Welding robot

Abstract

The utility model discloses a welding robot, relates to part handling technical field, the welding robot includes base frame, welding mechanism, handling mechanism, wherein the welding mechanism is installed on base frame, handling mechanism includes connecting support and handling device, connecting support is installed on welding mechanism or base frame, handling device includes magnetic attraction piece, magnetic attraction piece is installed on the magnetic attraction piece. The magnetic attraction part has the characteristics of keeping magnetism during power failure and eliminating magnetism during power on, in the process that the welding robot carries the parts, only the magnetic attraction part needs to be in the power-off state, at the moment, the magnetic attraction part keeps magnetism continuously, it can be guaranteed that the parts are continuously attracted to the magnetic attraction part, and even if the welding robot is powered off abnormally, the parts can be continuously attracted to the magnetic attraction part. And the situation that the parts fall off, and then the parts are damaged is avoided.

Description

Technical Field

[0001] The utility model relates to the technical field of parts handling, in particular to a welding robot. Background Art

[0002] In the automated welding process of automobile production, welding robots and handling robots are responsible for the work. If the project is to assemble small and medium-sized parts (sheet metal parts, about 10cm×5cm or less in size) into an intermediate finished product, the parts need to be installed on the fixture first (usually done manually), and then the welding robot is responsible for spot welding and assembling the sheet metal parts, and the handling robot is responsible for taking the welded finished product out of the fixture and transporting it to the next automated project. With the increase in labor costs, some companies try to use small parts handling mechanisms to install sheet metal parts on fixtures. When the production rhythm is met, the small parts handling mechanism will be installed on the welding robot, thereby saving the investment cost of a handling robot. The small parts handling mechanism installed on the welding robot usually adopts an electromagnet adsorption type handling mechanism, but the electromagnet magnetism of the electromagnet adsorption type handling mechanism will disappear when the power is abnormally cut off, causing the parts to fall, which may cause damage to the parts.

[0003] In view of this, it is necessary to provide a welding robot to solve or at least alleviate the above technical defects. Utility Model Content

[0004] The main purpose of the utility model is to provide a welding robot, aiming to solve the technical problem that the transport mechanism of the existing welding robot with integrated transport function causes parts to fall when abnormal power failure occurs.

[0005] To achieve the above-mentioned purpose, the welding robot proposed by the utility model comprises:

[0006] Scaffolding;

[0007] A welding mechanism, the welding mechanism being mounted on the base frame;

[0008] A transport mechanism, the transport mechanism comprising a connecting bracket and a transport device, the connecting bracket is mounted on the base frame, and / or,

[0009] The connecting bracket is installed on the welding mechanism;

[0010] The handling device includes a magnetic attraction member, and the magnetic attraction member includes a power-off state and a power-on state;

[0011] The magnetic attraction member maintains magnetism in the power-off state and is used to attract components;

[0012] The magnetic attraction component eliminates magnetism when in the power-on state.

[0013] In one embodiment, the transport mechanism further comprises a tool changing device, the tool changing device is mounted on the transport device, and / or,

[0014] The tool replacement device includes a first clamping member and a second clamping member, wherein the first clamping member is mounted on the connecting bracket, and the second clamping member is mounted on the transport device, and the first clamping member and the second clamping member can be clamped with each other.

[0015] In one embodiment, the transport device further comprises a connecting component, the connecting component is detachably connected to the tool changing device, and the magnetic attraction component is installed on the connecting component.

[0016] In one embodiment, the connection assembly includes a tool connection member, and the tool connection member is detachably connected to the tool changing device.

[0017] In one embodiment, the connecting assembly further comprises a mounting rod, the magnetic attraction member is mounted on the mounting rod, and the mounting rod is detachably connected to the tool connecting member.

[0018] In one embodiment, the mounting rod includes a rod body and a transition component, one end of the rod body is detachably connected to the tool connector, and the other end is connected to the transition component, the transition component is provided with a screw, the surface of the screw is provided with a thread, and the screw is threadedly connected to the magnetic attraction component through the thread.

[0019] In one embodiment, a cavity is formed inside the rod body;

[0020] The magnetic attraction member includes a magnetic attraction portion and a cable, and the cable includes an internal cable arranged inside the cavity and an external cable exposed outside the rod body;

[0021] The connecting assembly further comprises a cable protection member, wherein the cable protection member covers the external cable and is installed on the outer surface of the rod body.

[0022] In one embodiment, the handling device further comprises a component sensor, which is installed on the connecting assembly and is used to detect whether the component is grasped.

[0023] In one embodiment, the component sensing element includes an infrared sensor or a laser sensor.

[0024] In one embodiment, the transport device is disposed under the welding mechanism.

[0025] In the technical solution provided by the utility model, the transporting mechanism including the magnetic suction part is installed on the base frame or the welding mechanism, so that the welding mechanism is integrated with the transport function to form a new type of welding robot, and the magnetic suction part has the characteristics of maintaining magnetism when the power is off and eliminating magnetism when the power is on. Therefore, in the process of the welding robot transporting parts, it is only necessary to make the magnetic suction part in the power-off state. At this time, the magnetic suction part continues to maintain magnetism, which can ensure that the parts are continuously adsorbed on the magnetic suction part. Even if the welding robot has an abnormal power outage, it will not cause the parts to fall off, thereby damaging the parts. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] In order to more clearly illustrate the embodiments of the utility model or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the utility model. For ordinary technicians in this field, other drawings can be obtained based on the structures shown in these drawings without paying creative work.

[0027] Figure 1 A structural schematic diagram of an embodiment of a welding robot provided by the utility model;

[0028] Figure 2 A partial structural schematic diagram of an embodiment of a welding robot provided by the utility model;

[0029] Figure 3 for Figure 2 An enlarged schematic diagram at A;

[0030] Figure 4 for Figure 2 Schematic diagram of the three-dimensional decomposition.

[0031] Description of Figure Numbers:

[0032] 100 Welding Robot 32211 Nuts 1 Scaffolding 3222 Mounting rod 2 Welding mechanism 32221 Rod body 3 Transport mechanism 322211 Cavity 31 Attach the bracket 32222 Transfer components 32 Handling device 3223 Cable protectors 321 Magnetic parts 323 Parts Induction Parts 321a De-energized electromagnet 323a Laser sensor 3211 Magnetic suction part 33 Tool Changer 3212 cable 331 First card connector 32121 External cables 332 Second card connector 322 Connecting components 333 Integrated modules 3221 Tool Connectors 334 Electric module

[0033] The realization of the purpose, functional features and advantages of the utility model will be further explained in conjunction with embodiments and with reference to the accompanying drawings. DETAILED DESCRIPTION

[0034] The following will be combined with the drawings in the embodiments of the utility model to clearly and completely describe the technical solutions in the embodiments of the utility model. Obviously, the described embodiments are only part of the embodiments of the utility model, not all of the embodiments. Based on the embodiments of the utility model, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the utility model.

[0035] It should be noted that if the embodiments of the present invention involve directional indications (such as up, down, left, right, front, back...), the directional indications are only used to explain the relative position relationship, movement status, etc. between the components in a certain specific posture. If the specific posture changes, the directional indications will also change accordingly.

[0036] In addition, if there are descriptions involving "first", "second", etc. in the embodiments of the utility model, the descriptions of "first", "second", etc. are only used for descriptive purposes and cannot be understood as indicating or implying their relative importance or implicitly indicating the number of technical features indicated. Therefore, the features limited to "first" and "second" may explicitly or implicitly include at least one of the features. In addition, if "and / or" or "and / or" appears in the full text, its meaning includes three parallel solutions. Taking "A and / or B" as an example, it includes solution A, solution B, or solutions that satisfy both A and B. In addition, the technical solutions between the various embodiments can be combined with each other, but it must be based on the ability of ordinary technicians in this field to implement. When the combination of technical solutions is contradictory or cannot be implemented, it should be deemed that such combination of technical solutions does not exist and is not within the scope of protection required by the utility model.

[0037] In automobile processing workshops, when welding parts, it is usually necessary to install the parts on the fixture before welding. For some small and medium-sized parts, due to their small size, they generally require special small and medium-sized parts handling robots to move them to the fixture. In order to save investment in handling robots, some companies will integrate the handling mechanism of small and medium-sized parts into the welding robot, so that the welding robot can not only carry small and medium-sized parts, but also perform welding work. However, the integrated handling mechanism of the current welding robot is prone to parts falling when the power is abnormally cut off, and even damage the parts.

[0038] In view of the above-mentioned situation, the utility model provides a welding robot, aiming to solve the technical problem that parts of the existing welding robots integrated with a handling function may fall off when an abnormal power failure occurs.

[0039] See also Figure 1 to Figure 2 The utility model provides a welding robot 100. In one embodiment of the utility model, the welding robot 100 includes a base frame 1, a welding mechanism 2 and a conveying mechanism 3. The welding mechanism 2 is installed on the base frame 1; the conveying mechanism 3 includes a connecting bracket 31 and a conveying device 32. The connecting bracket 31 is installed on the base frame 1, and / or the connecting bracket 31 is installed on the welding mechanism 32; the conveying device 32 includes a magnetic suction member 321, and the magnetic suction member 321 includes a power-off state and a power-on state. The magnetic suction member 321 maintains magnetism in the power-off state and is used to absorb parts. The magnetic suction member 321 eliminates magnetism in the power-on state.

[0040] The welding mechanism 2 and the conveying mechanism 3 are integrated in the base frame 1. In order to enable the welding robot 100 to move, the base frame 1 is connected to the moving mechanism (not shown in the figure), and the moving mechanism includes a robotic arm or a crane; the welding mechanism 2 is the main mechanism of the welding robot 100 when performing welding operations, and is used to perform welding processing on parts installed on the tooling fixture; the conveying mechanism 3 includes a connecting bracket 31 and a conveying device 32, and the connecting bracket 31 is used to connect the conveying device 32 to the base frame 1 or the welding mechanism 2. The magnetic suction component 321 in the conveying device 32 can absorb the parts when the power is off. The moving mechanism drives the base frame 1 to move, and then drives the conveying device 32 to move. In conjunction with the magnetic suction component 321, the function of conveying parts can be realized.

[0041] The technical solution of the present invention is to install the transport mechanism 3 including the magnetic suction part 321 on the base frame 1 or the welding mechanism 2, so that the welding mechanism 2 integrates the transport function, thereby forming a new type of welding robot 100, and the magnetic suction part 321 has the characteristics of maintaining magnetism when the power is off and eliminating magnetism when the power is on. Therefore, in the process of the welding robot 100 transporting parts, it is only necessary to put the magnetic suction part 321 in the power-off state. At this time, the magnetic suction part 321 continues to maintain magnetism, which can ensure that the parts are continuously adsorbed on the magnetic suction part 321. Even if the welding robot is abnormally powered off, the magnetic suction part 321 will not lose its magnetism, thereby avoiding the parts from falling and being damaged. In one embodiment of the present invention, please refer to Figure 1 The connecting bracket 31 can be detachably mounted on the base frame 1, and the handling device 32 can be detachably mounted on the connecting bracket 31. In this way, the structure of the welding mechanism 2 can avoid bearing excess load, thereby preventing the welding mechanism 2 from causing structural deformation due to the excess load.

[0042] As for the transport device 32, it should be noted that the existing transport device 32 often adopts an electromagnet adsorption type transport mechanism. When the electromagnet adsorption type transport mechanism is transporting parts, if an abnormal power outage occurs, the electromagnet will be demagnetized, causing the parts to fall or even damage the parts. To solve this problem, some companies will use a cylinder magnet adsorption type transport mechanism instead of the electromagnet adsorption type transport mechanism. However, the inventor has found that compared with the electromagnet adsorption type transport mechanism, the cylinder adsorption type transport mechanism is much larger in size than the electromagnet adsorption type transport mechanism when generating the same adsorption force. At the same time, it is necessary to configure supporting devices such as I / O control boxes, air pipes, cables, etc., which makes the overall mechanism bloated, large in size, and inconvenient to use. In the present embodiment, the magnetic attraction member 321 of the handling device 32 adopts a de-energized electromagnet 321a, which includes a permanent magnet and a coil. When the power is off, the permanent magnet has a magnetic field and can attract parts. When the power is on, the magnetic field generated by the coil and the magnetic field of the permanent magnet cancel each other out, so that the de-energized electromagnet 321a is quickly demagnetized. In the embodiment of the utility model, the de-energized electromagnet 321a remains in a de-energized state during the process of handling parts. After the parts are transported to the position of the tooling fixture, the de-energized electromagnet 321a enters a energized state, so that the de-energized electromagnet 321a is demagnetized and the parts are installed in place. In this process, no components such as cylinders and air pipes are required, and the supporting equipment is simple. At the same time, no power is required during the process of handling parts, which can save energy. Moreover, the de-energized electromagnet 321a still maintains its magnetism when the power is abnormally off, and will not cause the parts to fall, thereby avoiding the situation where the parts are damaged by falling due to power failure.

[0043] The transport mechanism 3 also includes a tool changing device 33. The tool changing device 33 can be implemented in various forms. In one embodiment of the utility model, the tool changing device 33 is installed on the transport device 32. Specifically, the tool changing device 33 is a disc-shaped connector with a side opening, which can be detachably connected to the transport device 32. When in use, the side opening can be used for the cables in the transport device 32 to pass through to connect an external power supply. The tool changing device 33 can be connected to the connecting bracket 31 by bolts, so that the base frame 1 can drive the transport device 32 to move through the connecting bracket 31 and the tool changing device 33; when the transport device 32 is not in use, the bolts between the connecting bracket 31 and the tool changing device 33 can be removed to avoid affecting the welding operation of the welding mechanism 2.

[0044] In another embodiment of the present invention, the tool replacement device 33 includes a first clamping member 331 and a second clamping member 332. The first clamping member 331 is installed on the connecting bracket 31, and the second clamping member 332 is installed on the carrying device 32. The first clamping member 331 and the second clamping member 332 can be clamped with each other. Figure 2The first clamping piece 331 can be engaged with the second clamping piece 332, so that the handling device 32 can be connected to the connecting bracket 31 through the tool changing device 33. When the base frame 1 drives the connecting bracket 31 to move, it can drive the handling device 32 to move accordingly, thereby realizing the handling of parts. When the parts are transported to the predetermined position, welding work is required. In order to avoid affecting the work of the welding mechanism, the welding robot 100 needs to first move to the position where the handling device 32 is placed, and the first clamping piece 331 and the second clamping piece 332 are released to unload the handling device 32, and then move to the position where the parts are placed to carry out welding work. It should be noted that, in the actual structure, in order to realize automated production, the tool replacement device 33 also includes an integrated module 333 and an electric module 334. The integrated module 333 is installed on the side of the first clamping member 331, and is used for power supply, transmission of control signals and control of the first clamping member to complete clamping or disengagement. The electric module 334 is installed on the side of the second clamping member 332, and is used for power supply and transmission of control signals, and is arranged corresponding to the integrated module 333. When the first clamping member 331 is clamped with the second clamping member 332, the integrated module 333 is electrically connected to the electric module 334, and the cable in the transport device 32 is connected to the electric module 334 to provide power for the transport device 32. The integrated module 333 includes a control module and a drive module. When the first clamping member 331 is clamped with the second clamping member 332, The integrated module 333 is electrically connected to the electrical module 334. The control module in the integrated module 333 sends an instruction to enable the drive module to drive the first clamping component 331 and the second clamping component 332 to complete the clamping. At this time, the conveying device 32 is loaded on the welding robot 100. The welding robot 100 has the conveying capability, and the conveying device 32 can complete the adsorption or placement of parts according to the instruction of the control module. When the conveying device 32 needs to be unloaded, the control module in the integrated module 333 sends an instruction to enable the drive module to drive the first clamping component 331 to release the clamping connection with the second clamping component 332. Through the cooperation between the integrated module 333 and the electrical module 334, the clamping or separation of the first clamping component 331 and the second clamping component 332 can be automatically completed, thereby improving the automation degree of the welding robot 100 and saving manpower.

[0045] It should be noted that there are multiple types of handling devices 32 according to different types of parts. By installing tool changing devices 33 on different handling devices 32, they can be docked with the same welding robot 100, so that the same welding robot 100 can handle parts of different models and realize flexible production.

[0046] In one embodiment, the handling device 32 further includes a connecting component 322, the connecting component 322 is detachably connected to the tool changing device 33, and the magnetic attraction member 321 is installed on the connecting component 322. For details, please refer to Figure 2The connecting component 322 is used to connect the tool changing device 33 and the magnetic component 321, so that the tool changing device 33 can replace a variety of different handling devices 32 to meet the handling requirements of parts of different models and weights. It should be noted that the connecting component 322 includes a tool connecting part 3221 and a mounting rod 3222. The tool connecting part 3221 is detachably connected to the tool changing device 33. The magnetic component 321 is installed on the mounting rod 3222. The mounting rod 3222 is detachably connected to the tool connecting part 3221. The mounting rod 3222 includes a rod body 32221 and a transition member 32222. One end of the rod body 32221 is detachably connected to the tool connecting part 3221, and the other end is connected to the transition member 32222. The transition member 32222 is provided with a screw, and the surface of the screw is provided with threads. The screw is threadedly connected to the magnetic component 321 through the threads, such as Figure 2 As shown, the tool connector 3221 is connected to the second clamping member 332 by bolts, a nut 32211 is welded to one end of the tool connector 3221 for mounting the mounting rod 3222, a thread is arranged on the rod body 32221 of the mounting rod 3222, and the rod body 32221 is connected to the nut 32211 of the tool connector 3221 by thread, and through this scheme, the tool connector 3221 can replace the mounting rod 3222 of different lengths. A circular hole is provided at the other end of the rod body 32221, and the outer diameter of the transition member 32222 is smaller than the inner diameter of the rod body 32221, so that the transition member 32222 can be installed inside the rod body 32221. After the transition member 32222 is installed on the rod body 32221, a screw is installed at the circular hole of the rod body 32221 to fix it, so as to prevent the transition member 32222 from falling due to unstable connection. A screw is provided at one end of the adapter member 32222 close to the magnetic member 321, and a thread is provided on the surface of the screw, which cooperates with the thread in the magnetic member 321, so that the magnetic member 321 can be detachably installed on the adapter member 32222, which is convenient for replacing other types of magnetic members 321.

[0047] In one embodiment, see Figures 2 to 4A cavity 322211 is formed inside the rod body 32221; the magnetic attraction member 321 includes a magnetic attraction portion 3211 and a cable 3212, the cable 3212 includes an internal cable (not shown in the figure) arranged inside the cavity 322211 and an external cable 32121 exposed to the outside of the rod body 32221; the connecting component 322 also includes a cable protection member 3223, the cable protection member 3223 covers the external cable 32121, and the cable protection member 3223 is installed on the outer surface of the rod body 32221. Specifically, in order to protect the supporting cables of the transport device 32, the rod body 32221 adopts a hollow rod-shaped structure, and the cable 3212 of the magnetic suction member 321 can be connected from the inside of the rod body 32221 to the electric module 334 on the side of the second clamping member 332. Before the cable 3212 of the magnetic suction member 321 enters the inside of the rod body 32221, it is inevitable that a part of the cable 3212 is exposed outside the rod body 32221, that is, there is an external cable 32121, so a cable protection member 3223 is provided for protecting The external cable 32121 and the cable protection member 3223 are long strip-shaped members with a concave cross section. The external cable 32121 is arranged in the concave groove to prevent the external cable 32121 from being squeezed. A hole is provided at one end of the cable protection member 3223 away from the magnetic member 321, and the cable protection member 3223 can be connected to the rod body 32221 by screws. When replacing the magnetic member 321, the screws on the cable protection member 3223 can be removed to facilitate the replacement of the cable 3212 of the magnetic member 321. By providing a cavity 322211 inside the rod body 32221 to protect the internal cable, and using the cable protection member 3223 to protect the external cable 32121, the cable 3212 of the magnetic member 321 can be better protected to prevent the cable 3212 from being exposed to the outside and causing the risk of scratch damage.

[0048] It is worth noting that the existing parts handling mechanism generally does not have a parts sensor for detecting whether the parts have been grasped. This will result in that when the parts are not grasped successfully, the welding robot 100 will still execute the command to unload the handling mechanism 32 and perform welding work, resulting in a waste of resources and time. Therefore, in one embodiment of the utility model, please refer to Figure 2 and Figure 4 The handling device 32 also includes a component sensor 323, which is installed on the connecting assembly 322 and is used to detect whether the component has been grasped. When the component sensor 323 detects that the component has been grasped, the welding robot 100 enters the next program. When the component has not been grasped, the welding robot 100 suspends the subsequent program and continues to execute the command to grasp the component. In this way, it can avoid the welding robot 100 entering the subsequent program when the component has not been grasped successfully, resulting in a waste of time and resources.

[0049] In the embodiment of the present utility model, the component sensor 323 includes an infrared sensor or a laser sensor 323a, such as Figure 2 As shown, in this embodiment, a laser sensor 323a is used, which is detachably mounted on the tool connector 3221. The side of the laser sensor 323a that emits laser light is facing the position where the magnetic suction member 321 absorbs the parts. When working, it can send the grasping status of the parts to the electrical module 334. The electrical module 334 can send the grasping information to the integrated module 333, so that the integrated module 333 can grasp the grasping status of the parts in real time. In addition, the laser sensor 323a has the advantages of high precision, rapid feedback, and small size. When used, it can quickly and accurately detect whether the parts have been grasped. It is also small in size and easy to install, and does not affect the handling of parts by the handling device 32.

[0050] See also Figure 1 In one embodiment, the transport device 32 is arranged at the lower side of the welding mechanism 2. Compared with the previous method of installing the tool changing device 33 at the six-axis flange of the welding robot 100 so that the transport device 32 is located on the upper side of the welding mechanism 2, the transport device 32 in this embodiment is arranged at the lower side of the welding mechanism 2. On the one hand, it is convenient for the transport device 32 to grab parts, and on the other hand, it can avoid the use model of the tool changing device 33 being limited by the model of the six-axis flange, which is convenient for replacing different models of tool changing devices 33, thereby improving the versatility of the welding robot 100.

[0051] The working process of the welding robot 100 is as follows: according to the type of parts to be processed, the base frame 1 drives the welding mechanism 2 and the connecting bracket 31 to move to the position of the handling device 32 that can carry the parts of this type, the first clamping part 331 is docked with the second clamping part 332, the integrated module 333 is electrically connected with the electrical module 334, and the control module in the integrated module 333 sends an instruction to enable the driving module in the integrated module 333 to drive the first clamping part 331 and the second clamping part 332 to complete the clamping. At this time, the handling device 32 is loaded on the welding robot 100, and then the base frame 1 drives the handling device 32 to move to the parts to be processed, the magnetic suction part 321 is powered off to generate magnetic force, and the parts are grabbed. After the part sensor 323 detects that the parts have been grabbed, it sends a signal to the electrical module 334, and the electrical module 334 sends the grabbing information to the integrated module 333. After receiving the signal that the component has been captured, the welding robot 100 moves to the jig, and the integrated module 333 and the electrical module 334 send instructions to energize the magnetic component 321. At this time, the magnetic force of the magnetic component 321 disappears, and the component is placed on the jig. Then the welding robot 100 moves to the position where the handling device 32 is placed. The control module in the integrated module 333 sends an instruction to enable the drive module to drive the first clamping component 331 and the second clamping component 332 to disengage, completing the unloading of the handling device 32. Finally, the welding robot 100 moves to the jig to weld the components to be processed. The welded products are transported to the next assembly line by a dedicated handling robot. The welding robot 100 then drives the welding mechanism 2 and the connecting bracket 31 to move to the position of the handling device 32 that can transport components of this type according to the type of components to be processed, and so on.

[0052] The above description is only an exemplary embodiment of the present invention, and does not limit the patent scope of the present invention. All equivalent structural changes made by using the contents of the present invention specification and drawings under the technical concept of the present invention, or directly / indirectly applied in other related technical fields are included in the patent protection scope of the present invention.

Claims

1. A welding robot, characterized in that: include: Scaffolding; A welding mechanism, the welding mechanism being mounted on the base frame; A transport mechanism, the transport mechanism comprising a connecting bracket and a transport device, the connecting bracket is mounted on the base frame, and / or, The connecting bracket is installed on the welding mechanism; The handling device includes a magnetic attraction member, and the magnetic attraction member includes a power-off state and a power-on state; The magnetic attraction member maintains magnetism in the power-off state and is used to attract components; The magnetic attraction component eliminates magnetism when in the power-on state.

2. The welding robot according to claim 1, characterized in that: The transport mechanism further comprises a tool changing device, the tool changing device being mounted on the transport device, and / or, The tool replacement device includes a first clamping member and a second clamping member, wherein the first clamping member is mounted on the connecting bracket, and the second clamping member is mounted on the transport device, and the first clamping member and the second clamping member can be clamped with each other.

3. The welding robot according to claim 2, characterized in that: The transport device further comprises a connecting component, which is detachably connected to the tool changing device, and the magnetic attraction member is installed on the connecting component.

4. The welding robot according to claim 3, characterized in that: The connecting assembly comprises a tool connecting piece, and the tool connecting piece is detachably connected to the tool changing device.

5. The welding robot according to claim 4, characterized in that: The connecting assembly also includes a mounting rod, the magnetic attraction member is mounted on the mounting rod, and the mounting rod is detachably connected to the tool connecting member.

6. The welding robot according to claim 5, characterized in that: The mounting rod includes a rod body and a transition member, one end of the rod body is detachably connected to the tool connector, and the other end is connected to the transition member, the transition member is provided with a screw, a surface of the screw is provided with a thread, and the screw is threadedly connected to the magnetic attraction member through the thread.

7. The welding robot as claimed in claim 6, characterized in that: A cavity is formed inside the rod body; The magnetic attraction member includes a magnetic attraction portion and a cable, and the cable includes an internal cable arranged inside the cavity and an external cable exposed outside the rod body; The connecting assembly further comprises a cable protection member, wherein the cable protection member covers the external cable and is installed on the outer surface of the rod body.

8. The welding robot according to claim 3, characterized in that: The handling device further comprises a component sensor, which is mounted on the connecting assembly and is used to detect whether a component is grasped.

9. The welding robot according to claim 8, characterized in that: The component sensing element includes an infrared sensor or a laser sensor.

10. The welding robot according to any one of claims 1 to 9, characterized in that: The transport device is arranged at the lower side of the welding mechanism.

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