Movable gantry welding robot for welding production line

Abstract

The invention discloses a movable gantry welding robot for a welding production line, and belongs to the technical field of welding robots, the movable gantry welding robot comprises a moving track, gantry moving equipment is arranged at the top of the moving track, horizontal moving sliding rails are arranged on the front side and the rear side of the gantry moving equipment, and sliding equipment is arranged on the outer sides of the horizontal moving sliding rails; a multi-degree-of-freedom mechanical arm is arranged at the bottom of the sliding equipment, and a storage bin is arranged at the bottom of the multi-degree-of-freedom mechanical arm; a first hydraulic block is fixedly connected into the storage bin, a first pushing block is movably connected to the front side of the first hydraulic block, a spherical protruding block is fixedly connected to the front side of the first pushing block, the rear side of the first hydraulic block is fixedly connected with the top of a second hydraulic block through a first hose, and the inner side of the second hydraulic block is fixedly connected with the right side of the storage bin. The bottom of the second hydraulic block is movably connected with the welding gun through a transmission piece. The problem that the vertical height of a welding gun cannot be automatically and accurately adjusted rapidly through original equipment is solved.

Description

Technical Field

[0001] This invention belongs to the field of welding robot technology, specifically relating to a mobile gantry welding robot for a welding production line. Background Technology

[0002] The gantry welding robot is a fully automated industrial device based on a Cartesian X, Y, and Z coordinate system, specifically designed for welding operations. Through its modular structural design, high-precision motion control, and intelligent welding system, it has become an efficient and reliable automated welding solution in modern industry, particularly suitable for large-scale, high-precision metal processing fields such as bridges, building steel structures, and heavy machinery manufacturing. It ensures the accuracy, stability, and efficiency of welding operations, thereby improving welding quality and efficiency.

[0003] Chinese patent CN120116200A discloses a detachable robotic arm and control method for a teaching gantry platform with tactile and force feedback. The device includes a gantry platform, a teaching collaboration robotic arm mounted on one side of its bottom, and a follow-up robotic arm mounted on the other side of its bottom. A first fixed base is mounted at the end of both the teaching collaboration robotic arm and the follow-up robotic arm, and a welding torch is mounted on one side of the outer wall of the first fixed base. In the aforementioned application, due to the limited overall length of the robotic arm during welding, the original device cannot meet the requirement for fine-tuning the welding torch. Summary of the Invention

[0004] To address the shortcomings of existing technologies, this invention provides a mobile gantry welding robot for welding production lines, which solves the problems mentioned in the background section.

[0005] To achieve the above objectives, the present invention provides a mobile gantry welding robot for a welding production line, including a moving track, a gantry mobile device is provided at the top of the moving track, horizontal moving slide rails are provided on the front and rear sides of the gantry mobile device, a sliding device is provided on the outer side of the horizontal moving slide rails, a multi-degree-of-freedom robotic arm is provided at the bottom of the sliding device, and a storage compartment is provided at the bottom of the multi-degree-of-freedom robotic arm. A hydraulic block is fixedly connected inside the storage compartment. A push block is movably connected to the front of the hydraulic block. A spherical protrusion is fixedly connected to the front of the push block. A spring is fixedly connected between the spherical protrusion and the hydraulic block. The rear of the hydraulic block is fixedly connected to one end of a hose. The other end of the hose is fixedly connected to the top of a second hydraulic block. The inner side of the second hydraulic block is fixedly connected to the right side of the storage compartment. The bottom of the second hydraulic block is movably connected to the welding torch via a transmission component. A sliding clamp is provided. When the equipment needs to be finely adjusted vertically, rotating the tactile sensing device moves the sliding clamp downwards along the slide rail, extending the telescopic rod and moving the welding torch to the appropriate position. This achieves fine-tuning of the welding torch position, improving the equipment's processing capacity and expanding its applicability.

[0006] Preferably, the transmission component includes a push block two, an L-shaped connecting rod, a sliding clamp, a slide rail, and a telescopic rod. The bottom of the hydraulic block two is movably connected to the push block two, and the bottom of the push block two is fixedly connected to the L-shaped connecting rod. The rear side of the L-shaped connecting rod is fixedly connected to the sliding clamp. A welding torch is fixedly connected inside the sliding clamp, and a telescopic rod is movably connected to the outer side of the welding torch. A slide rail is fixedly connected to the front side of the storage compartment, and the sliding clamp is movably connected to the slide rail.

[0007] Preferably, a welding device is fixedly connected to the top of the multi-degree-of-freedom robotic arm, a tactile sensing device is movably connected inside the storage compartment, a high-precision three-dimensional coordinate sensing component is movably connected to the bottom of the tactile sensing device, and a cooling and protection component is fixedly connected to the outside of the welding torch.

[0008] Preferably, a plurality of pressure feedback sensors are fixedly connected to the outside of the tactile sensing device, and a trajectory tracker is fixedly connected to the inside of the storage compartment.

[0009] Preferably, the high-precision three-dimensional coordinate sensing component includes a gear, a rack, a third hydraulic block, a first fixed plate, a second hose, a second fixed plate, a fourth hydraulic block, a third push block, a rotating block, a movable block, and a three-dimensional coordinate positioning sensor. A gear is fixedly connected to the outer side of the internal rotating shaft of the tactile sensing device. The right side surface of the storage compartment is fixedly connected to the top of the third hydraulic block via the first fixed plate. A rack is movably connected to the bottom of the third hydraulic block, meshing with the gear. The top of the third hydraulic block is fixedly connected to one end of the second hose, and the other end of the second hose is fixedly connected to the left side of the fourth hydraulic block. The right side of the fourth hydraulic block is fixedly connected to the outer side of the tactile sensing device via the second fixed plate. A third push block is movably connected to the bottom of the fourth hydraulic block. A rotating block is fixedly connected to the bottom of the third push block. The interior of the rotating block is fixedly connected to the movable block via a rotating shaft. The front surface of the tactile sensing device is movably connected to the rotating shaft. A three-dimensional coordinate positioning sensor is fixedly connected to the bottom of the movable block. When the teaching robotic arm performs welding workpiece positioning and trajectory tracking, the accuracy of sensing the outer position of the welding workpiece using only tactile sensing devices is low. This can easily cause positional deviations between the welding gun and the welding position during fine-tuning, resulting in a decrease in welding effect. At this time, the moving block rotates, causing the three-dimensional coordinate positioning sensor to rotate and activate, making the equipment positioning more accurate and avoiding collision damage during welding gun fine-tuning.

[0010] Preferably, the bottom horizontal height of the three-dimensional coordinate positioning sensor is lower than the bottom horizontal height of the welding torch, and a buffer block is fixedly connected inside the movable block.

[0011] Preferably, a protective coil is fixedly connected to the outer side of the second flexible tube, the top of the three-dimensional coordinate positioning sensor is fixedly connected to the control module via a communication line, and the control module is fixedly connected to the inside of the movable block.

[0012] Preferably, the cooling and protection assembly includes a hose three, a hydraulic block five, a pusher four, an air outlet, an air outlet pipe, an air pump, a fixing clamp, and an air inlet pipe. The rear side of the hydraulic block one is fixedly connected to one end of the hose three, and the other end of the hose three is fixedly connected to the top of the hydraulic block five. The inner side of the hydraulic block five is fixedly connected to the outer side of the welding torch. The bottom of the hydraulic block five is movably connected to the pusher four, and the bottom surface of the pusher four has an air outlet. The outer side of the pusher four is fixedly connected to the bottom of the air pump through the air outlet pipe. The outer side of the storage compartment is fixedly connected to the air pump through the fixing clamp, and the top of the air pump is fixedly connected to the air inlet pipe. By setting up the cooling and protection assembly, when the equipment is welding, due to the close proximity between the welding torch and the workpiece, the welding torch head is prone to heat accumulation after prolonged use, thus reducing welding efficiency. At this time, starting the air pump pushes the pusher four outward, causing the air outlet to blow cold air towards the welding torch head, thereby reducing heat accumulation.

[0013] Preferably, a check valve is fixedly connected inside the air outlet pipe, and the outer side of the fixing clamp does not contact the outer side of the hydraulic block two.

[0014] Preferably, an anti-clogging filter is fixedly connected inside the air outlet.

[0015] The advantages of this application are: (1) When the equipment needs to be finely adjusted in the up and down position, the tactile sensing device is rotated to make the sliding clamp move downward along the slide rail, so that the telescopic rod is lengthened and the welding gun is moved to the appropriate position, thereby realizing the fine adjustment of the welding gun position, improving the processing capacity of the equipment, and expanding the applicability of the equipment.

[0016] (2) When the teaching robotic arm performs welding workpiece positioning and trajectory tracking, the accuracy of sensing the outer position of the welding workpiece by relying solely on the tactile sensing device is low. This can easily cause a positional shift between the welding gun and the welding position during the fine adjustment of the welding gun, resulting in a decrease in welding effect. At this time, the moving block rotates, causing the three-dimensional coordinate positioning sensor to rotate and turn on, making the equipment positioning more accurate and avoiding collision damage during the fine adjustment of the welding gun.

[0017] (3) When the equipment is used for welding, the welding gun and the workpiece are close together, and the head of the welding gun is prone to heat accumulation after long-term use, which reduces the welding efficiency. At this time, the air pump is started to push the push block outward and blow cold air out of the air outlet to the head of the welding gun, thereby reducing the heat accumulation. Attached Figure Description

[0018] Figure 1 This is a schematic diagram of the overall structure of the present invention; Figure 2 This is a schematic diagram of the overall internal structure of the present invention; Figure 3 This is a schematic diagram of some components of the present invention; Figure 4 This is the present invention. Figure 3 Enlarged structural diagram at point A in the middle; Figure 5 This is a schematic diagram of the three-dimensional coordinate high-precision sensing component structure of the present invention; Figure 6 This is the present invention. Figure 5 Enlarged structural diagram at point B; Figure 7 This is a schematic diagram of the cooling and protection component structure of the present invention; Figure 8 This is the present invention. Figure 7 Enlarged structural diagram at point C.

[0019] Explanation of key figure labels: 100. Moving track; 200. Gantry moving equipment; 300. Horizontal moving slide rail; 400. Sliding device; 500. Multi-degree-of-freedom robotic arm; 600. Welding equipment; 700. Storage compartment; 800. Tactile sensing device; 901. Spherical protrusion; 902. Push block one; 903. Spring; 904. Hydraulic block one; 905. Hose one; 906. Hydraulic block two; 907. Push block two; 908. L-shaped connecting rod; 909. Sliding clamp; 910. Slide rail; 911. Telescopic rod; 912. Welding torch; 1000. High-precision 3D coordinate sensing component; 1001. Gear; 1002. Rack; 1003. Hydraulic block three; 1004. Fixing plate one; 1005. Hoses two; 1006. Fixing plate two; 1007. Hydraulic block four; 1008. Push block three; 1009. Rotating block; 1010. Movable block; 1011. 3D coordinate positioning sensor; 1100 Cooling and protection components; 1101 Hose 3; 1102 Hydraulic block 5; 1103 Push block 4; 1104 Air outlet; 1105 Air outlet pipe; 1106 Air pump; 1107 Fixing clamp; 1108 Air inlet pipe. Detailed Implementation

[0020] To enable those skilled in the art to better understand the present application, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are merely some, not all, of the embodiments of the present application. All other embodiments obtained by those skilled in the art based on the embodiments of the present application without creative effort should fall within the scope of protection of the present application.

[0021] Example 1, as Figures 1-4 As shown, a mobile gantry welding robot for a welding production line includes: A moving track 100 is provided, and a gantry mobile device 200 is provided on the top of the moving track 100. The gantry mobile device 200 allows the entire device to move back and forth. Horizontal moving slide rails 300 are provided on the front and rear sides of the gantry mobile device 200. A sliding device 400 is provided on the outer side of the horizontal moving slide rails 300. The sliding device 400 allows multiple multi-degree-of-freedom robotic arms 500 to adjust their positions along the horizontal moving slide rails 300. A multi-degree-of-freedom robotic arm 500 is provided at the bottom of the sliding device 400. The multi-degree-of-freedom robotic arm 500 allows the device to weld at more diverse angles. A storage compartment 700 is provided at the bottom of the multi-degree-of-freedom robotic arm 500. The storage compartment 700 allows the tactile sensing device 800 to automatically retract into the storage compartment 700 during welding, thereby reducing interference with the welding torch 912. The storage compartment 700 is internally fixedly connected to a hydraulic block 904. A push block 902 is movably connected to the front of the hydraulic block 904. A spherical protrusion 901 is fixedly connected to the front of the push block 902. A spring 903 is fixedly connected between the spherical protrusion 901 and the hydraulic block 904. The spring 903 is provided so that the push block 902 can automatically reset. The rear side of the hydraulic block 904 is fixedly connected to one end of a hose 905. The other end of the hose 905 is fixedly connected to the top of a hydraulic block 906. The hose 905 is provided so that the interior of the hydraulic block 904 communicates with the interior of the hydraulic block 906. The inner side of the hydraulic block 906 is fixedly connected to the right side of the storage compartment 700. The bottom of the hydraulic block 906 is movably connected to the welding torch 912 through a transmission component.

[0022] The transmission components include push block 2 907, L-shaped connecting rod 908, sliding clamp 909, slide rail 910, and telescopic rod 911. Push block 2 907 is movably connected to the bottom of hydraulic block 2 906. L-shaped connecting rod 908 is fixedly connected to the bottom of push block 2 907. The rear side of L-shaped connecting rod 908 is fixedly connected to sliding clamp 909. Welding gun 912 is fixedly connected inside sliding clamp 909. Telescopic rod 911 is movably connected to the outer side of welding gun 912. Slide rail 910 is fixedly connected to the front side of storage compartment 700. Slide rail 910 is provided so that sliding clamp 909 can move along slide rail 910. Slide clamp 909 is movably connected to slide rail 910.

[0023] The top of the multi-degree-of-freedom robotic arm 500 is fixedly connected to a welding device 600, and the inside of the storage compartment 700 is movably connected to a tactile sensing device 800. The tactile sensing device 800 makes the device more accurate when simulating the positioning path, reduces the collision between the welding torch 912 and the workpiece, and improves the batch production efficiency of the device. The bottom of the tactile sensing device 800 is connected to a three-dimensional coordinate high-precision sensing component 1000, and the outside of the welding torch 912 is fixedly connected to a cooling and protection component 1100.

[0024] Multiple pressure feedback sensors are fixedly connected to the outside of the tactile sensing device 800, and a trajectory tracker is fixedly connected to the inside of the storage compartment 700.

[0025] When the equipment needs to be finely adjusted in vertical position, the sliding clamp 909 is set up so that when the equipment needs to be finely adjusted in vertical position, the tactile sensing device 800 is rotated so that the sliding clamp 909 moves downward along the slide rail 910, which stretches the telescopic rod 911 and moves the welding torch 912 to the appropriate position, thereby achieving fine adjustment of the position of the welding torch 912, improving the processing capacity of the equipment and expanding the scope of application of the equipment.

[0026] In practical use, when the above-mentioned equipment starts welding, the tactile sensing device 800 is activated, causing it to rotate into the storage compartment 700. This causes the spherical protrusion 901 to move inward, which in turn causes the push block 902 to move inward, increasing the internal pressure of the hydraulic block 904. This pressure is then transmitted through the hose 905 to the hydraulic block 906, further increasing the internal pressure. This causes the push block 907 to push downward, which in turn causes the L-shaped connecting rod 908 to move the sliding clamp 909 downward along the slide rail 910. This extends the telescopic rod 911, moving the welding torch 912 to the appropriate position. This achieves fine-tuning of the welding torch 912's position, improving the equipment's processing capacity and expanding its applicability.

[0027] Example 2, as Figures 1-6 As shown, a mobile gantry welding robot for a welding production line, based on Embodiment 1, includes a three-dimensional coordinate high-precision sensing component 1000 comprising a gear 1001, a rack 1002, a hydraulic block 1003, a fixed plate 1004, a hose 1005, a fixed plate 1006, a hydraulic block 1007, a push block 1008, a rotating block 1009, a movable block 1010, and a three-dimensional coordinate positioning sensor 1011. The gear 1001 is fixedly connected to the outer side of the internal rotating shaft of the tactile sensing device 800. The right side surface of the storage compartment 700 is fixedly connected to the top of the hydraulic block 1003 via the fixed plate 1004. The rack 1002 is movably connected to the bottom of the hydraulic block 1003, and the rack 1002 meshes with the gear 1001. The top of the hydraulic block 1003 is connected to the hose. One end of the second hose 1005 is fixedly connected, and the other end of the second hose 1005 is fixedly connected to the left side of the fourth hydraulic block 1007. The second hose 1005 is set so that the inside of the third hydraulic block 1003 communicates with the inside of the fourth hydraulic block 1007. The right side of the fourth hydraulic block 1007 is fixedly connected to the outside of the tactile sensing device 800 through the fixing plate 2 1006. The bottom of the fourth hydraulic block 1007 is movably connected to the push block 3 1008. The bottom of the push block 3 1008 is fixedly connected to the rotating block 1009. The inside of the rotating block 1009 is fixedly connected to the movable block 1010 through the rotating shaft. The front surface of the tactile sensing device 800 is movably connected to the rotating shaft. The bottom of the movable block 1010 is fixedly connected to the three-dimensional coordinate positioning sensor 1011. The three-dimensional coordinate positioning sensor 1011 is set to make the device positioning more accurate.

[0028] The bottom horizontal height of the three-dimensional coordinate positioning sensor 1011 is lower than the bottom horizontal height of the welding torch 912. A buffer block is fixedly connected inside the movable block 1010. The buffer block is set to protect the three-dimensional coordinate positioning sensor 1011 when it comes into contact with the workpiece, thus extending its service life.

[0029] A protective coil is fixedly connected to the outside of the flexible hose 1005. The top of the three-dimensional coordinate positioning sensor 1011 is fixedly connected to the control module via a communication line. The control module is fixedly connected inside the movable block 1010.

[0030] A high-precision three-dimensional coordinate sensing component 1000 is set up. When the teaching robotic arm performs welding workpiece positioning and trajectory tracking, the accuracy of sensing the outer position of the welding workpiece by relying solely on the tactile sensing device 800 is low. This can easily cause positional deviation between the device and the welding position when the welding torch 912 is fine-tuned, thus reducing the welding effect. At this time, the movable block 1010 rotates, causing the three-dimensional coordinate positioning sensor 1011 to rotate and turn on, making the device positioning more accurate and avoiding collision damage to the welding torch 912 during fine-tuning.

[0031] When the above-mentioned equipment is used, if the teaching robotic arm is performing welding workpiece positioning and trajectory tracking, the accuracy of sensing the outer position of the welding workpiece by relying solely on the tactile sensing device 800 is low. This can easily cause positional deviation between the equipment and the welding position when the welding torch 912 is fine-tuned, thus reducing the welding effect. The tactile sensing device 800 rotates out of the storage compartment 700, causing the rotating shaft to drive the gear 1001 to rotate, causing the rack 1002 to move downward, reducing the internal pressure of the hydraulic block 1003. The internal pressure of the hydraulic block 1003 is then transmitted to the hydraulic block 1007 through the hose 1005, further reducing the internal pressure of the hydraulic block 1007. This causes the push block 1008 to move inward, causing the rotating block 1009 to drive the movable block 1010 to rotate. At this time, the three-dimensional coordinate positioning sensor 1011 is activated, making the equipment positioning more accurate and avoiding collision damage during the fine-tuning of the welding torch 912.

[0032] Example 3, as Figures 1-8As shown, a mobile gantry welding robot for a welding production line, based on Embodiments 1 and 2, includes a cooling and protection assembly 1100 comprising a hose 3 1101, a hydraulic block 5 1102, a push block 4 1103, an air outlet 1104, an air outlet pipe 1105, an air pump 1106, a fixing clamp 1107, and an air inlet pipe 1108. The rear side of the hydraulic block 1 904 is fixedly connected to one end of the hose 3 1101, and the other end of the hose 3 1101 is fixedly connected to the top of the hydraulic block 5 1102. The hose 3 1101 is configured such that the interior of the hydraulic block 1 904 is connected to the hydraulic block 5 1102. The internal components are interconnected. The inner side of hydraulic block five 1102 is fixedly connected to the outer side of welding torch 912. Push block four 1103 is movably connected to the bottom of hydraulic block five 1102. An air outlet 1104 is provided on the bottom surface of push block four 1103. The air outlet 1104 is provided so that cold air is always blown towards the front end of welding torch 912 along the direction of air outlet 1104. The outer side of push block four 1103 is fixedly connected to the bottom of air pump 1106 through air outlet pipe 1105. The outer side of storage compartment 700 is fixedly connected to air pump 1106 through fixing clamp 1107. An air inlet pipe 1108 is fixedly connected to the top of air pump 1106.

[0033] The air outlet pipe 1105 is internally fixedly connected to a check valve, and the outer side of the fixing clamp 1107 does not contact the outer side of the hydraulic block 906.

[0034] An anti-clogging filter is fixedly connected inside the air outlet 1104.

[0035] A cooling and protection component 1100 is installed. When the equipment is welding, the welding torch 912 is close to the workpiece, and the head of the welding torch 912 is prone to heat accumulation after long-term use, which reduces the welding efficiency. At this time, the air pump 1106 is started, which pushes the push block 1103 outward and blows cold air out of the air outlet 1104 to the head of the welding torch 912, thereby reducing the heat accumulation.

[0036] When the above-mentioned equipment is used, after prolonged welding, the welding torch 912 is close to the workpiece, and the head of the welding torch 912 is prone to heat accumulation after long-term use, which reduces welding efficiency. When the internal pressure of hydraulic block 904 increases, the excess pressure inside hydraulic block 904 is transmitted to hydraulic block 1102 through hose 3 1101, increasing the internal pressure of hydraulic block 1102 and causing push block 4 1103 to move downward. At this time, the air pump 1106 is started, allowing cold air to enter push block 4 1103 from the air outlet pipe 1105, and then blowing the cold air from the air outlet 1104 onto the head of the welding torch 912, thereby reducing heat accumulation.

[0037] It will be apparent to those skilled in the art that the present invention is not limited to the details of the exemplary embodiments described above, and that the invention can be implemented in other specific forms without departing from its spirit or essential characteristics. Therefore, the embodiments should be considered in all respects as exemplary and non-limiting, and the scope of the invention is defined by the appended claims rather than the foregoing description. Thus, all variations falling within the meaning and scope of equivalents of the claims are intended to be included within the present invention. No reference numerals in the claims should be construed as limiting the scope of the claims.

[0038] Furthermore, it should be understood that although this specification describes embodiments, not every embodiment contains only one independent technical solution. This narrative style is merely for clarity. Those skilled in the art should consider the specification as a whole, and the technical solutions in each embodiment can also be appropriately combined to form other embodiments that can be understood by those skilled in the art.

Claims

1. A mobile gantry welding robot for a welding production line, comprising a moving track, characterized in that, A gantry mobile device is provided at the top of the moving track. Horizontal moving slide rails are provided on the front and rear sides of the gantry mobile device. A sliding device is provided on the outer side of the horizontal moving slide rails. A multi-degree-of-freedom robotic arm is provided at the bottom of the sliding device. A storage compartment is provided at the bottom of the multi-degree-of-freedom robotic arm. A hydraulic block is fixedly connected inside the storage compartment. A push block is movably connected to the front side of the hydraulic block. A spherical protrusion is fixedly connected to the front side of the push block. A spring is fixedly connected between the spherical protrusion and the hydraulic block. The rear side of the hydraulic block is fixedly connected to one end of a hose. The other end of the hose is fixedly connected to the top of a hydraulic block. The inner side of the hydraulic block is fixedly connected to the right side of the storage compartment. The bottom of the hydraulic block is movably connected to a welding torch via a transmission component.

2. The mobile gantry welding robot for a welding production line according to claim 1, characterized in that, The transmission component includes a push block two, an L-shaped connecting rod, a sliding clamp, a slide rail, and a telescopic rod. The bottom of the hydraulic block two is movably connected to the push block two, and the bottom of the push block two is fixedly connected to the L-shaped connecting rod. The rear side of the L-shaped connecting rod is fixedly connected to the sliding clamp. The inside of the sliding clamp is fixedly connected to a welding torch, and the outside of the welding torch is movably connected to a telescopic rod. The front side of the storage compartment is fixedly connected to a slide rail, and the sliding clamp is movably connected to the slide rail.

3. The mobile gantry welding robot for a welding production line according to claim 1, characterized in that, The top of the multi-degree-of-freedom robotic arm is fixedly connected to a welding device, the inside of the storage compartment is movably connected to a tactile sensing device, the bottom of the tactile sensing device is equipped with a movable three-dimensional coordinate high-precision sensing component, and the outside of the welding torch is fixedly connected to a cooling and protection component.

4. The mobile gantry welding robot for a welding production line according to claim 1, characterized in that, Multiple pressure feedback sensors are fixedly connected to the outside of the tactile sensing device, and a trajectory tracker is fixedly connected to the inside of the storage compartment.

5. A mobile gantry welding robot for a welding production line according to claim 3, characterized in that, The high-precision three-dimensional coordinate sensing component includes a gear, a rack, a third hydraulic block, a first fixed plate, a second hose, a second fixed plate, a fourth hydraulic block, a third pusher, a rotating block, a movable block, and a three-dimensional coordinate positioning sensor. A gear is fixedly connected to the outer side of the internal rotating shaft of the tactile sensing device. The right side surface of the storage compartment is fixedly connected to the top of the third hydraulic block via the first fixed plate. A rack is movably connected to the bottom of the third hydraulic block, meshing with the gear. The top of the third hydraulic block is fixedly connected to one end of the second hose, and the other end of the second hose is fixedly connected to the left side of the fourth hydraulic block. The right side of the fourth hydraulic block is fixedly connected to the outer side of the tactile sensing device via the second fixed plate. A third pusher is movably connected to the bottom of the fourth hydraulic block, and a rotating block is fixedly connected to the bottom of the third pusher. The interior of the rotating block is fixedly connected to the movable block via a rotating shaft. The front surface of the tactile sensing device is movably connected to the rotating shaft. A three-dimensional coordinate positioning sensor is fixedly connected to the bottom of the movable block.

6. A mobile gantry welding robot for a welding production line according to claim 5, characterized in that, The bottom horizontal height of the three-dimensional coordinate positioning sensor is lower than the bottom horizontal height of the welding torch, and a buffer block is fixedly connected inside the movable block.

7. A mobile gantry welding robot for a welding production line according to claim 5, characterized in that, A protective coil is fixedly connected to the outside of the second flexible tube, the top of the three-dimensional coordinate positioning sensor is fixedly connected to the control module via a communication line, and the control module is fixedly connected to the inside of the movable block.

8. A mobile gantry welding robot for a welding production line according to claim 3, characterized in that, The cooling and protection assembly includes a hose three, a hydraulic block five, a pusher four, an air outlet, an air outlet pipe, an air pump, a fixing clamp, and an air inlet pipe. The rear side of the hydraulic block one is fixedly connected to one end of the hose three, and the other end of the hose three is fixedly connected to the top of the hydraulic block five. The inner side of the hydraulic block five is fixedly connected to the outer side of the welding torch. The bottom of the hydraulic block five is movably connected to the pusher four, and the bottom surface of the pusher four has an air outlet. The outer side of the pusher four is fixedly connected to the bottom of the air pump through the air outlet pipe. The outer side of the storage compartment is fixedly connected to the air pump through the fixing clamp, and the top of the air pump is fixedly connected to the air inlet pipe.

9. A mobile gantry welding robot for a welding production line according to claim 8, characterized in that, The air outlet pipe is internally fixedly connected to a check valve, and the outer side of the fixing clamp does not contact the outer side of the hydraulic block two.

10. A mobile gantry welding robot for a welding production line according to claim 8, characterized in that, An anti-clogging filter is fixedly connected inside the air outlet.

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