CN111299832A

CN111299832A - High-end equipment manufacturing mechanical arm

Info

Publication number: CN111299832A
Application number: CN202010278043.1A
Authority: CN
Inventors: 李姚
Original assignee: Individual
Current assignee: Individual
Priority date: 2020-04-10
Filing date: 2020-04-10
Publication date: 2020-06-19

Abstract

The invention discloses a high-end equipment manufacturing mechanical arm which comprises a machine base, wherein a mounting disc is installed on the machine base in a fastening and connecting mode through bolts, a base is fixedly arranged on the mounting disc, a connecting part is arranged above the base, a first supporting arm is arranged above the connecting part in a rotating mode, a second supporting arm is arranged at the top of the first supporting arm in a rotating mode, a shaft seat is arranged at the front end of the second supporting arm in a rotating mode, a rotating shaft is arranged in the shaft seat, a rotating shaft motor for driving the rotating shaft to rotate is arranged at the tail part of the shaft seat, a rotating double-fork arm is connected to the front end of the rotating shaft, a machining rotating head is arranged at the front end of the rotating double-fork arm, and a welding hand. The invention adopts a welding production mode of an automatic assembly line, can detect the welding seam and eliminate the products with defects.

Description

High-end equipment manufacturing mechanical arm

Technical Field

The invention relates to a high-end equipment manufacturing mechanical arm.

Background

The mechanical arm is a complex system with high precision, multiple inputs and multiple outputs, high nonlinearity and strong coupling. Due to its unique operational flexibility, it has achieved widespread use in industrial production and assembly.

In mechanical production, welding is a very common process. Welding is a process in which two or more kinds of materials of the same or different kind are joined together by bonding and diffusion between atoms or molecules. With the development of science and technology, laser welding is the most common welding means in high-end manufacturing at present.

Different from the traditional spot welding process, the laser welding can achieve the molecular combination between two steel plates, and the hardness of the welded steel plate is equivalent to that of a whole steel plate in popular terms, so that the strength is improved by 30%, and the precision is also greatly improved. Of course, the practical use of laser welding is not limited thereto. The laser welding is characterized in that the deformation of a welded workpiece is extremely small, almost no connecting gap exists, and the welding depth/width ratio is high, so that the welding quality is higher than that of the traditional welding method. Laser welding is a very technically advanced manufacturing process. The mechanical arm is matched with laser welding to greatly improve the production efficiency of enterprises.

Welding defects can occur in welding due to factors of the welding process, such as air holes, slag inclusion, incomplete penetration, incomplete fusion, cracks, pits, undercuts, welding beading and the like. Among these defects, voids and inclusions of slag (spots) are volume defects. The line defects of the strip slag, lack of penetration, lack of fusion and cracks are also called surface defects. In particular, cracks and unfused are more surface defects. Pits, undercuts, flash and surface cracks belong to surface defects. Other defects, including internal buried cracks, are buried defects. Although most defects can be solved by laser welding, the welding defects still exist, so that detection is needed after welding, and defective products are prevented from entering the market.

Disclosure of Invention

Aiming at the defects in the prior art, the invention provides the high-end equipment manufacturing mechanical arm, which adopts an automatic assembly line welding production mode, can detect a welding line and eliminate defective products.

In order to solve the technical problem, the invention is solved by the following technical scheme: a mechanical arm for high-end equipment manufacture comprises a machine base, wherein a mounting disc is fixedly connected and installed on the machine base through bolts, a base is fixedly arranged on the mounting plate, a connecting part is arranged above the base, a first support arm is rotatably arranged above the connecting part, a second support arm is rotatably arranged at the top of the first support arm, a shaft seat is rotatably arranged at the front end of the second support arm, a rotating shaft is arranged in the shaft seat, a rotating shaft motor for driving the rotating shaft to rotate is arranged at the tail part of the shaft seat, the front end of the rotating shaft is connected with a rotary double-fork arm, the front end of the rotary double-fork arm is provided with a processing rotating head, the processing rotating head comprises a multi-stage shaft sleeve, the multi-stage shaft sleeve is connected with a transmission mechanism and a front-end high-precision motor, the multi-step shaft sleeve is rotatably provided with a welding hand, a detection hand and a workpiece taking part, and the end part of the welding hand is provided with a welding part; the front-end high-precision motor is matched with the transmission mechanism to perform transmission work, so that the welding hand, the detection hand and the workpiece taking part can be independently and respectively driven to rotate.

The frame side is provided with the pay-off conveyer belt, and the pay-off conveyer belt corresponds one side and is provided with the workstation that a plurality of was arranged, and every workstation corresponds a frame of matching, the workstation below be provided with balance in the exit conveyor of pay-off conveyer belt.

Every workstation side all be provided with the waste material conveyer belt, the waste material conveyer belt height is less than pay-off conveyer belt with exit conveyor to with both perpendicular.

The welding part is characterized in that a welding seat is rotatably arranged at the front end of the welding part, a laser welding head is arranged at the end part of the welding seat, and a bend is arranged at the welding head.

The detection hand end part is provided with a detection part which is in a truncated cone shape, the bottom surface of the truncated cone shape is respectively provided with a first window and a second window, the first window is provided with an image pickup head, the second window is provided with an ultrasonic transmitting and receiving device, the ultrasonic transmitting and receiving device is in signal connection with an ultrasonic flaw detector, and the image pickup head is connected with an AI visual detection device; and a temperature measuring probe is arranged between the first window and the second window, is connected with the front-end high-precision motor and can work so as to drive the detection part to rotate.

The piece taking part is provided with a horn-shaped sucker, a sealing ring is arranged at the edge of the sucker, the sucker is connected with a vent pipe, the vent pipe is connected with an air pump, and the air pump can output air to the sucker or suck air from the sucker through the vent pipe.

And the side edge of the detection part is provided with an illuminating device which is matched with the image pickup head to work.

The welding hand is characterized in that a connecting seat is arranged at the tail end of the rotary double-fork arm, a rotating disc is arranged at the front end of the rotating shaft, the connecting seat is fixedly arranged on the rotating disc, a rotating motor is arranged at the front end of the rotary double-fork arm, and the rotating motor controllably drives the welding hand to rotate.

The AI visual detection device is connected with the information processing center in a wireless mode, the information processing center is connected with a display device and an external input device, and the external input device comprises a keyboard and a mouse.

The invention provides a high-end equipment manufacturing mechanical arm which adopts a welding production mode of an automatic assembly line and can detect a welding line and eliminate products with defects.

Drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be discussed below, it is obvious that the technical solutions described in conjunction with the drawings are only some embodiments of the present invention, and for those skilled in the art, other embodiments and drawings can be obtained according to the embodiments shown in the drawings without creative efforts.

FIG. 1 is a schematic diagram of the present invention.

Fig. 2 is a schematic view of the construction of the working arm of the present invention.

Fig. 3 is a partial structural schematic view of the working arm of the present invention.

Fig. 4 is a schematic view of the structure of the welding head of the present invention.

Detailed Description

The technical solutions of the embodiments of the present invention will be described clearly and completely with reference to the accompanying drawings, and it is to be understood that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments described herein without the need for inventive work, are within the scope of the present invention.

As shown in fig. 1 to 4, a high-end equipment manufacturing mechanical arm comprises a machine base 1, wherein a mounting disc 21 is installed on the machine base 1 in a bolt-tight connection mode, a base 2 is fixedly arranged on the mounting disc 21, a connecting portion 22 is arranged above the base 2, a first supporting arm 23 is rotatably arranged above the connecting portion 22, a second supporting arm 24 is rotatably arranged at the top of the first supporting arm 23, a shaft seat 25 is rotatably arranged at the front end of the second supporting arm 24, a rotating shaft is arranged in the shaft seat 25, a rotating shaft motor 251 for driving the rotating shaft to rotate is arranged at the tail of the shaft seat 25, a rotating double-fork arm 26 is connected to the front end of the rotating shaft, a processing rotating head is arranged at the front end of the rotating double-fork arm 26, the processing rotating head comprises a multi-stage shaft sleeve 262, the multi-stage shaft sleeve 262 is connected with a transmission mechanism and a front-end high, The welding hand comprises a detection hand 60 and a workpiece taking part 5, wherein a welding part 4 is arranged at the end part of the welding hand 3; the front-end high-precision motor is matched with the transmission mechanism to perform transmission work, so that the welding hand 3, the detection hand 60 and the workpiece taking part 5 can be independently and respectively driven to rotate.

A feeding conveyor belt 13 is arranged on one side edge of the machine base 1, a plurality of arranged work tables 12 are arranged on one corresponding side of the feeding conveyor belt 13, each work table 12 is correspondingly matched with one machine base 1, and a discharging conveyor belt 11 balanced with the feeding conveyor belt is arranged below each work table 12.

And a waste material conveyor belt 14 is arranged on the side edge of each working table 12, and the waste material conveyor belt 14 is lower than the feeding conveyor belt 13 and the discharging conveyor belt 11 in height and is vertical to the feeding conveyor belt 13 and the discharging conveyor belt 11.

The front end of the welding part 4 is rotatably provided with a welding seat 41, the end part of the welding seat 41 is provided with a laser welding head 42, and the welding head 42 is provided with a bend.

The end part of the detection hand 60 is provided with a detection part 6, the detection part 6 is in a shape of a circular truncated cone, the bottom surface of the circular truncated cone is respectively provided with a first window 61 and a second window 62, the first window 61 is provided with an image pickup head, the second window 62 is provided with an ultrasonic transmitting and receiving device, the ultrasonic transmitting and receiving device is in signal connection with an ultrasonic flaw detector, and the image pickup head is connected with an AI visual detection device; a temperature probe 63 is arranged between the first window 61 and the second window 62, and the temperature probe 63 is connected with the front-end high-precision motor and can work to drive the detection part 6 to rotate.

Get a portion 5 and be provided with tubaeform sucking disc 51, sucking disc 51 edge is provided with the sealing ring, sucking disc 51 is connected with the breather pipe, the breather pipe is connected with the air pump, this breather pipe of air pump accessible is to sucking disc 51 output air or is from sucking disc 51 and siphons away the air.

And an illuminating device is arranged on the side edge of the detection part 6 and is matched with the image pickup head to work.

The tail end of the rotary double-wishbone 26 is provided with a connecting seat 261, the front end of the rotary shaft is provided with a rotary disc 252, the connecting seat 261 is fixedly arranged on the rotary disc 252, the front end of the rotary double-wishbone 26 is provided with a rotary motor 262, and the rotary motor 262 controllably drives the welding hand 3 to rotate.

The mechanical arm has three functions, including workpiece grabbing, workpiece welding and weld joint detection. The multi-step shaft sleeve 262 is used for installing the welding hand 3, the detection hand 60 and the part taking part 5, the front-end high-precision motor is connected with the middle transmission mechanism, so that the welding hand 3, the detection hand 60 and the part taking part 5 can be independently and respectively driven to rotate, the three parts are rotated to a working position, and one of the three parts is carried out. The spindle motor 251 drives the rotating hand to rotate, thereby driving the rotating double yoke 26 to rotate, and thus causing the welding hand 3 to rotate around the axis of the rotating shaft.

The machine base 1 of the device is positioned between the workbench 12 and the feeding conveyor belt 13, and the specific position of the machine base can be adjusted according to the actual working condition. The mechanical arm is not single in appearance size, is selected according to actual working conditions, and is fastened and installed on the machine base 1 through bolts.

The part taking part 5 of the scheme grabs the workpiece by using air pressure or sprays air to the workpiece.

Common defects in typical welds are: pores, slag inclusion, incomplete penetration, incomplete fusion and cracks, and a mature method for accurately judging the properties of the defects does not exist so far, and the defects are comprehensively estimated and judged according to the shape of the defect wave obtained on the fluorescent screen and the change of the height of the reflected wave and the position of the defects and the welding process.

The evaluation of the nature of the internal defect and the cause and preventive measures of the generation of the defect generally summarize the following points.

First, air vent: the single air hole echo height is low, and the waveform is unimodal and relatively stable. The reflected waves are approximately the same when the probe is moved from all directions, but disappear when the probe is moved slightly, a cluster of reflected waves appears in the dense air holes, the wave height is different according to the size of the air holes, and the phenomenon of falling and falling occurs when the probe rotates at a fixed point.

The reasons for the defects are mainly that welding materials are not dried according to the specified temperature, the coating of the welding rod is deteriorated and falls off, a welding core is rusted, the welding wire is not cleaned completely, the current is overlarge during manual welding, and the electric arc is overlong; when submerged arc welding is carried out, the voltage is too high or the network voltage fluctuation is too large; the purity of the shielding gas is low during gas shielded welding, and the like. If the air holes exist in the welding seam, the compactness of the welding seam metal is damaged, the effective sectional area of the welding seam is reduced, and the mechanical property is reduced, particularly, when the chain-shaped air holes exist, the bending and impact toughness are obviously reduced. Prevent from

Such measures for preventing defects are: the welding rod with cracked, peeled and deteriorated coating and rusted core wire is not used, and the rusted welding wire can be used after being derusted. The welding materials are dried according to the specified temperature, the groove and two sides of the groove are cleaned, and proper welding current, arc voltage, welding speed and the like are selected.

Secondly, slag inclusion: the point slag inclusion echo signal is similar to the point air hole, the strip slag inclusion echo signal is mostly saw-tooth wave amplitude and not high, the wave shape is mostly tree-like, the edge of the main peak is provided with a small peak, the translation wave amplitude of the probe is changed, and the reflection wave amplitude is different when the probe is detected from all directions. The reasons for the occurrence of such defects are: the welding current is too small, the speed is too fast, slag can not float in time, the welded edge and each layer of welding seam can not be cleaned up, the chemical components of the metal and the welding material are improper, and more sulfur and phosphorus are contained. The prevention measures are as follows: the welding current is correctly selected, the angle of the groove of the welding part is not too small, the groove needs to be cleaned before welding, and welding slag needs to be removed layer by layer during multilayer welding; and reasonably selecting the welding speed of the bar conveying angle and the like.

Third, no penetration: the reflectivity is high, the wave amplitude is also high, the wave form is stable when the probe is translated, and approximately the same reflection wave amplitude can be obtained when the two sides of the welding seam are subjected to flaw detection. Such defects not only reduce the mechanical properties of the welded joint, but also form stress concentration points at the gap and the end part of the unwelded part, and are dangerous defects which often cause cracks after bearing. The reasons for this are generally: the pure edge clearance of the groove is too small, the welding current is too small or the strip conveying speed is too high, the groove angle is small, the strip conveying angle is not right, electric arc blow is avoided, and the like. The prevention measures are as follows: the groove type and the assembly clearance are reasonably selected, and a correct welding process is adopted.

Fourth, unfused: when the probe translates, the waveform is stable, and when the two sides detect, the reflected wave amplitude is different and can only detect from one side sometimes. The reason for this is: unclean bevel, too fast welding speed, too small or too large current, wrong angle of welding rod, electric arc blow and the like. And (4) preventive measures: the groove and the current are correctly selected, the groove is cleaned up, and the welding deviation is prevented through correct operation.

Fifth, cracking: the echo height is great, and wave width is wide, can appear the multimodal, and the wave amplitude that the reflected wave appears in succession when the probe translation has changed, and the probe is changeed, and the crest has the dislocation phenomenon from top to bottom. The crack is a defect with the highest risk, which not only reduces the strength of the welded joint, but also causes stress concentration after the weldment is loaded due to the sharp pin notch at the tail end of the crack, and becomes the origin of structural fracture. The cracks are divided into three types, namely hot cracks, cold cracks and reheat cracks. The reasons for the thermal cracking are: the cooling speed of the molten pool is very fast during welding, so that segregation is caused; the weld joint is unevenly heated to generate tensile stress.

Nondestructive testing is a general term for all technical means for detecting whether a defect or unevenness exists in a test object by using characteristics such as sound, light, magnetism, and electricity without damaging or affecting the use performance of the test object, giving information such as the size, position, property, and number of the defect, and further determining the technical state of the test object. The common nondestructive testing method comprises the following steps: ultrasonic Testing (UT), magnetic particle testing (MT), fluid Penetration Testing (PT), and X-Ray Testing (RT).

The frequency of sound waves exceeds the human auditory sense, and sound waves with frequencies higher than 20 kilohertz are called ultrasonic waves. The ultrasonic waves used for flaw detection have a frequency of 0.4 to 25 MHz, with 1 to 5 MHz being the most used. The method of detecting the quality of an object by using sound has been used for a long time. For example, the watermelon is patted by hand to listen to the watermelon; the doctor knocks the chest of the patient and checks whether the internal organs are normal; and knocking the porcelain bowl by hands to see whether the porcelain bowl is damaged or not, and the like. However, these detection methods, which rely on human hearing to determine the sound, are more objective and accurate than the acoustic method, and are easier to make quantitative representations. The ultrasonic flaw detection has the characteristics of large detection distance, small flaw detection device volume, light weight, convenience for carrying to field flaw detection, high detection speed, low total detection cost and the like, and only a coupling agent and a wear probe are consumed in flaw detection, so that the construction industry market mainly adopts the method for detection.

Ultrasonic detection can sense a high-frequency signal generated by insulator partial discharge, accurately convert the signal into a sound response to a detector, and judge the grade of a welding seam by comparing the position of the highest echo of a defect in the welding seam and the property of the defect according to a distance amplitude curve drawn on a standard test block.

The defects with the maximum reflection amplitude not exceeding the evaluation line in the distance amplitude curve are all rated as I grade, when the defect inspectors with the maximum reflection amplitude exceeding the evaluation line judge that the defects are harmful defects such as cracks, the defects are rated as WV grade no matter the amplitude and the size of the defects, the non-crack defects with the reflection amplitude in the I area are all rated as I grade, and the defects with the reflection amplitude in the III area are rated as V grade no matter the indication length of the defects. And the maximum reflection amplitude is positioned in the defect of the area II, and the defect indication length is provided, so that the latent fault of the equipment is found in advance.

Compared with X-ray flaw detection, the ultrasonic flaw detection has the advantages of higher flaw detection sensitivity, short period, low cost, flexibility, convenience, high efficiency, no harm to human bodies and the like; the defects are that the working surface is required to be smooth, the defect types can be distinguished by an experienced inspector, and the defects are not intuitive; the ultrasonic flaw detection is suitable for the inspection of parts with larger thickness.

The ultrasonic detection has the following characteristics: firstly, when ultrasonic waves are transmitted in a medium, the ultrasonic waves have the characteristic of reflection on a heterogeneous interface, if a defect is encountered, and the size of the defect is equal to or larger than the wavelength of the ultrasonic waves, the ultrasonic waves are reflected back on the defect, and a flaw detector can display reflected waves. Secondly, if the size of the defect is even smaller than the wavelength, the sound wave bypasses the defect and cannot be reflected; the wave sound has good directivity, the higher the frequency is, the better the directivity is, radiates to the medium with very narrow wave beam, easy to determine the position of the defect. Third, the propagation energy of ultrasonic waves is large, for example, the propagation energy of ultrasonic waves with a frequency of 1MHZ (1 MHZ) is equivalent to 100 ten thousand times that of sound waves with the same amplitude and a frequency of 1000HZ (HZ).

The scheme discloses a high-end equipment manufacturing mechanical arm which is arranged on an automatic production line and can automatically grab a workpiece to be welded on a feeding conveyor belt 13 and place the workpiece on a workbench 12 for laser welding. After the welding work is completed, the detection unit 6 detects the weld of the workpiece. The detection comprises the steps of detecting the appearance of the welding seam by using an AI visual detection device and detecting the inside of the welding seam by using an ultrasonic flaw detector. After both are detected to be qualified, the part taking part 5 is put into the discharging conveyor belt 11 to be conveyed away. If one or both of the parts fail, the part-taking portion 5 is put on the scrap conveyor 14 and conveyed away.

The processor of the AI visual detection device is connected with a memory, and data information is stored in the memory. The AI vision inspection device compares the image transferred from the image pickup head with the image data stored in the memory, thereby determining whether the weld profile is acceptable. If the image information is not qualified, the shot image information is displayed on a display screen, manual judgment is carried out by experienced workers, and the judgment structure and the image information are recorded into a memory for next judgment and comparison. Therefore, the AI visual inspection device of the present solution has a self-learning capability, and the longer the usage time is, the higher the determination accuracy is.

The detection work of the invention can be carried out while welding, and can also be carried out after welding.

The inspection is performed while welding, and it is necessary to face the first window 61 and the second window 62 to the weld, which is the tip of the welding head 42, i.e., the highest temperature. Therefore, the temperature measuring probe 63 is used for temperature detection, the front-end high-precision motor is driven to work, the detecting hand 60 is driven to rotate and adjust, the temperature measuring probe 63 is aligned to the position with the highest temperature, and the first window 61 and the second window 62 are aligned to the welding work position.

And if it is postweld to detect, then need rotate welding hand 3 earlier and pack up it, avoid colliding with, then adjust and detect hand 60 and get the orientation of a part 5, get a part 5 and spray the air and cool down to welding seam department, and adjust and detect hand 60 and face to welding seam department, order about the working part in first window 61 and the second window 62 and open detection achievement.

It will be evident to those skilled in the art that the invention is not limited to the details of the foregoing illustrative embodiments, and that the present invention may be embodied in other specific forms without departing from the spirit or essential attributes thereof. The present embodiments are, therefore, to be considered in all respects as illustrative and not restrictive. The scope of the invention is indicated by the appended claims, rather than the foregoing description, and all changes that come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein. Any reference sign in a claim should not be construed as limiting the claim concerned.

Furthermore, it should be understood that although the present description refers to embodiments, not every embodiment may contain only a single embodiment, and such description is for clarity only, and those skilled in the art should integrate the description, and the embodiments may be combined as appropriate to form other embodiments understood by those skilled in the art.

Claims

1. The utility model provides a high-end equipment manufacturing mechanical arm, includes frame (1), bolt-up connection installs mounting disc (21) on frame (1), the fixed base (2) that is provided with on mounting disc (21), base (2) top is provided with connecting portion (22), connecting portion (22) top is rotated and is provided with first support arm (23), first support arm (23) top is rotated and is provided with second support arm (24), its characterized in that: the front end of the second support arm (24) is rotatably provided with a shaft seat (25), a rotating shaft is arranged in the shaft seat (25), a rotating shaft motor (251) for driving the rotating shaft to rotate is arranged at the tail of the shaft seat (25), the front end of the rotating shaft is connected with a rotating double-fork arm (26), the front end of the rotating double-fork arm (26) is provided with a processing rotating head, the processing rotating head comprises a multi-step shaft sleeve (262), the multi-step shaft sleeve (262) is connected with a transmission mechanism and a front-end high-precision motor, a welding hand (3), a detection hand (60) and a workpiece taking part (5) are rotatably arranged on the multi-step shaft sleeve (262), and the end part of the welding hand (3) is provided with a; the front-end high-precision motor is matched with the transmission mechanism to perform transmission work, so that the welding hand (3), the detection hand (60) and the workpiece taking part (5) can be independently and respectively driven to rotate.

2. A high-end equipment manufacturing robot arm as claimed in claim 1, wherein: frame (1) a side is provided with pay-off conveyer belt (13), and pay-off conveyer belt (13) correspond one side and are provided with workstation (12) that a plurality of was arranged, and every workstation (12) correspond and match frame (1), workstation (12) below be provided with balance in pay-off conveyer belt's exit conveyor (11).

3. The high-end equipment manufacturing robot arm of claim 2, wherein: and a waste conveying belt (14) is arranged on the side edge of each working table (12), and the height of the waste conveying belt (14) is lower than that of the feeding conveying belt (13) and that of the discharging conveying belt (11) and is vertical to the feeding conveying belt and the discharging conveying belt.

4. A high-end equipment manufacturing robot arm as claimed in claim 1, wherein: the front end of the welding part (4) is rotatably provided with a welding seat (41), the end part of the welding seat (41) is provided with a laser welding head (42), and the welding head (42) is provided with a bend.

5. A high-end equipment manufacturing robot arm as claimed in claim 1, wherein: the end part of the detection hand (60) is provided with a detection part (6), the detection part (6) is in a circular truncated cone shape, the bottom surface of the circular truncated cone shape is respectively provided with a first window (61) and a second window (62), the first window (61) is provided with an image pickup head, the second window (62) is provided with an ultrasonic transmitting and receiving device, the ultrasonic transmitting and receiving device is in signal connection with an ultrasonic flaw detector, and the image pickup head is connected with an AI visual detection device; a temperature measuring probe (63) is arranged between the first window (61) and the second window (62), and the temperature measuring probe (63) is connected with the front-end high-precision motor and can work so as to drive the detection part (6) to rotate.

6. A high-end equipment manufacturing robot arm as claimed in claim 1, wherein: get a portion (5) and be provided with tubaeform sucking disc (51), sucking disc (51) edge is provided with the sealing ring, sucking disc (51) are connected with the breather pipe, the breather pipe is connected with the air pump, this breather pipe of air pump accessible is to sucking disc (51) output air or is from sucking disc (51) air of siphoning away.

7. The high-end equipment manufacturing robot arm of claim 5, wherein: and an illuminating device is arranged on the side edge of the detection part (6), and the illuminating device is matched with the image pickup head to work.

8. A high-end equipment manufacturing robot arm as claimed in claim 1, wherein: the tail end of the rotary double-fork arm (26) is provided with a connecting seat (261), the front end of the rotary shaft is provided with a rotary disc (252), the connecting seat (261) is fixedly arranged on the rotary disc (252), the front end of the rotary double-fork arm (26) is provided with a rotary motor (262), and the rotary motor (262) drives the welding hand (3) to rotate in a controlled mode.

9. The high-end equipment manufacturing robot arm of claim 5, wherein: the AI visual detection device is connected with the information processing center in a wireless mode, the information processing center is connected with a display device and an external input device, and the external input device comprises a keyboard and a mouse.