Six-axis robot welding device and welding method

Abstract

The invention relates to the field of welding robots, in particular to a six-axis robot welding device and method. A six-axis robot welding device comprises a mechanical arm, a conveying device, a storage device and a clamping device. The mechanical arm comprises a first rotating shaft, a second rotating shaft, a third rotating shaft, a fourth rotating shaft, a fifth rotating shaft and a sixth rotating shaft; the conveying device comprises an auxiliary block, two servo motors, a first sliding rail and a sliding rod. The storage device comprises an impeller, a welding rod box, a welding rod, a second sliding rail, a bearing, an auxiliary ring and a fixing piece. The clamping device comprises a connecting disc, a connecting rod and a clamping piece. The problems that an existing six-axis robot is extremely inconvenient to replace welding rods, the replacement process is troublesome, and the replacement speed is low are solved.

Description

Technical Field

[0001] The present invention relates to the field of welding robots, and in particular, to a six-axis robot welding device and a welding method. Background Art

[0002] As the crystallization of modern industrial wisdom, six-axis robots are widely used in industry. Especially in the fields of precision machining and dangerous operations, robots are indispensable due to their high precision and stability. In the welding field, the application of robots is also very extensive. The welding effect of welding robots has the advantages of high efficiency and high quality compared with manual welding.

[0003] For a six-axis robot used for welding, when the welding electrode is consumed during the welding process, it is necessary to replace the welding electrode and select welding electrodes with different thicknesses for different welds. However, the six-axis robot itself has strong mobility and less available space. At present, it is extremely inconvenient to replace the welding electrode with a six-axis robot used for welding, and the replacement process is troublesome and the replacement speed is slow. Summary of the Invention

[0004] Therefore, the present invention is made in view of the above problems. The purpose of the present invention is to provide a six-axis robot welding device and a welding method, and the present invention realizes the above purpose through the following technical solutions.

[0005] The present invention provides a six-axis robot welding device, including: a robotic arm, a conveying device, a storage device, and a clamping device;

[0006] The robotic arm includes a first rotating shaft, a second rotating shaft, a third rotating shaft, a fourth rotating shaft, a fifth rotating shaft, and a sixth rotating shaft. The conveying device and the storage device are provided on the fourth rotating shaft, and the clamping device is provided on the sixth rotating shaft;

[0007] The conveying device includes: an auxiliary block, two servo motors, a first slide rail, and a slide bar. The auxiliary block is provided on the fourth rotating shaft. One surface of the auxiliary block is a plane, providing a space for setting the servo motors, the first slide rail, and the slide bar. The two servo motors drive the first slide rail and the slide bar to move through gears respectively;

[0008] The storage device includes: an impeller, a welding electrode box, welding electrodes, a second slide rail, a bearing, an auxiliary ring, and a fixing member. The impeller is sleeved on the fourth rotating shaft, and both ends are sleeved on the fourth rotating shaft through the bearing and the auxiliary ring respectively. The welding electrode box is connected to the impeller by a conveniently detachable connection method such as a buckle or magnetism. The second slide rail is provided at the semi-circular track in the welding electrode box and is movably connected to the semi-circular track in the welding electrode box;

[0009] The clamping device is arranged on the sixth rotating shaft; the clamping device includes a connecting plate, a connecting rod, and a clamping member; the connecting plate is connected to the sixth rotating shaft, the connecting rod is connected to the connecting plate; the clamping member is arranged at one end of the connecting rod.

[0010] Advantages of the present invention:

[0011] 1. By setting a conveying device, a storage device, and a clamping device, and through the mutual cooperation between the rotating shaft and the conveying device, the storage device, and the clamping device, the present invention achieves the purpose of quickly and conveniently automatically replacing the welding electrode when the welding electrode is consumed.

[0012] 2. Through the mutual cooperation of structures such as a slide rail and a fixing member, one end of the welding electrode smoothly passes through the through hole four and is stably conveyed to the clamping device. The settings of structures such as the slide rail and the fixing member improve the stability and accuracy of the welding electrode conveyance.

[0013] 3. Through the structural settings, the welding device can quickly and conveniently automatically replace welding electrodes of different specifications required for welding, reduce the interruption of the process, and improve work efficiency. Description of the drawings

[0014] Figure 1 It is the front view of the overall structure of the present invention.

[0015] Figure 2 It is the front view of the partial structure of the present invention.

[0016] Figure 3 It is the top view of the partial structure of the present invention.

[0017] Figure 4 It is the right view of the partial structure of the present invention.

[0018] Figure 5 It is the top view of the conveying device of the present invention.

[0019] Figure 6 It is the right view of the conveying device of the present invention.

[0020] Figure 7 It is the detailed cross-sectional view of the conveying device of the present invention.

[0021] Figure 8 It is the three-dimensional structure schematic diagram of the conveying device of the present invention.

[0022] Figure 9 It is the right view of the storage device of the present invention.

[0023] Figure 10 It is the front view of the storage device of the present invention.

[0024] Figure 11 It is the left view of the storage device of the present invention.

[0025] Figure 12 A cross-sectional view of the storage device of the present invention.

[0026] Figure 13 A schematic perspective view of the storage device of the present invention.

[0027] Figure 14 A right side view of the clamping device of the present invention.

[0028] Figure 15 A top view of the clamping device of the present invention.

[0029] Figure 16 A front side view of the clamping device of the present invention.

[0030] Figure 17 A schematic perspective view of the clamping device of the present invention

[0031] Figure 18 A right side view of the fixing member of the present invention.

[0032] Figure 19 A left side view of the fixing member of the present invention.

[0033] Figure 20 A cross-sectional view of the fixing member of the present invention.

[0034] Figure 21 A schematic perspective view of the fixing member of the present invention.

[0035] Figure 22 A schematic cross-section of the clamping member of the present invention Figure 1 .

[0036] Figure 23 A schematic cross-section of the clamping member of the present invention Figure 2 .

[0037] 111. First rotating shaft; 112. Second rotating shaft; 113. Third rotating shaft; 114. Fourth rotating shaft; 115. Fifth rotating shaft; 116. Sixth rotating shaft; 12. Conveyor device; 121. Auxiliary block; 1211. Track; 122. First servo motor; 1221. First transmission wheel; 123. Second servo motor; 1231. Second transmission wheel; 124. First slide rail; 125. Slide bar; 13. Storage device; 131. Impeller; 132. Electrode box; 1321. First through hole; 133. Electrode; 134. Second slide rail; 1341. Extension pipe; 135. Bearing; 136. Auxiliary ring; 137. Fixing part; 1371. Fixing block; 1372. Second through hole; 1374. First limiting block; 1375. Second limiting block; 1376. First movable hole; 1377. Third through hole; 1378. First spring hole; 1379. First spring; 1370. Limiting rod; 14. Clamping device; 141. Connection disk; 142. Connecting rod; 1421. Groove; 1422. Second movable hole; 143. Clamping part; 1431. First clamping block; 1432. Second clamping block; 1433. Fourth through hole; 1434. Second spring hole; 1435. Second spring; 1437. Limiting rod. Detailed implementation manner

[0038] Preferred embodiments of the present invention will be described in detail with reference to the accompanying drawings, so that those of ordinary skill in the art in the prior art of the field to which the invention belongs can easily implement these embodiments. However, the present invention can also be implemented in various different forms. Therefore, the present invention is not limited to the embodiments described below.

[0039] As Figure 1 shown, a six-axis robot welding device includes: a robotic arm 11, a conveyor device 12, a storage device 13, and a clamping device 14;

[0040] The conveyor device 12, the storage device 13, and the clamping device 14 are sequentially arranged on the robotic arm 11. When the electrode of the welding device 1 is consumed and needs to be replaced, the conveyor device 12 drives the electrode stored inside the storage device 13 to move into the clamping device 14 to complete the replacement of the consumed electrode. When the welding device 1 recognizes that different welding seams require different electrodes, the robotic arm 11 rotates to align the electrode box 132 containing the corresponding electrode with the clamping device 14. Subsequently, the conveyor device 12 drives the electrode stored inside the storage device 13 to move into the clamping device 14 to complete the replacement of the required corresponding specification electrode;

[0041] The robotic arm 11 includes: a first rotating shaft 111, a second rotating shaft 112, a third rotating shaft 113, a fourth rotating shaft 114, a fifth rotating shaft 115, and a sixth rotating shaft 116;

[0042] The first rotating shaft 111, the second rotating shaft 112, the third rotating shaft 113, the fourth rotating shaft 114, the fifth rotating shaft 115, and the sixth rotating shaft 116 can respectively rotate and move around their corresponding axes; the robotic arm 11 is the same as a conventional six-axis robot, and this technical solution will not elaborate on this structure too much;

[0043] As Figure 2 , 3 , 5, 6, 7, 8 show that the conveying device 12 includes: an auxiliary block 121, a track 1211, a first servo motor 122, a first transmission wheel 1221, a second servo motor 123, a second transmission wheel 1231, a first slide rail 124, and a slide bar 125; the auxiliary block 121 is arranged on the fourth rotating shaft 114 and serves to provide a setting space for the track 1211, the first servo motor 122, and the second servo motor 123. The track 1211 is arranged on the auxiliary block 121 and serves to allow the first slide rail 124 and the slide bar 125 to slide. The first servo motor 122 is connected to the first transmission wheel 1221, and the first transmission wheel 1221 is in contact with the slide bar 125, serving to drive the slide bar 125 to move under the drive of the first servo motor 122. The second servo motor 123 is connected to the second transmission wheel 1231, and the second transmission wheel 1231 is in contact with the first slide rail 124, serving to drive the first slide rail 124 to move under the drive of the second servo motor 123. The first slide rail 124 is slidably arranged on the track 1211 and serves to push the second slide rail 134 in the storage device 13, and one end of the first slide rail 124 close to the second slide rail 134 has magnetism. The slide bar 125 is slidably arranged on the first slide rail 124 and serves to push the welding rod 133;

[0044] As Figure 2 , 3 , 4, 9, 10, 11, 12, 13 show that the storage device 13 is arranged at the end of the fourth rotating shaft 114 and on one side of the conveying device 12. The storage device 13 includes: an impeller 131, a welding rod box 132, a first through hole 1321, a welding rod 133, a second slide rail 134, an extension pipe 1341, a bearing 135, an auxiliary ring 136, and a fixing member 137; both ends of the impeller 131 are sleeved on the fourth rotating shaft 114 through the bearing 135 and the auxiliary ring 136 respectively. A plurality of welding rod boxes 132 are annularly arranged on the outer periphery of the impeller 131. The cross section of the welding rod box 132 is trapezoidal, and the welding rod box 132 is connected to the impeller 131 by a conveniently detachable connection method such as a buckle or magnetism; As Figure 11 shown, the first through hole 1321 is arranged on the welding rod box 132 and serves to allow the welding rod 133 to pass through. The welding rod 133 is placed in the welding rod box 132. As Figure 10As shown, the second slide rail 134 is slidably arranged in the first through hole 1321 of the electrode box 132. One end of the second slide rail 134 close to the first slide rail 124 has magnetism, and this magnetism is different from that of the first slide rail 124. The other end of the second slide rail 134 passes through the first through hole 1321 and is fixedly connected to the extension pipe 1341 to form an integral structure. The extension pipe 1341 is arranged at one end of the first through hole 1321, and the diameter of the extension pipe 1341 is larger than that of the first through hole 1321. The second slide rail 134 functions to allow the electrode 133 to slide, and the extension pipe 1341 functions to extend the distance that the electrode 133 can move; the fixing member 137 is fixedly arranged at one end of the extension pipe 1341, and the fixing member 137 is used to fix one end of the electrode 133; the bearing 135 is fixedly connected to the impeller 131 and at the same time fixedly connected to the fourth rotating shaft 114. The auxiliary ring 136 is fixedly connected to the rotating disc at the front end of the fourth rotating shaft 114 and at the same time fixedly connected to the impeller 131. When the program controls the rotation of the rotating disc, the auxiliary ring 136 drives the impeller 131 to rotate;

[0045] As Figure 13 , 18 , 19, 20, 21 as shown, the fixing member 137 includes: a fixing block 1371, a second through hole 1372, a first limiting block 1374, a second limiting block 1375, a first moving hole 1376, a third through hole 1377, a first spring hole 1378, a first spring 1379, a limiting rod 1370;

[0046] A through hole two 1372 is provided in the middle of the fixed block 1371. The through hole two 1372 of the fixed block 1371 is sleeved on the extension pipe 1341 and fixedly connected to the extension pipe 1341. One end of the fixed block 1371 is fixedly provided with a limit rod 1370. The number of limit rods 1370 is four, and they are symmetrically arranged in pairs. One end of each limit rod 1370 is respectively inserted into the moving hole one 1376, and the limit rod 1370 is movably connected to the first limit block 1374 or the second limit block 1375, which plays a role in restricting the moving range of the first limit block 1374 and the second limit block 1375. The number of the moving holes one 1376 is four, and they are symmetrically arranged in pairs on the first limit block 1374 and the second limit block 1375 respectively. The position of the moving hole one 1376 corresponds to that of the limit rod 1370. The moving hole one 1376 is a vertical strip-shaped hole, which plays a role in allowing the first limit block 1374 and the second limit block 1375 to move. The through hole three 1377 is semicircular, and the through hole three 1377 is respectively provided on the first limit block 1374 and the second limit block 1375. When the surfaces of the first limit block 1374 and the second limit block 1375 are in contact, the two semicircular through holes three 1377 are combined into a circular through hole. Electromagnets (not shown in the figure) are provided in both the first limit block 1374 and the second limit block 1375. When the electromagnets are energized, the surfaces of the first limit block 1374 and the second limit block 1375 are attracted to each other under the influence of magnetic force. The first limit block 1374 and the second limit block 1375 are symmetrically arranged up and down and are movably connected to the fixed block 1371 through the limit rod 1370. Spring holes one 1378 are provided on the first limit block 1374 and the second limit block 1375. The first spring 1379 is arranged in the spring hole one 1378. The first limit block 1374 and the second limit block 1375 are connected to each other through the first spring 1379. The number of the first springs 1379 is two. When the welding device is in the standby state, the electromagnets are not energized, the first spring 1379 is in a free state, and the first limit block 1374 and the second limit block 1375 are in a separated state under the action of the first spring 1379.

[0047] As Figure 2 、 3 、4, 14, 15, 16 show that the clamping device 14 is arranged on the sixth rotating shaft 116. The clamping device 14 includes: a connecting disk 141, a connecting rod 142, a groove 1421, a moving hole two 1422, and a clamping member 143. The connecting disk is fixedly connected to the sixth rotating shaft 116. The connecting rod 142 is fixedly connected to the connecting disk 141. The connecting rod 142 is provided with a groove 1421 and a moving hole two 1422, which play a role in restricting the moving range of the clamping member 143. The clamping member 143 is arranged at one end of the connecting rod 142, which plays a role in fixing the welding rod 133.

[0048] As Figure 17 、 22, as shown in Fig. 23, the clamping member 143 includes: a first clamping block 1431, a second clamping block 1432, a fourth through hole 1433, a second spring hole 1434, a second spring 1435, and a limiting rod 1437; the first clamping block 1431 and the second clamping block 1432 are symmetrically arranged in the groove 1421, and the first clamping block 1431 and the second clamping block 1432 are respectively provided with semi-circular fourth through holes 1433. When the surfaces of the first clamping block 1431 and the second clamping block 1432 are in contact, the two semi-circular fourth through holes 1433 are combined into a circular hole, and the fourth through hole 1433 serves to allow the welding rod 133 to pass through. The second spring holes 1434 are respectively arranged on the first clamping block 1431 and the second clamping block 1432. The second spring 1435 is arranged in the second spring hole 1434 and its two ends are respectively fixedly connected to the first clamping block 1431 and the second clamping block 1432. When the surfaces of the first clamping block 1431 and the second clamping block 1432 are in contact with each other, the second spring 1435 is in a natural state. The second spring 1435 serves to connect the first clamping block 1431 and the second clamping block 1432 and generate a pulling force on them. The setting of the second spring 1435 facilitates the fourth through hole 1433 to adapt to welding rods of different specifications. Limiting rods 1437 are respectively and fixedly arranged on both sides of the first clamping block 1431 and the second clamping block 1432. The number of the limiting rods 1437 is four. One end of the limiting rod 1437 is correspondingly inserted into the second movable hole 1422. The clamping block and the limiting rod 1437 are arranged in the groove 1421 together. The second movable hole 1422 is strip-shaped. The second movable hole 1422 is arranged on the side wall of the connecting rod 142, penetrates through both side walls of the connecting rod 142, and communicates with the groove 1421. The limiting rod 1437 can slide in the second movable hole 1422, so that the first clamping block 1431 and the second clamping block 1432 can move in the groove 1421.

[0049] As an implementable manner, the surface of the first driving wheel 1221 of the conveying device 12 is rough. This setting facilitates the first driving wheel 1221 to drive the sliding rod 125 to move forward when it contacts the sliding rod 125.

[0050] As an implementable manner, the second driving wheel 1231 of the conveying device 12 is of a gear structure, and the surface of the first sliding rail 124 in contact with the second driving wheel 1231 is of a toothed structure and meshes with the second driving wheel 1231. This setting further facilitates the second driving wheel 1231 to drive the first sliding rail 124 to move forward.

[0051] As an implementable manner, triggers (not shown in the figure) are respectively arranged at one ends of the clamping block 1434 and the clamping block 1432 close to the limiting block 1374 and the limiting block 1375. When the limiting block 1374 and the limiting block 1375 move forward and contact the clamping block 1434 and the clamping block 1432, the triggers are pressed, and the triggers feedback to control the electromagnets of the limiting block 1374 and the limiting block 1375 to cut off the power supply, the magnetic force disappears, and the limiting block 1374 and the limiting block 1375 disconnect the limiting effect on the welding rod 133. This setting further realizes the coherence of the actions and improves the working efficiency.

[0052] As an implementable manner, the welding rod box 132 is provided with a welding rod blanking device (not shown in the figure). A plurality of welding rods 133 are placed in each welding rod box 132. When the welding rod 133 in the slide rail 134 is conveyed to the clamping device 14, the welding rod blanking device can perform a replenishing operation to facilitate the coherence of the operation.

[0053] The present invention also provides a welding method, which adopts a six-axis robot welding device of the above technical scheme, and comprises the following steps:

[0054] ① As shown in Figure 1 the figure, adjust the welding device to the initial state. At this time, a plurality of welding rod boxes 132 are filled with welding rods 133 of the required specifications for welding work. The through hole 1433 on the clamping device 14, the extension pipe 1341 and the sliding rod 125 are coaxial; among them, due to the limited length of the fourth rotating shaft 114 after the welding rod box 132 is arranged, the available length on the fourth rotating shaft 114 is small, and affected by the moving space of the fifth rotating shaft 115 and the length limitation of the welding rod 133 and other factors, the sliding rod 125 cannot directly and stably push the welding rod 133 forward to the clamping device 14. To realize the stable and smooth conveyance of the welding rod 132 to the clamping device 14, the slide rail 134, the fixing member 137 and other structures are arranged at present. Through the mutual cooperation between the structures, one end of the welding rod 133 smoothly passes through the through hole 1433 and is stably conveyed to the clamping device 14;

[0055] ② After starting the welding device, while the fourth rotating shaft 114 rotates under the control of the program, the impeller 131 drives the welding rod box 132 to rotate, so that the extension pipe 1341 in the welding rod box 132 of the welding rod 133 of the required specifications for welding work is coaxially aligned with the through hole 1433 and the sliding rod 125 on the clamping device 14;

[0056] ③Next, while the second servo motor 123 drives the transmission gear 1231 to rotate, it also drives the first slide rail 124 to contact the second slide rail 134. Due to the magnetic effect at the contact end of the first slide rail 124 and the second slide rail 134, the first slide rail 124 and the second slide rail 134 attract each other. Subsequently, the first slide rail 124 and the second slide rail 134 move forward together until the distance between the fixed block 1371 and the clamping member 143 is slightly less than the length of the welding rod 133. At this time, the second servo motor 123 stops rotating, and the distance between the fixed block 1371 and the clamping member 143 is convenient for the subsequent transmission of the welding rod 133;

[0057] ④Next, the first servo motor 122 drives the first transmission wheel 1221 to drive the slide rod 125 to contact the welding rod 133. Subsequently, the slide rod 125 pushes the welding rod 133 to move until both ends of the welding rod 133 are respectively located in the through hole two 1372 and the through hole four 1433. The first servo motor 122 stops rotating. At the same time, the electromagnets of the first limiting block 1374 and the second limiting block 1375 are energized to generate magnetic force, and the first limiting block 1374 and the second limiting block 1375 attract each other to fix the welding rod 133;

[0058] ⑤Next, the second servo motor 123 continues to drive the first slide rail 124 to push the second slide rail 134 to move, so that the welding rod 133 passes through the through hole four 1433 and continues to move forward until the first limiting block 1374 and the second limiting block 1375 contact the first clamping block 1434 and the second clamping block 1432. At this time, the electromagnets of the first limiting block 1374 and the second limiting block 1375 are powered off, the magnetic force disappears, and the first limiting block 1374 and the second limiting block 1375 disconnect the restrictive effect on the welding rod 133. At this time, the replacement of the welding rod 133 is completed;

[0059] ⑥Subsequently, the first servo motor 122 and the second servo motor 123 rotate back, respectively driving the slide rod 125 and the first slide rail 124 to reset. While the first slide rail 124 resets, it drives the second slide rail 134 to reset until the extension pipe 1341 contacts the outer surface of the welding rod box 132. Since the extension pipe 1341 cannot pass through the through hole one 1321, the first slide rail 124 and the second slide rail 134 are forced to disconnect the magnetic connection; Subsequently, the first slide rail 124, the slide rod 125, and the second slide rail 134 are respectively reset, realizing the quick and convenient automatic replacement of the welding rod 133 of the required specification by the welding device; Finally, corresponding welding operations are performed.

Claims

1. A six-axis robot welding device, comprising: A mechanical arm (11), a conveying device (12), a storage device (13), and a clamping device (14); The conveying device (12), the storage device (13), and the clamping device (14) are respectively arranged on the mechanical arm (11); The mechanical arm (11) comprises a fourth rotation axis (114), a fifth rotation axis (115), and a sixth rotation axis (116); The invention is characterized in that: the conveying device (12) is arranged on the fourth rotating shaft (114), and the conveying device (12) includes an auxiliary block (121); the auxiliary block (121) is arranged on the fourth rotating shaft (114); the auxiliary block (121) is provided with a first servo motor (122), a second servo motor (123), a slide rail (124), and a slide rod (125); the first servo motor (122) and the second servo motor (123) respectively drive the slide rod (125) and the slide rail (124) to move through the transmission wheel; the slide rail (124) is slidably arranged on the track (1211), and the slide rod (125) is slidably arranged on the slide rail (124); The storage device (13) is arranged at the upper end of the fourth rotating shaft (114), and the storage device (13) comprises an impeller (131) and a welding rod box (132); the impeller (131) is rotatably sleeved on the fourth rotating shaft (114), and a plurality of welding rod boxes (132) are annularly arranged on the outer peripheral wall of the impeller (131); The clamping device (14) is arranged on the sixth rotating shaft (116); the clamping device (14) comprises a connecting disk (141), a connecting rod (142), and a clamping piece (143); the connecting disk (141) is connected to the sixth rotating shaft (116), and the connecting rod (142) is connected to the connecting disk (141); the clamping piece (143) is arranged at one end of the connecting rod (142).

2. A six-axis robot welding device according to claim 1, characterized in that: The welding rod box (132) is detachably arranged on the impeller (131); a second slide rail (134) is slidably arranged in the first through hole (1321) of the welding rod box (132); the ends of the second slide rail (134) and the first slide rail (124) close to each other are both magnetic; the magnetism of the second slide rail (134) and the first slide rail (124) are different.

3. A six-axis robot welding device according to claim 2, characterized in that: The other end of the second slide rail (134) passes through the through hole (1321) and is fixedly connected to the extension tube (1341) to form an integrated structure, and the diameter of the extension tube (1341) is larger than the through hole (1321).

4. The six-axis robot welding device according to claim 3, characterized in that: A fixing member (137) is fixedly arranged at one end of the extension tube (1341), and the fixing member (137) comprises: a fixing block (1371), a limiting block 1 (1374), a limiting block 2 (1375), and a limiting rod (1370); a second through hole (1372) of the fixing block (1371) is sleeved on the extension tube (1341) and fixedly connected to the extension tube (1341), and one end of the fixing block (1371) is movably connected to the limiting block 1 (1374) and the limiting block 2 (1375) through the limiting rod (1370).

5. A six-axis robot welding device according to claim 4, characterized in that: The limit block 1 (1374) and the limit block 2 (1375) are symmetrically arranged in the upper and lower parts, and the adjacent surfaces of the limit block 1 (1374) and the limit block 2 (1375) are provided with semicircular through holes 3 (1377), and the limit block 1 (1374) and the limit block 2 (1375) are both provided with electromagnets; the limit block 1 (1374) and the limit block 2 (1375) are connected by a spring 1 (1379).

6. The six-axis robot welding device according to claim 5, characterized in that: The clamping member (143) comprises: a clamping block 1 (1431), a clamping block 2 (1432), and a limiting rod (1437); the clamping block 1 (1431) and the clamping block 2 (1432) are symmetrically slidably arranged in a groove (1421) on the end surface of the connecting rod (142), and semicircular through holes 4 (1433) are provided on the surfaces of the clamping block 1 (1431) and the clamping block 2 (1432) that are close to each other.

7. A six-axis robot welding device according to claim 6, characterized in that: The clamping block 1 (1431) and the clamping block 2 (1432) are connected via a spring 2 (1435); both sides of the clamping block 1 (1431) and the clamping block 2 (1432) are movably inserted into the movable hole 2 (1422) on the upper side wall of the connecting rod (142) via a limiting rod (1437).

8. The six-axis robot welding device according to claim 7, characterized in that: The first servo motor (122) is connected to the transmission wheel 1 (1221), and the transmission wheel 1 (1221) is in contact with the slide bar (125); the second servo motor (123) is connected to the transmission wheel 2 (1231), and the transmission wheel 2 (1231) is in contact with the slide rail 1 (124), and the transmission wheel 2 (1231) is a gear structure, and the surface of the slide rail 1 (124) in contact with the transmission wheel 2 (1231) is a toothed structure and meshes with the transmission wheel 2 (1231).

9. The six-axis robot welding device according to claim 8, characterized in that: The clamping block 1 (1434) and the clamping block 2 (1432) are respectively provided with triggers close to one end of the limit block 1 (1374) and the limit block 2 (1375).

10. A welding method of a six-axis robot welding device, characterized in that: A six-axis robot welding device according to any one of claims 1 to 9 is used, and the welding method is as follows: ① Adjust the welding device to the initial state; ② After the welding device is started, the fourth rotating shaft (114) rotates under the control of the program, and at the same time, the impeller (131) drives the welding rod box (132) to rotate, and then the extension tube (1341) in the welding rod box (132) containing the welding rod (133) of the specifications required for the next welding work is coaxial with the through hole (1433) and the slide rod (125) on the clamping device (14); ③ Then the second servo motor (123) drives the transmission gear (1231) to rotate and drives the slide rail 1 (124) and the slide rail 2 (134) to contact each other. Due to the magnetic effect of the contact ends of the slide rail 1 (124) and the slide rail 2 (134), the slide rail 1 (124) and the slide rail 2 (134) attract each other. Then the slide rail 1 (124) and the slide rail 2 (134) move forward together until the distance between the fixed block (1371) and the clamping member (143) is slightly smaller than the length of the welding rod (133), and the second servo motor (123) stops rotating. ④ Then, the first servo motor (122) drives the transmission wheel 1 (1221) to drive the slide bar (125) to contact the welding rod (133), and then the slide bar (125) pushes the welding rod (133) to move until the two ends of the welding rod (133) are respectively in the through hole 2 (1372) and the through hole 4 (1433), and the first servo motor (122) stops rotating. At the same time, the electromagnets of the limit block 1 (1374) and the limit block 2 (1375) are energized to generate magnetic force, and the limit block 1 (1374) and the limit block 2 (1375) are attracted to fix the welding rod (133); ⑤ Then, the second servo motor (123) continues to drive the slide rail 1 (124) to push the slide rail 2 (134) to move, so that the welding rod (133) passes through the through hole 4 (1433) and continues to move forward until the limit block 1 (1374) and the limit block 2 (1375) contact the clamping block 1 (1434) and the clamping block 2 (1432), and the electromagnets of the limit block 1 (1374) and the limit block 2 (1375) are powered off, the magnetic force disappears, and the limit block 1 (1374) and the limit block 2 (1375) disconnect the limiting effect on the welding rod (133), and the replacement of the welding rod (133) is completed at this time; ⑥ Then, the first servo motor (122) and the second servo motor (123) rotate, respectively driving the slide bar (125) and the slide rail 1 (124) to reset, and while the slide rail 1 (124) is reset, the slide rail 2 (134) is also reset, until the extension tube (1341) contacts the outer surface of the welding rod box (132). Since the extension tube (1341) cannot pass through the through hole 1 (1321), the slide rail 1 (124) and the slide rail 2 (134) are forced to disconnect the magnetic connection; then, the slide rail 1 (124), the slide bar (125) and the slide rail 2 (134) are reset respectively; finally, the corresponding welding operation is performed.

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