Torsion buffer protection device for welding gun cable bundle and welding robot

Abstract

The invention provides a welding gun cable bundle torsion buffer protection device and a welding robot. The torsion buffering protection device for the welding gun cable bundle comprises a welding gun mechanism, a wire feeding mechanism and a cable bundle buffering mechanism. The welding gun mechanism comprises a welding gun and a welding gun cable bundle, the welding gun is installed on a clamping joint shaft on the robot body, the welding gun cable bundle is arranged in a mechanical arm of the robot body, the front portion of the welding gun cable bundle is connected to the welding gun, and the tail portion of the welding gun cable bundle extends out of the mechanical arm in the moving direction of the mechanical arm and is connected to the wire feeding mechanism. The cable bundle buffering mechanism comprises a displacement buffering piece capable of moving or deforming relative to the robot body, and the displacement buffering piece is connected to the tail of the welding gun cable bundle or the wire feeding mechanism. When the welding gun cable bundle moves along with the welding gun, the displacement buffering piece moves or deforms relative to the robot body in a resettable mode along with the welding gun cable bundle, and an axial buffering distance is provided for the welding gun cable bundle in the extending direction of the welding gun cable bundle.

Description

Technical Field

[0001] The present invention relates to the field of welding technology, and particularly to a torsional buffer protection device for a welding torch cable bundle and a welding robot. Background Art

[0002] In a traditional hollow robot automated arc welding system, the welding torch is rigidly mounted on the sixth joint axis of the robot as the core end effector, and it is rigidly connected to the wire feeding mechanism fixed on the robot body through the welding torch cable bundle. This connection usually includes two configuration forms: one is that the tail of the welding torch cable bundle is rigidly connected to the end of the wire feeding sleeve in the wire feeding mechanism, and the other is rigidly connected to the wire feeding buffer in the wire feeding mechanism; this rigid connection method makes a fixed spatial relative position relationship formed among the tail of the welding torch cable bundle, the wire feeding mechanism, and the robot body.

[0003] When the robot performs complex trajectory welding tasks, especially under working conditions that require large-range attitude adjustment, the coordinated movement of the fifth joint axis and the sixth joint axis (clamping joint axis) will drive the welding torch to generate multi-directional composite movements. Since the tail of the welding torch cable bundle (including welding power cable, control signal cable, shielding gas pipe, wire feeding conduit, etc.) has been fixed to the robot body through a rigid interface and the wire feeding mechanism, this contradictory structure of free movement at the front end and fixed at the tail causes the welding torch cable bundle to be forced to bear continuous mechanical stress during movement. Specifically manifested as: when the fifth joint axis drives the welding torch to move, it will axially stretch or compress the welding torch cable bundle to generate axial stress, which may cause the welding torch cable bundle to break; when the welding torch is driven by the sixth joint axis to rotate, the cable bundle generates circumferential torsional deformation as the welding torch moves; in addition, during the simultaneous driving of each axis of the robot (such as the simultaneous driving of the fifth joint axis and the sixth joint axis), there are also combined deformations such as axial stretching / compression and radial bending. This periodic mechanical stress causes multiple damages to the internal structure of the welding torch cable bundle: the repeated torsion of the metal wires will cause fatigue fracture of the copper cores; and the insulation layer of the cable bundle peels off in layers due to continuous friction; at the same time, the contact wear between the inner wall of the wire feeding conduit and the welding wire will increase the wire feeding resistance. Further, the metal debris generated by the wear of the wire bundle may also contaminate the precision components inside the welding torch. Especially in the scenarios of long welds and multi-station continuous operations, the cable bundle may experience hundreds of torsional cycles per hour, and this cumulative damage effect will significantly shorten the service life of the cable bundle mechanism and greatly increase the maintenance cost of the cable bundle. Summary of the Invention

[0004] In order to overcome the deficiencies of the prior art, the present invention provides a torsional buffer protection device for a welding torch cable bundle and a welding robot.

[0005] To achieve the above object, the present invention provides a torsional buffering and protecting device for a welding torch cable bundle applied to a welding robot, which includes a welding torch mechanism, a wire feeding mechanism, and a cable bundle buffering mechanism. The welding torch mechanism includes a welding torch and a welding torch cable bundle. The welding torch is installed on a clamping joint axis of a robot body, and the welding torch cable bundle is disposed inside a robotic arm of the robot body. The front part of the welding torch cable bundle is connected to the welding torch, and its tail extends along the direction of the robotic arm to the outside of the robotic arm and is connected to the wire feeding mechanism. The cable bundle buffering mechanism includes a displacement buffer that can move or deform relative to the robot body, and the displacement buffer is connected to the tail of the welding torch cable bundle or the wire feeding mechanism.

[0006] Wherein, when the welding torch cable bundle moves with the welding torch, the displacement buffer follows the welding torch cable bundle and can be reset to move or deform relative to the robot body, providing an axial buffering distance for the welding torch cable bundle in the extending direction of the welding torch cable bundle.

[0007] According to an embodiment of the present invention, the cable bundle buffering mechanism includes a base and a displacement buffer. The base is fixedly installed on the robot body, and the displacement buffer is disposed on the base and moves relative to the base along the extending direction of the welding torch cable bundle or elastically deforms in the extending direction of the welding torch cable bundle under the traction of the welding torch cable bundle.

[0008] According to an embodiment of the present invention, the displacement buffer is a moving pair that can reciprocate along the extending direction of the welding torch cable bundle, and the tail of the welding torch cable bundle or the wire feeding mechanism is connected to a slider on the moving pair.

[0009] According to an embodiment of the present invention, the displacement buffer includes an elastic member disposed on the base and capable of elastically deforming in the extending direction of the welding torch cable bundle.

[0010] According to an embodiment of the present invention, the wire feeding mechanism is fixed to the robot body, the displacement buffer is disposed on the wire feeding mechanism, and the tail of the welding torch cable bundle moves relative to the wire feeding mechanism through the displacement buffer to provide an axial buffering distance.

[0011] According to an embodiment of the present invention, the displacement buffer is a linear bearing that is movably connected to the wire feeding mechanism, and the tail of the welding torch cable bundle is connected to the linear bearing.

[0012] According to an embodiment of the present invention, the cable bundle buffering mechanism further includes a rotatable component, which is disposed between the tail of the welding torch cable bundle and the wire feeding mechanism, rotatably connecting the welding torch cable bundle and the wire feeding mechanism and electrically connecting the two.

[0013] According to an embodiment of the present invention, the rotatable component includes a rotating part made of a conductive material and having a spherical arc shape provided on the welding torch cable bundle, and a rotating mating part made of a conductive material and having a spherical arc shape provided at the end of the wire feeding mechanism. The rotating part and the rotating mating part are mutually engaged to rotate 360 degrees relative to each other, and a sealed cavity formed after the two are engaged is filled with a liquid conductive medium for electrical connection.

[0014] On the other hand, the present invention also provides a welding robot, which includes a robot body and any one of the above-mentioned welding torch cable bundle torsion buffer protection devices. The robot body includes a plurality of joint axes and a plurality of robotic arms.

[0015] According to an embodiment of another aspect of the present invention, the robot body is a six-axis robot, and the tail of the welding torch cable bundle passes through the robotic arm at the fourth joint axis and is connected to the welding torch interface on the wire feeding mechanism; the wire feeding mechanism is a closed DC wire feeder or a wire feeding buffer provided at the front of the wire feeding sleeve.

[0016] In summary, the welding torch cable bundle torsion buffer protection device provided by the present invention reconstructs the stress system of the cable bundle by providing a displacement buffer that can be reset or deformed relative to the robot body at the tail of the welding torch cable bundle or on the wire feeding mechanism. When the welding torch moves, an axial buffer distance is formed so that the deformation amount in the extending direction of the cable bundle is dynamically compensated by the moving stroke or elastic stroke of the displacement buffer, reducing the tensile or compressive deformation requirements of the cable bundle itself, achieving mechanical decoupling of the axial stress of the cable bundle, and dispersing the torsional and radial bending stresses brought by the movement of the welding torch from the only carrier of the existing cable bundle to the displacement buffer with a dynamically adjustable stroke; at the same time, the relative friction amount between the cable bundle and the inner wall of the robotic arm is reduced by means of the follow-up movement of the displacement buffer. Further, through the rotation compensation provided by the rotatable component, the torsional and radial bending stresses that the welding torch cable bundle needs to bear during the movement of the welding torch are effectively reduced, and the fatigue life of the welding torch cable bundle is greatly improved.

[0017] To make the above and other objects, features, and advantages of the present invention more obvious and understandable, the following specifically enumerates preferred embodiments and, in conjunction with the accompanying drawings, makes a detailed description as follows. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 The figure shows a schematic structural diagram of a welding robot provided by Embodiment 1 of the present invention.

[0019] Figure 2 As shown Figure 1 An enlarged schematic diagram of the welding torch cable bundle torsion buffer protection device shown at A in

[0020] Figure 3 As shown Figure 2 The cross-sectional schematic diagram of

[0021] Figure 4 As shown Figure 2 in the structural schematic diagram of the displacement buffer member in

[0022] Figure 5 As shown in the structural schematic diagram of the welding robot provided by another embodiment of the present invention.

[0023] Figure 6 As shown in the partial schematic diagram of the twist buffer protection device for the welding torch cable bundle provided in the second embodiment of the present invention. Detailed implementation manners

[0024] Embodiment 1 In the existing welding robot system, the tail of the welding torch cable bundle is rigidly connected to the wire feeding mechanism fixed on the robot body, while its front part moves freely with the welding torch. This connection method makes the welding torch cable bundle form a "fixed end-free end" contradictory structure, forcing the cable bundle to become the only carrier for absorbing the deformation of the multi-axis composite movement of the robot, and then causing it to continuously bear the composite stress of circumferential torsion, axial tensile compression and radial bending. Specifically, it is manifested as systematic damages such as fatigue fracture of the copper core wire due to the cumulative torsion angle, peeling of the insulating layer due to friction, and increased wear of the wire feeding conduit.

[0025] In view of this, this embodiment provides a twist buffer protection device for the welding torch cable bundle and a welding robot that reconstruct the stress system of the cable bundle.

[0026] As Figure 1 shown, the welding robot provided in this embodiment includes a robot body 100 and a twist buffer protection device 200 for the welding torch cable bundle. The robot body 100 includes a plurality of joint axes and a plurality of robotic arms. In this embodiment, the robot body 100 is a six-axis welding robot, which respectively includes a first joint axis 101, a second joint axis 102, a third joint axis 103, a fourth joint axis 104, a fifth joint axis 105, and a sixth joint axis (i.e., the clamping joint axis) 106. The welding torch 11 in the twist buffer protection device 200 for the welding torch cable bundle is fixedly connected to the sixth joint axis (clamping joint axis) 106. The front part of the welding torch cable 12 is connected to the welding torch 11, and its tail 121 extends along the robotic arm between the fifth joint axis 105 and the fourth joint axis 104 and extends out of the robotic arm at the fourth joint axis 104 to connect to the wire feeding mechanism 2 and the cable bundle buffer mechanism 3 provided on the robot body 100.

[0027] Although this embodiment is described by taking the application of the twist buffer protection device 200 for the welding torch cable bundle on a six-axis welding robot as an example. However, the present invention makes no limitation thereto. In other embodiments, the twist buffer protection device for the welding torch cable bundle provided by the present invention can also be applied to other types of welding robots.

[0028] As Figures 2 to 4as shown, where Figure 2 is Figure 1 an enlarged schematic view of part A in Figure 1 . This view is a partial enlarged schematic view of the welding torch cable bundle torsion buffer protection device without the welding torch.

[0029] The welding torch cable bundle torsion buffer protection device provided in this embodiment includes a welding torch mechanism 1, a wire feeding mechanism 2, and a cable bundle buffer mechanism 3. The welding torch mechanism 1 includes a welding torch 11 and a welding torch cable bundle 12. The welding torch 11 is installed on the clamping joint axis 106 of the robot body 100. The welding torch cable bundle 12 is arranged inside the robotic arm of the robot body 100. The front part of the welding torch cable bundle 12 (not shown in the figure due to the perspective) is connected to the welding torch 11, and its tail 121 extends along the direction of the robotic arm to the outside of the robotic arm and is connected to the wire feeding mechanism 2. The cable bundle buffer mechanism 3 includes a displacement buffer 32 that can move or deform relative to the robot body 100. The displacement buffer 32 is connected to the tail 121 of the welding torch cable bundle or the wire feeding mechanism 2.

[0030] Wherein, when the welding torch cable bundle 12 moves with the welding torch 11, the displacement buffer 32 follows the welding torch cable bundle 12 and can move or deform in a reset manner relative to the robot body 1, providing an axial buffer distance for the welding torch cable bundle 12 in the extending direction of the welding torch cable bundle 12.

[0031] The welding torch cable bundle torsion buffer protection device provided by the present invention reconstructs the force system of the welding torch cable bundle 12 by introducing a resetable dynamic buffer mechanism. The core lies in integrating a displacement buffer 32 that can generate controllable displacement or deformation relative to the robot body 100 on the tail 121 of the welding torch cable bundle or the wire feeding mechanism 2. When the welding torch 11 is driven by the robot clamping joint axis (the sixth joint axis) or other joint axes to perform multi-degree-of-freedom composite motion, the displacement buffer 32 follows the traction of the welding torch cable bundle 12 in real time, actively forming an adaptive axial buffer distance in the extending direction of the welding torch cable bundle 12, so that the axial displacement amount that could only be absorbed by the plastic deformation of the welding torch cable bundle 12 itself is converted into the mechanical stroke or elastic deformation amount of the displacement buffer 32, thereby greatly reducing the tensile or compressive deformation of the welding torch cable bundle 12. This dynamic compensation mechanism not only realizes the mechanical decoupling of the axial stress, but also disperses and eliminates part of the circumferential torsion and radial bending stress through the displacement buffer 32. Specifically, part of the circumferential torsion and radial bending forces will be dispersed to the entire contact surface of the moving pair or the circumferential torsion of the elastic member, greatly reducing the force required for the welding torch cable bundle 12 to move with the welding torch 11 and improving the fatigue life of the welding torch cable bundle 12. In addition, the active following of the displacement buffer 32 converts the relative sliding friction between the welding torch cable bundle 12 and the inner wall of the robotic arm in the existing welding robot into the rigid friction of the moving pair on the displacement buffer 32 or the deformation of the elastic member, reducing the friction coefficient to significantly reduce the wear rate of the insulating layer on the surface of the welding torch cable bundle 12 to further improve its service life.

[0032] In this embodiment, the cable harness buffer mechanism 3 includes a base 31 and a displacement buffer 32 disposed on the base 31. The base 31 is fixedly mounted on the robot body 100, and the displacement buffer 32 is disposed on the base 31 and moves relative to the base 31 along the extension direction of the welding torch cable harness 12 under the traction of the welding torch cable harness 12. As Figure 3 and Figure 4 shown, the displacement buffer 32 is a moving pair that can reciprocate along the extension direction of the welding torch cable harness 12. Specifically, the moving pair includes a guide rail 321 fixed to the base 31 and arranged along the extension direction of the welding torch cable harness 12, and a slider 322 disposed on the guide rail 321.

[0033] In this embodiment, the tail 121 of the welding torch cable harness is connected to the wire feeding mechanism 2 through the welding torch interface 21, and the wire feeding mechanism 2 is disposed on the slider 322. When the welding torch 11 is rotationally driven by the fifth joint axis 105 on the robot body 100, the welding torch 11 will drive the welding torch cable harness 12 to move back and forth in its extension direction. At this time, the slider 322 will actively drive the tail 121 of the welding torch cable harness through the wire feeding mechanism 2 and the welding torch interface 21 to provide an axial buffer distance for the welding torch cable harness 12 so that both ends of the welding torch cable harness 12 form movable ends. In addition, when the welding torch 11 is rotationally driven by the sixth joint axis 106 (i.e., the clamping joint axis) on the robot body 100, the welding torch 11 will drive the welding torch cable harness 12 to rotate, and part of the circumferential torque and radial bending force generated by the rotation will be dispersed to the two side contact surfaces of the slider 322 and the guide rail 321, reducing the force on the welding torch cable harness 12 and effectively solving the problem that the welding torch cable harness is easily damaged caused by the "free end - fixed end" contradictory structure of the existing welding torch cable harness. However, the present invention makes no limitation thereto. In other embodiments, the tail of the welding torch cable or the welding torch interface may also be directly connected to the slider.

[0034] For the guide rail 321, it can be a sliding guide rail or a ball guide rail. The present invention makes no limitation thereto.

[0035] In this embodiment, the wire feeding mechanism 2 is a wire feeding buffer connected to the slider 322, which includes a buffer housing 22 and a wire feeding buffer portion 23 disposed in the buffer housing 22 for driving the wire to move. However, the present invention makes no limitation thereto. In other embodiments, when the welding torch is a DC drawing welding torch or a DC wire pushing welding torch, the wire feeding mechanism may also be a closed DC wire feeder connected to the front part of the wire feeding sleeve, and the closed DC wire feeder is connected to the tail of the welding torch cable harness through the welding torch interface. At this time, the closed DC wire feeder can also be connected to the slider to provide an axial buffer distance.

[0036] Although this embodiment is described by taking the displacement buffer 32 as a revolute pair as an example, however, the present invention does not make any limitation thereto. In other embodiments, the displacement buffer may also be provided with an elastic member disposed on the base and capable of elastically deforming in the extending direction of the welding torch cable bundle, and the tail of the welding torch cable bundle or the wire feeding mechanism is connected to the elastic member. When the welding torch cable bundle is pulled, the elastic member actively undergoes axial elastic deformation to provide an axial buffer spacing for the tail of the welding torch cable bundle or the wire feeding mechanism. In addition, the circumferential deformation of the elastic member can also provide a buffer space in the circumferential direction to achieve buffering in two dimensions.

[0037] Although the revolute pair as the displacement buffer 32 can offset part of the torsional and radial bending forces generated when the sixth joint axis 106 drives the welding torch 11 to rotate, inevitably, there are still some forces acting on the welding torch cable bundle 12. To further protect the welding torch cable bundle 12 and extend its service life, this embodiment sets that the cable bundle buffer mechanism 3 further includes a rotatable member 33. The rotatable member 33 is disposed between the tail 121 of the welding torch cable bundle and the wire feeding mechanism 2, rotatably connecting the welding torch cable bundle 12 and the wire feeding mechanism 2 and electrically connecting the two. Specifically, as Figure 2 shown, the rotatable member 33 is disposed on the tail 121 of the welding torch cable bundle and connected to the welding torch interface 21, that is, the tail 121 of the welding torch cable bundle and the welding torch interface 21 can rotate relative to each other. In the welding robot provided in this embodiment, the welding torch cable bundle 12 needs to be electrically connected to the welding power source through the power cable terminal 211 on the welding torch interface 21 to realize the electrical signal transmission between the welding torch 11 and the welding power source. Therefore, in addition to realizing the rotational connection between the tail 121 of the welding torch cable bundle and the welding torch interface 21, the rotatable member 33 also needs to electrically connect the two.

[0038] Specifically, this embodiment sets that the rotatable member 33 includes a rotating portion 331 made of a conductive material and in a spherical arc shape disposed on the tail 121 of the welding torch cable bundle and a rotating mating portion 332 made of a conductive material and in a spherical arc shape disposed on the welding torch interface 21. The rotating portion 331 and the rotating mating portion 332 are mutually engaged to rotate 360 degrees relative to each other, and a sealed cavity 330 formed after the two are engaged is filled with a liquid conductive medium, such as mercury. When the rotating portion 331 and the rotating mating portion 332 rotate relative to each other, the liquid conductive medium in the sealed cavity 330 electrically connects the rotating portion 331 and the rotating mating portion 332 both made of conductive materials to realize electrical connection.

[0039] The arrangement of the rotatable member 33 enables the tail 121 of the welding torch cable bundle to fully follow the rotation of the welding torch 11, that is, the entire welding torch cable bundle 12 can achieve following movement in both the axial and circumferential directions. There is no need for the welding torch cable bundle 12 to bear any torsional and radial bending forces, thus greatly extending its service life. However, the present invention does not make any limitations in this regard. In other embodiments, a rotatable member may not be provided within the cable bundle buffer mechanism, and only an axial buffer spacing may be provided in the extending direction of the welding torch cable bundle through a displacement buffer member.

[0040] In this embodiment, the welding torch 11 is a servo welding torch built into the robot body 100. However, the present invention does not make any limitations in this regard. In other embodiments, as Figure 5 shown, the welding torch 11' may also be an ordinary non-servo controlled welding torch built in, such as a DC wire drawing type welding torch or a DC wire feeding type welding torch.

[0041] Embodiment 2 This embodiment is basically the same as Embodiment 1 and its variations, the difference being: the specific structure and connection position of the displacement buffer member within the cable bundle buffer mechanism 3 are different.

[0042] As Figure 6 shown, in this embodiment, the wire feeding mechanism 2 is fixed to the robot body 100, the displacement buffer member 32 is arranged on the wire feeding mechanism 2, and the tail 121 of the welding torch cable bundle moves relative to the wire feeding mechanism 2 through the displacement buffer member 32' to provide an axial buffer spacing.

[0043] In this embodiment, the displacement buffer member 32' is a linear bearing and is movably connected to the welding torch interface 21 on the wire feeding mechanism 2. Specifically, the wire feeding mechanism 2 is a wire feeding buffer, which includes a buffer housing 22 and a wire feeding buffer portion 23 arranged within the buffer housing 22 for driving the wire to move. The displacement buffer member 32' is a flange linear bearing, the flange linear bearing is embedded in the side wall of the buffer housing 22 and its flange portion 321' is connected to the welding torch interface 21, and the tail of the flange linear bearing extends into the buffer housing 22 and is movably sleeved on the wire feeding buffer portion 23.

[0044] The tail 121 of the welding torch cable bundle passes through the fourth joint axis 104 of the robot body and is connected to the displacement buffer member 32' through the welding torch interface 21. When the fifth joint axis 105 of the robot body drives the welding torch 11 to rotate, the welding torch cable bundle 12 will be twisted. Based on the torsional traction of the welding torch cable bundle 12, the flange linear bearing (displacement buffer member 32') drives the welding torch interface 21 to slide back and forth along the wire feeding buffer portion 23 within the wire feeding mechanism 2, so that the tail 121 of the welding torch cable bundle becomes a free end following the movement of the front end of the welding torch cable bundle 12, and provides an axial buffer space for the welding torch cable bundle 12 to protect the welding torch cable bundle 12.

[0045] Similar to the first embodiment, in this embodiment, a rotatable component 33 can also be provided between the tail 121 of the welding torch cable bundle and the welding torch interface 21. When the sixth joint axis 106 of the robot body rotates, it will drive the welding torch cable bundle to rotate. The rotatable connection between the tail 121 of the welding torch cable bundle and the welding torch interface 21 can provide circumferential rotation space. However, the present invention does not make any limitation thereto.

[0046] In summary, the welding torch cable bundle torsion buffer protection device provided by the present invention reconstructs the stress system of the cable bundle by providing a displacement buffer that can be reset or deformed relative to the robot body at the tail of the welding torch cable bundle or on the wire feeding mechanism. An axial buffer distance is formed during the movement of the welding torch so that the deformation amount in the extending direction of the cable bundle is dynamically compensated by the moving stroke or elastic stroke of the displacement buffer, reducing the tensile or compressive deformation requirements of the cable bundle itself, achieving mechanical decoupling of the axial stress of the cable bundle, and dispersing the torsional and radial bending stresses brought by the movement of the welding torch from the only carrier of the existing cable bundle to the displacement buffer with a dynamically adjustable stroke; at the same time, the relative friction amount between the cable bundle and the inner wall of the robotic arm is reduced by means of the follow-up movement of the displacement buffer. Further, through the rotation compensation provided by the cooperation of the rotatable component, the torsional and radial bending stresses that the welding torch cable bundle needs to bear during the movement of the welding torch are effectively reduced, and the fatigue life of the welding torch cable bundle is greatly improved.

[0047] Although the present invention has been disclosed above with the preferred embodiments, it is not intended to limit the present invention. Any person skilled in this art can make some changes and modifications without departing from the spirit and scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the scope claimed in the claims.

Claims

1. A torsional buffering and protecting device for a welding torch cable harness, characterized in that, Applied to a welding robot, the twist buffer protection device for the welding torch cable bundle includes: A welding torch mechanism and a wire feeding mechanism. The welding torch mechanism includes a welding torch and a welding torch cable bundle. The welding torch is installed on the clamping joint axis of the robot body. The welding torch cable bundle is arranged inside the robotic arm of the robot body. The front part of the welding torch cable bundle is connected to the welding torch, and its tail extends outside the robotic arm along the direction of the robotic arm and is connected to the wire feeding mechanism. A cable bundle buffer mechanism, including a displacement buffer that can move or deform relative to the robot body. The displacement buffer is connected to the tail of the welding torch cable bundle or the wire feeding mechanism. Wherein, when the welding torch cable bundle moves with the welding torch, the displacement buffer follows the welding torch cable bundle and can move or deform in a reset manner relative to the robot body, providing an axial buffer spacing for the welding torch cable bundle in the extending direction of the welding torch cable bundle.

2. The twist buffer protection device for the welding torch cable harness according to claim 1, wherein, The cable bundle buffer mechanism includes a base and a displacement buffer. The base is fixedly installed on the robot body. The displacement buffer is arranged on the base and moves in the extending direction of the welding torch cable bundle or elastically deforms in the extending direction of the welding torch cable bundle under the traction of the welding torch cable bundle.

3. The twist buffer protection device for a welding torch cable harness according to claim 2, wherein The displacement buffer is a moving pair that can reciprocate in the extending direction of the welding torch cable bundle. The tail of the welding torch cable bundle or the wire feeding mechanism is connected to the slider on the moving pair.

4. The torsional buffer protection device for a welding torch cable harness according to claim 2, wherein, The displacement buffer includes an elastic member arranged on the base and capable of elastically deforming in the extending direction of the welding torch cable bundle.

5. The twist buffer protection device for a welding torch cable harness according to claim 1, wherein The wire feeding mechanism is fixed to the robot body. The displacement buffer is arranged on the wire feeding mechanism. The tail of the welding torch cable bundle moves relative to the wire feeding mechanism through the displacement buffer to provide an axial buffer spacing.

6. The torsional buffering and protecting device for a welding torch cable harness according to claim 5, wherein The displacement buffer is a linear bearing that is movably connected to the wire feeding mechanism. The tail of the welding torch cable bundle is connected to the linear bearing.

7. The twist buffer protection device for the welding torch cable bundle according to claim 1, wherein The cable bundle buffer mechanism further includes a rotatable component. The rotatable component is arranged between the tail of the welding torch cable bundle and the wire feeding mechanism, rotatably connecting the welding torch cable bundle and the wire feeding mechanism and electrically connecting the two.

8. The twist buffer protection device for a welding torch cable harness according to claim 7, characterized in that, The rotatable component includes a rotating part made of a conductive material and in a spherical arc shape arranged on the welding torch cable bundle and a rotating mating part made of a conductive material and in a spherical arc shape arranged at the end of the wire feeding mechanism. The rotating part and the rotating mating part are mutually engaged to rotate 360 degrees relative to each other, and a sealed cavity formed after the two are engaged is filled with a liquid conductive medium for electrical connection.

9. A welding robot, characterized in that, Including: A robot body, including a plurality of joint axes and a plurality of robotic arms; The twist buffer protection device for the welding torch cable bundle according to any one of claims 1 to 8.

10. The welding robot according to claim 9, characterized in that, The robot body is a six-axis robot. The tail of the welding torch cable bundle passes through the robotic arm at the fourth joint axis and is connected to the welding torch interface on the wire feeding mechanism. The wire feeding mechanism is a closed DC wire feeder or a wire feeding buffer arranged at the front of the wire feeding sleeve.

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