53. The bearing hydraulic cylinder 56 can play a role of an auxiliary wheel driven by a common crawler belt, so that the traveling crawler belt 53 is in contact with the steel plate 1 in the largest area, and the traveling stability is ensured.

Furthermore, the top wall of the guide groove 55 at the bottom of the bearing rod 51 is fixedly connected with a conductive copper bar 57, and a glass bead screw 58 in contact with the conductive copper bar 57 is arranged in the end face of the piston rod of the bearing hydraulic cylinder 56;

the outer surface of the traveling crawler 53 is fixedly provided with magnetic locks 59 which correspond to the plurality of bearing hydraulic cylinders 56 one by one, and after the glass bead screws 58 are contacted with the conductive copper bars 57, the magnetic locks 59 are electrified and adsorbed on the steel plate 1.

When the crawler belt drives the glass bead screw 58 on the bearing hydraulic cylinder 56 to be in contact with the conductive copper strip 57 at the bottom of the bearing rod 51 for conduction, the magnetic lock 59 is enabled to be powered on to generate magnetic force and be adsorbed on the steel plate 1, and when the bearing hydraulic cylinder 56 moves continuously, the glass bead screw 58 is not in contact with the conductive copper strip 57 at the bottom of the bearing rod 51 for conduction, the magnetic lock 59 is enabled to be powered off to generate no magnetic force, the vehicle continuously moves above the traveling crawler belt 53 after being separated from the steel plate 1, and all the motor fire hydraulic cylinders can be subjected to linkage control by using a single chip microcomputer or a PLC.

The magnetic lock 59 in the sole 5 is adsorbed and fixed on the surface of the steel plate 1, so that the whole robot is supported to run on the steel plate 1, the circumferential welding head 3 performs circumferential welding on the welding seam of the two welded steel plates 1 at the moment, the tolerance size of the welding seam is ensured, and at the moment, if the welding seam exceeds the tolerance, the linear hydraulic cylinder is controlled to be started to contract or expand simultaneously, the two steel plates 1 are simultaneously outwards supported or inwards contracted through the sole 5 adsorbed on the steel plate 1, the welding seam tolerance between the steel plates 1 is controlled, the linear or wireless monitoring can be realized through the camera 39, the manual field operation is not needed, and the personal safety and the safety coefficient are ensured.

The above description is only for the preferred embodiment of the present invention, but the scope of the present invention is not limited thereto, and any person skilled in the art should be considered to be within the technical scope of the present invention, and the technical solutions and the inventive concepts thereof according to the present invention should be equivalent or changed within the scope of the present invention.

Claims

1. The utility model provides a steel sheet part movable laser welding machine of surface constructs's industrial robot, includes steel sheet (1) that has angle welding, its characterized in that: the surfaces of the welding positions of the two steel plates (1) are respectively provided with a shaft drive machine body (2), a circumferential welding machine head (3), a linear telescopic machine leg (4) and a crawler-type sole (5);

the shaft driving machine body (2) comprises a driving shaft (21), and the circumferential welding head (3) is fixed on the driving shaft (21) and rotates along the axial lead of the driving shaft (21) to weld the welding seam of the steel plate (1);

the linear telescopic machine legs (4) are fixed on two sides of the shaft drive machine body (2) along the circumferential direction of the driving shaft (21), and the included angle of the linear telescopic machine legs (4) is adjusted when the linear telescopic machine legs move along the axial direction of the driving shaft (21);

the crawler-type sole (5) is fixed at the tail of the linear telescopic leg (4) and adsorbed on the surface of the steel plate (1) to drive the whole robot to walk.

2. The industrial robot of the surface traveling laser welding mechanism for steel plate parts according to claim 1, characterized in that: the shaft drive machine body (2) is characterized in that the shaft drive machine body further comprises a fixing ring (22) which is sleeved on the surface of the driving shaft (21) in a sliding mode, the fixing ring (22) is three, a positioning groove (23) is formed in the end face, contacted with the fixing ring (22), of the fixing ring, positioning balls (24) are sleeved on the inner wall of the positioning groove (23) in a movable mode, the positioning balls are located on two sides of the fixing ring (22) and one of the fixing ring and the fixing ring are fixedly connected with a linear telescopic machine leg (4) and the other linear telescopic machine leg (4) and the fixing ring (22) which is located in the middle of the linear telescopic machine leg (4) and the fixing ring.

3. The industrial robot of the surface traveling laser welding mechanism for steel plate parts according to claim 2, characterized in that: the surface of drive shaft (21) uses the diameter to offer curve groove (25) as the symmetrical line mirror image, the inner wall fixedly connected with of solid fixed ring (22) with curve strip (26) of curve groove (25) inner wall slip grafting, be located both sides gu fixed ring (22) and one of them curve groove (25) slip grafting is located the centre gu fixed ring (22) and another curve groove (25) slip grafting.

4. An industrial robot for a surface traveling laser welding mechanism for a steel sheet part according to claim 3, characterized in that: the end faces, back to the back, of the fixing rings (22) on the two sides are fixedly connected with micro hydraulic cylinders (27) for pushing the fixing rings (22).

5. The industrial robot of the surface traveling laser welding mechanism for steel plate parts according to claim 4, wherein: circumferential welding aircraft nose (3) include with miniature pneumatic cylinder (27) cylinder body fixed connection's end disc (31), the surface of end disc (31) has bearing (32) through the recess fixed mounting who offers, outer lane fixedly connected with base cover (33) of bearing (32), the inner wall fixed mounting of base cover (33) has servo motor (34), gear (35) have been cup jointed to servo motor (34) output shaft is fixed, tooth's socket (36) have been seted up to the surface of end disc (31), the inner wall of tooth's socket (36) with the surface toothing of gear (35).

6. The industrial robot of the surface traveling laser welding mechanism for steel plate parts according to claim 5, wherein: the surface fixed connection of base cover (33) with long pneumatic cylinder (37) of end disc (31) diameter direction coincidence, the cylinder body top fixed surface of long pneumatic cylinder (37) installs camera (39) of monitoring weld tolerance, the piston rod bottom fixedly connected with laser welder (38) of long pneumatic cylinder (37).

7. The industrial robot of the surface traveling laser welding mechanism for steel plate parts according to claim 1, characterized in that: the linear telescopic machine leg (4) is composed of two linear hydraulic cylinders of the same type.

8. The industrial robot of the surface traveling laser welding mechanism for steel plate parts according to claim 7, wherein: crawler-type sole (5) are including both ends bearing bar (51) for the circular arc shape, bearing bar (51) both ends are all through bearing (32) movable mounting have rather than both ends circular arc drive wheel (52) of taking the tooth with one heart, the surface meshing of drive wheel (52) has track (53) of traveling, make whole robot after drive wheel (52) drive through setting up driving motor (54) on its axis travel on steel sheet (1), driving motor (54) through the connecting rod with linear hydraulic cylinder's piston rod fixed connection.

9. The industrial robot of the surface traveling laser welding mechanism for steel plate parts according to claim 8, wherein: the outer surface of the bearing rod (51) is provided with a guide groove (55), the middle part of the inner side of the traveling crawler belt (53) is fixedly connected with a bearing hydraulic cylinder (56), and a piston rod of the bearing hydraulic cylinder (56) slides on the inner wall of the guide groove (55) while moving along with the traveling crawler belt (53).

10. The industrial robot of the surface traveling laser welding mechanism for steel plate parts according to claim 9, characterized in that: the inner top wall of the guide groove (55) positioned at the bottom of the bearing rod (51) is fixedly connected with a conductive copper strip (57), and a glass bead screw (58) which is in contact with the conductive copper strip (57) is arranged in the end face of a piston rod of the bearing hydraulic cylinder (56);

the outer surface of the travelling crawler belt (53) is fixedly provided with a plurality of magnetic locks (59) which correspond to the bearing hydraulic cylinders (56) one by one, and the magnetic locks (59) are electrified and adsorbed on the steel plate (1) after the glass bead screws (58) are contacted with the conductive copper bars (57).