A five-axis special-purpose welding robot

Abstract

The present invention relates to a five-axis special welding robot, which includes a base component, a column component, a sliding seat component, a first arm component, a second arm component, a first joint drive component, a second joint drive component, an infinitely rotatable welding head component, and a welding torch component. The sliding seat component and the column component form a vertical movement axis pair; the first arm component and the sliding seat component form a first-level horizontal rotation axis pair; the second arm component is installed on the first arm component, and the second arm component and the first arm component form a second-level horizontal rotation axis pair; the first joint drive component drives the infinitely rotatable welding head component to rotate horizontally, forming a third-level horizontal rotation axis pair; the second joint drive component drives the swing angle device of the infinitely rotatable welding head component to rotate vertically, forming a vertical rotation axis pair. This robot has high position accuracy, good system stiffness, a larger working range, and can realize the welding application of spatial continuous closed trajectories in various pipe connection forms and sizes.

Description

Technical Field

[0001] The present invention relates to the technical field of large and medium-sized special industrial robot equipment, and in particular to a five-axis special welding robot. Background Art

[0002] Industrial robots can replace human labor to complete long-term and high-intensity repetitive labor under various complex working conditions and high-risk and harmful environments, and work with high automation. As the third major processing method in mechanical manufacturing, a certain percentage of steel production needs to be manufactured into products by welding methods. In industries such as power station boilers, pressure vessels, nuclear power facilities, chemical equipment manufacturing, and ocean engineering, special welding robots have a wide market for the welding of various closed circumferential joints and the saddle-shaped welds used for the connection between nozzles and cylinders or elliptical heads.

[0003] Taking the welding of saddle-shaped nozzles as an example, for the welding of pressure-bearing components, the submerged arc welding process is mostly used. There are many workpiece specifications, small batches, large welding amounts, and the welding device needs to rotate infinitely, and be able to plan the motion trajectory and adjust the posture of the welding torch. Traditional six-axis articulated industrial robots have certain limitations in the application of spatial continuous closed trajectories. In more cases, an external coordinate walking axis needs to be added to the six-axis articulated industrial robot system to expand the application range of the robot. For the continuous rotary welding of the saddle-shaped nozzle submerged arc process, there is almost no possibility of application.

[0004] Therefore, how to enable industrial robots to achieve both the application of spatial continuous closed trajectories and large spatial accessibility in applications, be suitable for various process requirements, and at the same time combine the characteristics of special welding machines to achieve path planning and welding torch posture planning under applications such as infinite rotary submerged arc welding, multi-layer and multi-pass welding, with high system flexibility and versatility, and reduce the integration application cost of the robot system is a technical problem that researchers urgently need to solve. Summary of the Invention

[0005] The purpose of the present invention is to solve the defects existing in the prior art and provide a five-axis special welding robot.

[0006] In order to achieve the above purpose, the technical solution adopted by the present invention is as follows:

[0007] A five-axis special welding robot includes a base component, a column component, a sliding seat component, a first arm component, a second arm component, a first joint drive component, a second joint drive component, an infinitely rotatable welding head component, and a welding torch component. The column component is fixed on the base component, the sliding seat component is installed on the column component, and the sliding seat component and the column component form a vertical movement axis pair;

[0008] The first arm component is installed on the sliding seat component, and the first arm component and the sliding seat component form a first-level horizontal rotation axis pair;

[0009] The second arm rod component is installed on the first arm rod component, and the second arm rod component and the first arm rod component form a second-level horizontal rotary shaft pair.

[0010] The first joint drive component and the second joint drive component are installed on the second arm rod component. The infinitely rotatable welding head component is rotationally supported and connected to the second arm rod component. The welding torch component is installed on the swing angle device of the infinitely rotatable welding head component. The first joint drive component drives the infinitely rotatable welding head component to horizontally rotate, forming a third-level horizontal rotary shaft pair.

[0011] The second joint drive component drives the swing angle device of the infinitely rotatable welding head component to vertically rotate, forming a vertical rotary shaft pair.

[0012] Furthermore, a vertical movement control mechanism is provided between the column component and the slide seat component. The vertical movement control mechanism includes a lower bearing seat, a ball screw, a lifting nut seat, a nut, two groups of linear guide rails, sliders, a bearing seat assembly, a reducer, and a servo motor.

[0013] Among them, the servo motor, the reducer, the bearing seat assembly, and the ball screw are integrally installed on the column component, and the lower part of the ball screw is installed on the lower bearing seat.

[0014] The two groups of linear guide rails and the sliders are installed on the guide rail connection surface of the column component; the lifting nut seat, the nut cooperate with the ball screw and are installed on the corresponding connection surface of the slide seat component together with the sliders, forming a vertical direction movement shaft pair that moves along the linear guide rails.

[0015] Furthermore, a hinge support assembly is installed at the lower part of the column component. The hinge support assembly is fixedly connected to the base component. When the robot arm rod is folded, the column component is suitable for being laid flat and connected.

[0016] Furthermore, a first servo motor, a first RV reducer, a first hollow transmission shaft, a first bearing component, and an auxiliary support component are provided between the first arm rod component and the slide seat component.

[0017] Among them, the slide seat component is fixedly connected to the first RV reducer. The first servo motor is installed at the input end of the first RV reducer. The first hollow transmission shaft is installed on the output flange surface of the first RV reducer and is fitted with the inner hole of the bearing of the first bearing component. The first bearing component is supported on the slide seat component. The shaft end of the first hollow transmission shaft is fixedly installed with the first arm rod component, forming a first-level horizontal rotary shaft pair. The first hollow transmission shaft is rotationally connected to the auxiliary support component installed on the slide seat component to improve the heavy-duty rotary stiffness.

[0018] Furthermore, a second servo motor, a second RV reducer, a second hollow transmission shaft, and a second bearing component are provided between the first arm rod component and the second arm rod component.

[0019] Wherein, a second RV reducer is fixedly installed at the extending end of the first boom member, and the input end of the second RV reducer is connected to a second servo motor; a second hollow transmission shaft is installed on the output flange surface of the second RV reducer, and the second hollow transmission shaft is fitted with the bearing inner hole of the second bearing member. The second bearing member is supported on the first boom member, and the shaft end of the second hollow transmission shaft is fixedly installed with the second boom member to form a second-stage horizontal rotary shaft pair. The cable of the front-end boom servo motor passes through the second hollow transmission shaft to the first boom member.

[0020] Furthermore, the infinitely rotatable welding head member is rotatably supported and connected to the second boom member. A first joint transmission member composed of a support, a servo motor, a harmonic reducer, and a driving gear is fixedly installed on the corresponding connection surface at the front end of the second boom member. The servo motor cable passes through the second boom member and the first boom member. The first joint transmission member drives the infinitely rotatable welding head member to horizontally rotate, forming a third-stage horizontal rotary shaft pair; the second joint transmission member drives the swing angle device of the infinitely rotatable welding head member to vertically rotate, forming a vertical rotary shaft pair.

[0021] Furthermore, the infinitely rotatable welding head member includes a wire feeding device, a hollow inner shaft, a strong current collector slip ring member, an insulating mounting plate, a weak current collector ring, a first gear, a support rod, an outer shaft member, a second gear, a lower rotating body, a swing angle device, a cable assembly, a third gear, a first rack, a fixed slide, a moving slide, a second rack, and a fourth gear, and a welding torch fixing seat;

[0022] The wire feeding device is fixedly installed at the upper end of the hollow inner shaft and rotates together with the hollow inner shaft. The strong current collector slip ring member is fixedly installed on the insulating mounting plate and rotates together with the hollow inner shaft to collect current and take power. The weak current collector ring is fixedly installed on the insulating mounting plate to supply power to the wire feeding device. The first gear is fixedly installed on the hollow inner shaft and meshes with the driving gear of the first joint transmission member to drive the hollow inner shaft to rotate. The support rod is respectively connected to the insulating mounting plate and the second boom member.

[0023] Furthermore, an outer shaft member with inner and outer rotary bearings for support is installed on the front-end shaft hole of the second boom member to support the rotation of the hollow inner shaft at the same time. The second gear is installed on the outer shaft member and meshes with the driving gear of the second joint transmission member to transmit power;

[0024] The lower rotating body is installed on the hollow inner shaft and rotates together with the hollow inner shaft. The swing angle device adopts a parallel four-link structure to avoid the movement interference space of the pipe to be welded. The swing angle device is fixedly installed on the lower rotating body, and the cable assembly passes through the inner hole of the hollow inner shaft to be connected to the welding torch member;

[0025] The third gear is fixedly installed on the outer shaft component and meshes with the first rack for transmission. The first rack is fixedly installed on the moving slide plate, and the moving slide plate is connected to the linear guide of the fixed slide base;

[0026] The fixed slide base is fixedly installed on the lower rotating body, and the other end of the moving slide plate is installed with the second rack to realize the spatial transformation of the movement;

[0027] The second rack meshes with the fourth gear for transmission. The fourth gear is fixedly installed on the crank rod of the swing angle device, and the movement is transmitted to the welding torch fixing seat. The welding torch component is installed on the welding torch fixing seat to drive the swing of the torch angle.

[0028] The beneficial effects of the present invention are as follows: The robot has high position accuracy and good system stiffness, realizes the special welding application of the robot structure method, has a larger working range, and can realize the welding application of the spatial continuous closed trajectory of various pipe connection forms and sizes. It realizes the infinite rotary welding application under the submerged arc welding process conditions of the industrial robot, and can also be compatible with other welding process methods. It can be widely applied to industries such as power station boilers, pressure vessels, nuclear power facilities, chemical equipment manufacturing, and ocean engineering, for the welding of various closed loop joints, and for the welding production of saddle-shaped welds between pipes and cylinders or elliptical heads. At the same time, it has other general application values;

[0029] It realizes the special welding application of the robot structure method, can build a larger working space in a smaller floor area, and can realize the welding application of the spatial continuous closed trajectory of various pipe connection forms and sizes. In terms of the reachability of the tool posture at the wrist of the robot, the end tool can reach any posture in three-dimensional space without dead angles of posture application. It can realize the welding application of the spatial continuous closed trajectory of various pipe connection forms and sizes. It realizes the infinite rotary welding application under the submerged arc welding process conditions of the industrial robot, and can also be compatible with other welding process methods. In addition to the innovation in the product form, it has innovation and professionalism in many aspects such as the structure and connection of the rotary current collection drive, differential drive, movement space transformation, and application of typical mechanisms. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] Figure 1 is a three-dimensional structure schematic diagram of the present invention;

[0031] Figure 2 is a cross-sectional schematic diagram of the present invention;

[0032] Figure 3 is a structure schematic diagram of the infinite rotary welding head component of the present invention;

[0033] Figure 4 is a side schematic diagram of the infinite rotary welding head component of the present invention. DETAILED DESCRIPTION OF THE INVENTION

[0034] Such asFigures 1 to 4 As shown in the figure, a five-axis special welding robot includes a base component 1, a column component 2, a sliding seat component 3, a first arm component 4, a second arm component 5, a first joint drive component 6, a second joint drive component 7, an infinitely rotating welding head component 8, and a welding torch component 9. It is characterized in that the column component 2 is fixed on the base component 1, the sliding seat component 3 is installed on the column component 2, and the sliding seat component 3 and the column component 2 form a vertical movement axis pair;

[0035] The first arm component 4 is installed on the sliding seat component 3, and the first arm component 4 and the sliding seat component 3 form a first-level horizontal rotation axis pair;

[0036] The second arm component 5 is installed on the first arm component 4, and the second arm component 5 and the first arm component 4 form a second-level horizontal rotation axis pair;

[0037] The first joint drive component 6 and the second joint drive component 7 are installed on the second arm component 5. The infinitely rotating welding head component 8 is rotationally supported and connected to the second arm component 5. The welding torch component 9 is installed on the swing angle device of the infinitely rotating welding head component 8. The first joint drive component 6 drives the infinitely rotating welding head component 8 to horizontally rotate, forming a third-level horizontal rotation axis pair;

[0038] The second joint drive component 7 drives the swing angle device of the infinitely rotating welding head component 8 to vertically rotate, forming a vertical rotation axis pair.

[0039] A vertical movement control mechanism is provided between the column component 2 and the sliding seat component 3. The vertical movement control mechanism includes a lower bearing seat 201, a ball screw 202, a lifting nut seat 203, a nut 204, two groups of linear guide rails 205, sliders 206, a bearing seat assembly 207, a reducer 208, and a servo motor 209;

[0040] Among them, the servo motor 209, the reducer 208, the bearing seat assembly 207, and the ball screw 202 are integrally installed on the column component 2, and the lower part of the ball screw 202 is installed on the lower bearing seat 201;

[0041] The two groups of linear guide rails 205 and the sliders 206 are installed on the guide rail connection surface of the column component 2; the lifting nut seat 203, the nut 204 are matched with the ball screw 202 and are installed on the corresponding connection surface of the sliding seat component 3 together with the sliders 206, forming a vertical movement axis pair that moves along the linear guide rail 205.

[0042] Furthermore, a hinge support assembly 210 is installed at the lower part of the column component 2. The hinge support assembly 210 is fixedly connected to the base component 1. When the robot arm is folded, the column component 2 is suitable for being laid flat and connected.

[0043] A first servo motor 301, a first RV reducer 302, a first hollow transmission shaft 303, a first bearing component 304, and an auxiliary support component 305 are provided between the first boom component 4 and the slide block component 3.

[0044] Among them, the slide block component 3 is fixedly connected to the first RV reducer 302. The first servo motor 301 is installed at the input end of the first RV reducer 302. The first hollow transmission shaft 303 is installed on the output flange surface of the first RV reducer 302 and is matched with the inner bore of the bearing of the first bearing component 304. The first bearing component 304 is supported on the slide block component 3. The shaft end of the first hollow transmission shaft 303 is fixedly installed with the first boom component 4 to form a first-stage horizontal rotary shaft pair. The first hollow transmission shaft 303 is rotatably connected to the auxiliary support component 305 installed on the slide block component 3 to improve the heavy-load rotary stiffness.

[0045] A second servo motor 401, a second RV reducer 402, a second hollow transmission shaft 403, and a second bearing component 404 are provided between the first boom component 4 and the second boom component 5.

[0046] Among them, the second RV reducer 402 is fixedly installed at the extending end of the first boom component 4. The input end of the second RV reducer 402 is connected to the second servo motor 401. The second hollow transmission shaft 403 is installed on the output flange surface of the second RV reducer 402 and is matched with the inner bore of the bearing of the second bearing component 404. The second bearing component 404 is supported on the first boom component 4. The shaft end of the second hollow transmission shaft 403 is fixedly installed with the second boom component 5 to form a second-stage horizontal rotary shaft pair. The cable of the front boom servo motor passes through the second hollow transmission shaft 403 to the first boom component 4.

[0047] Furthermore, the infinitely rotatable welding head component 8 is rotatably supported and connected to the second boom component 5. A first joint drive component 6 composed of a support, a servo motor, a harmonic reducer, and a drive gear is fixedly installed on the corresponding connection surface at the front end of the second boom component 5. The cable of the servo motor passes through the second boom component 5, the first boom component 4, and the first joint drive component 6 drives the infinitely rotatable welding head component 8 to horizontally rotate, forming a third-stage horizontal rotary shaft pair; a second joint drive component 7 drives the swing angle device of the infinitely rotatable welding head component 8 to vertically rotate, forming a vertical rotary shaft pair.

[0048] The infinitely rotatable welding head component 8 includes a wire feeding device 801, a hollow inner shaft 802, a strong current collector slip ring component 803, an insulating mounting plate 804, a weak current collector ring 805, a first gear 806, a support rod 807, an outer shaft component 808, a second gear 809, a lower rotating body 810, a swing angle device 811, a cable assembly 812, a third gear 813, a first rack 814, a fixed slide 815, a moving slide plate 816, a second rack 817, a fourth gear 818, and a welding torch fixing seat 819;

[0049] The wire feeding device 801 is fixedly installed at the upper end of the hollow inner shaft 802 and rotates together with the hollow inner shaft 802. The strong current collector slip ring component 803 is fixedly installed on the insulating mounting plate 804 and rotates together with the hollow inner shaft 802 to collect current and take power. The weak current collector ring 805 is fixedly installed on the insulating mounting plate 804 to supply power to the wire feeding device 801. The first gear 806 is fixedly installed on the hollow inner shaft 802 and meshes with the driving gear of the first joint transmission component 6 to drive the hollow inner shaft 802 to rotate. The support rod 807 is respectively connected to the insulating mounting plate 804 and the second arm component 5.

[0050] In addition, the outer shaft component 808 with inner and outer rotary bearings is installed on the front end shaft hole of the second arm component 5, and at the same time supports the rotation of the hollow inner shaft 802. The second gear 809 is installed on the outer shaft component 808 and meshes with the driving gear of the second joint transmission component 7 to transmit power;

[0051] The lower rotating body 810 is installed on the hollow inner shaft 802 and rotates together with the hollow inner shaft 802. The swing angle device 811 adopts a parallel four-link structure to avoid the movement interference space of the pipe to be welded. The swing angle device 811 is fixedly installed on the lower rotating body 810. The cable assembly 812 passes through the inner hole of the hollow inner shaft 802 and is connected to the welding torch component 9;

[0052] The third gear 813 is fixedly installed on the outer shaft component 808 and meshes with the first rack 814 for transmission. The first rack 814 is fixedly installed on the moving slide plate 816. The moving slide plate 816 is linearly guided and connected to the fixed slide 815;

[0053] The fixed slide 815 is fixedly installed on the lower rotating body 810. The other end of the moving slide plate 816 is installed with the second rack 817 to realize the spatial transformation of the movement;

[0054] The second rack 817 meshes with the fourth gear 818 for transmission. The fourth gear 818 is fixedly installed on the crank rod of the swing angle device 811 to transmit the movement to the welding torch fixing seat 819. The welding torch component 9 is installed on the welding torch fixing seat 819 to drive the gun angle to swing.

[0055] This robot features high position accuracy and good system stiffness, enabling dedicated welding applications with a specific robot construction method. It has a larger working range and can achieve welding applications for continuous closed trajectories in space with various nozzle forms and sizes. It realizes the infinite rotary welding application under the submerged arc welding process conditions of industrial robots and is also compatible with other welding process methods. It can be widely applied in industries such as power station boilers, pressure vessels, nuclear power facilities, chemical equipment manufacturing, and offshore engineering, for welding joints of various closed circumferential seams and for the welding production of saddle-shaped welds between nozzles and cylinders or elliptical heads. It also has other general application values;

[0056] It realizes the dedicated welding application with a specific robot construction method, can build a larger working space in a smaller floor area, and can achieve welding applications for continuous closed trajectories in space with various nozzle forms and sizes. In terms of the reachability of the tool attitude at the robot wrist, the end tool can reach any attitude in three-dimensional space without attitude application dead angles. It can achieve welding applications for continuous closed trajectories in space with various nozzle forms and sizes. It realizes the infinite rotary welding application under the submerged arc welding process conditions of industrial robots and is also compatible with other welding process methods. In addition to the innovation in the product form, it is innovative and professional in many aspects such as the structure and connection of the rotary current collector drive, differential drive, motion space transformation, and application of typical mechanisms.

[0057] The above shows and describes the basic principles, main features, and advantages of the present invention. Those skilled in the art should understand that the present invention is not limited by the above embodiments. What is described in the above embodiments and the specification is only the principle of the present invention. Without departing from the spirit and scope of the present invention, the present invention will have various changes and improvements, and these changes and improvements all fall within the scope of the present invention claimed. The scope of protection claimed by the present invention is defined by the appended claims and their equivalents.

Claims

1. A five-axis special welding robot, comprising a base component (1), a column component (2), a slide component (3), a first arm component (4), a second arm component (5), a first joint drive component (6), a second joint drive component (7), an infinitely rotatable welding head component (8) and a welding torch component (9). It is characterized in that the column component (2) is fixed on the base component (1), the slide component (3) is installed on the column component (2), and the slide component (3) and the column component (2) form a vertical movement axis pair; the first arm component (4) is installed on the slide component (3), and the first arm component (4) and the slide component (3) form a first-level horizontal rotation axis pair; the second arm component (5) is installed on the first arm component (4), and the second arm component (5) and the first arm component (4) form a second-level horizontal rotation axis pair; the first joint drive component (6) and the second joint drive component (7) are installed on the second arm component (5), the infinitely rotatable welding head component (8) is rotatably supported and connected to the second arm component (5), the welding torch component (9) is installed on the swing angle device of the infinitely rotatable welding head component (8), and the first joint drive component (6) drives the infinitely rotatable welding head component (8) to horizontally rotate, forming a third-level horizontal rotation axis pair; the second joint drive component (7) drives the swing angle device of the infinitely rotatable welding head component (8) to vertically rotate, forming a vertical rotation axis pair; the infinitely rotatable welding head component (8) includes a wire feeding device (801), a hollow inner shaft (802), a strong current collector slip ring component (803), an insulating mounting plate (804), a weak current collector ring (805), a first gear (806), a support rod (807), an outer shaft component (808), a second gear (809), a lower rotating body (810), a swing angle device (811), a cable assembly (812), a third gear (813), a first rack (814), a fixed slide (815), a moving slide plate (816), a second rack (817), a fourth gear (818), and a welding torch fixing seat (819); the wire feeding device (801) is fixedly installed at the upper end of the hollow inner shaft (802) and rotates together with the hollow inner shaft (802), the strong current collector slip ring component (803) is fixedly installed on the insulating mounting plate (804) and rotates together with the hollow inner shaft (802) to collect current, the weak current collector ring (805) is fixedly installed on the insulating mounting plate (804) to supply power to the wire feeding device (801), the first gear (806) is fixedly installed on the hollow inner shaft (802) and meshes with the driving gear of the first joint drive component (6) to drive the hollow inner shaft (802) to rotate, and the support rod (807) is respectively connected to the insulating mounting plate (804) and the second arm component (5); The outer shaft component (808) with inner and outer slewing bearings is installed on the front end shaft hole of the second boom component (5), and at the same time supports the rotation of the hollow inner shaft (802). The second gear (809) is installed on the outer shaft component (808) and meshes with the driving gear of the second joint transmission component (7) to transmit power; The lower slewing body (810) is installed on the hollow inner shaft (802) and rotates together with the hollow inner shaft (802). The swing angle device (811) adopts a parallel four-link structure to avoid the movement interference space of the welded pipe. The swing angle device (811) is fixedly installed on the lower slewing body (810), and the cable assembly (812) passes through the inner hole of the hollow inner shaft (802) and is connected to the welding torch component (9); The third gear (813) is fixedly installed on the outer shaft component (808) and meshes with the first rack (814) for transmission. The first rack (814) is fixedly installed on the moving slide plate (816), and the moving slide plate (816) is linearly guided and connected to the fixed slide base (815); The fixed slide base (815) is fixedly installed on the lower slewing body (810), and the other end of the moving slide plate (816) is installed with a second rack (817) to realize the spatial transformation of the movement; The second rack (817) meshes with the fourth gear (818) for transmission. The fourth gear (818) is fixedly installed on the crank rod of the swing angle device (811), and the movement is transmitted to the welding torch fixing seat (819). The welding torch component (9) is installed on the welding torch fixing seat (819) to drive the swing of the torch angle.

2. A five-axis special-purpose welding robot according to claim 1, characterized in that, a vertical movement control mechanism is provided between the column component (2) and the slide base component (3). The vertical movement control mechanism includes a lower bearing seat (201), a ball screw (202), a lifting nut seat (203), a nut (204), two groups of linear guides (205), sliders (206), a bearing seat assembly (207), a reducer (208) and a servo motor (209); Among them, the servo motor (209), the reducer (208), the bearing seat assembly (207), and the ball screw (202) are integrally installed on the column component (2), and the lower part of the ball screw (202) is installed on the lower bearing seat (201); The two groups of linear guides (205) and the sliders (206) are installed on the guide connection surface of the column component (2); the lifting nut seat (203), the nut (204) cooperate with the ball screw (202) and are installed on the corresponding connection surface of the slide base component (3) together with the sliders (206) to form a vertical movement axis pair that moves along the linear guide (205).

3. A five-axis special-purpose welding robot according to claim 2, characterized in that, a hinge support assembly (210) is installed at the lower part of the column component (2), and the hinge support assembly (210) is fixedly connected to the base component (1). When the robot boom is folded, the column component (2) is suitable for being laid flat and connected.

4. A five-axis special-purpose welding robot according to claim 2, characterized in that, A first servo motor (301), a first RV reducer (302), a first hollow transmission shaft (303), a first bearing component (304), and an auxiliary support component (305) are provided between the first boom component (4) and the slide base component (3). Among them, the slide base component (3) is fixedly connected to the first RV reducer (302). The first servo motor (301) is installed at the input end of the first RV reducer (302). The first hollow transmission shaft (303) is installed on the output flange surface of the first RV reducer (302) and is fitted with the inner bore of the bearing of the first bearing component (304). The first bearing component (304) is supported on the slide base component (3). The shaft end of the first hollow transmission shaft (303) is fixedly installed with the first boom component (4) to form a first-level horizontal rotary shaft pair. The first hollow transmission shaft (303) is rotatably connected to the auxiliary support component (305) installed on the slide base component (3) to improve the heavy-load rotary stiffness.

5. A five-axis special-purpose welding robot according to claim 4, characterized in that a second servo motor (401), a second RV reducer (402), a second hollow transmission shaft (403), and a second bearing component (404) are provided between the first boom component (4) and the second boom component (5). Among them, the second RV reducer (402) is fixedly installed at the extended end of the first boom component (4). The input end of the second RV reducer (402) is connected to the second servo motor (401). The second hollow transmission shaft (403) is installed on the output flange surface of the second RV reducer (402) and is fitted with the inner bore of the bearing of the second bearing component (404). The second bearing component (404) is supported on the first boom component (4). The shaft end of the second hollow transmission shaft (403) is fixedly installed with the second boom component (5) to form a second-level horizontal rotary shaft pair.

6. A five-axis special-purpose welding robot according to claim 5, characterized in that the infinitely rotatable welding head component (8) is rotatably supported and connected to the second boom component (5). The first joint drive component (6) composed of a support, a servo motor, a harmonic reducer, and a drive gear is fixedly installed on the corresponding connection surface at the front end of the second boom component (5). The servo motor cable passes through the second boom component (5) and the first boom component (4). The first joint drive component (6) drives the infinitely rotatable welding head component (8) to horizontally rotate to form a third-level horizontal rotary shaft pair. The second joint drive component (7) drives the swing angle device of the infinitely rotatable welding head component (8) to vertically rotate to form a vertical rotary shaft pair.

Images