A six-axis resistance welding robot structure

Abstract

The application belongs to the technical field of welding robots, and particularly relates to a wiring structure of a six-axis resistance welding robot, which comprises a junction box located outside a base and fixedly connected with the base, a wire harness provided with a first clamping node clamped on a rotary table and a second clamping node clamped on a large arm. The application discards the traditional thinking, overcomes the prejudice of the prior art, and sets the junction box and the wire harness outside the mechanical arm, thereby improving the convenience of wiring. In addition, the application achieves mutual avoidance between the wire harness and the mechanical arm by means of the ingenious layout of the wire harness and the extremely simple structure design, thereby reducing the equipment cost and improving the service life of the wire harness.

Description

TECHNICAL FIELD

[0001] The present application belongs to the technical field of robots, and particularly relates to a wire arrangement structure of a six-axis resistance welding robot. BACKGROUND

[0002] A six-axis robot generally comprises a six-axis mechanical arm and a welding manipulator. The welding manipulator is installed at the end of the six-axis mechanical arm to operate on workpieces with extremely high degrees of freedom. However, the mechanical arm and the manipulator need to be independently powered and communicated. In addition, the manipulator is also provided with pneumatic elements, hydraulic elements or cooling elements, etc. These elements all need independent pipelines for control. In particular, the wire harness density is high in the field of resistance welding robots, which causes great challenges to the wire arrangement work.

[0003] In the prior art, the resistance welding robot generally integrates a junction box in the inside of a base to set a winding drum. During the movement of the mechanical arm, the winding drum stretches and retracts the wire harness according to the action requirement. The defect of this wiring mode is that the installation of the junction box in the inside of the base is not conducive to the wiring operation. The wire harness generally passes out of the wire hole from the side or top surface of the base. The internal coiled wire structure is complex, the design structure of the base is large, and the manufacturing cost and volume are correspondingly increased. After the movement of the mechanical arm, the wire harness is repeatedly bent and worn with the base, which easily causes the risk of breakage or damage, and reduces the service life of the wire harness. If the cable in the wire harness is damaged and needs to be replaced, the base is closed, which causes long wiring and maintenance time, inconvenient operation, high maintenance cost and low efficiency. At the same time, due to the complex design structure of the base, more parts are needed to fix the wire harness outside, which increases the cost and affects the appearance, which causes great problems to the shafting design of the first shaft. SUMMARY

[0004] In view of the above-mentioned defects of the prior art, the purpose of the present application is to provide a wire arrangement structure of a six-axis resistance welding robot which can simplify the installation process of the wire harness and reduce the equipment cost.

[0005] To achieve the above-mentioned purpose and other related purposes, the present application provides a wire arrangement structure of a six-axis resistance welding robot. The six-axis resistance welding robot comprises a base, a turntable and a large arm. The turntable is rotationally connected with the base along a vertical axis. The large arm is rotationally connected with the turntable along a horizontal axis. The base is provided with a first driving motor for driving the rotation of the turntable. The turntable is provided with a second driving motor for driving the rotation of the large arm. The wire arrangement structure comprises:

[0006] a junction box located outside the base and fixedly connected with the base;

[0007] a wire harness composed of a plurality of control lines, power supply lines and / or fluid delivery pipelines. One end of the wire harness is connected with the junction box.

[0008] The wire harness has:

[0009] a first clamping node clamped on the turret;

[0010] a second clamping node clamped on the large arm;

[0011] The wire harness between the first clamping node and the junction box is in a free state without fixation, and this part of the wire harness has a movement allowance adapted to the rotation stroke of the turret to avoid interference of the wire harness to the rotation of the turret.

[0012] The wire harness between the second clamping node and the first clamping node is in a free state without fixation, and this part of the wire harness has a movement allowance adapted to the rotation stroke of the large arm to avoid interference of the wire harness to the rotation of the large arm.

[0013] In an optional embodiment of the present application, the first clamping node is clamped above the center of rotation of the turret relative to the base when the turret rotates.

[0014] In an optional embodiment of the present application, the second clamping node is clamped on a side of the large arm opposite to the turret, and the second clamping node is located at the center of rotation of the large arm relative to the turret when the large arm rotates.

[0015] In an optional embodiment of the present application, the first clamping node is clamped on the top surface of the turret, and the wire harness between the first clamping node and the second clamping node is arranged as follows:

[0016] The wire harness is first bent downward from the second clamping node, then spirally passes around the rotation shaft between the large arm and the turret, adheres to the top surface of the turret, and finally extends along the top surface of the turret to the first clamping node.

[0017] In an optional embodiment of the present application, the wire harness between the junction box and the first clamping node forms an arch to avoid the movement track of the turret relative to the base when the turret rotates.

[0018] In an optional embodiment of the present application, the junction box has an extension section protruding upward, the upper end of the extension section overhangs above the center of rotation of the turret relative to the base when the turret rotates, and the wire harness is connected to the upper end of the extension section.

[0019] In an optional embodiment of the present application, a wire passing hole is provided on the turret and penetrates through both sides of the turret, and the wire harness between the junction box and the second clamping node is arranged as follows:

[0020] The wire harness is first bent downward in a U shape from the upper end of the extension section, then passes through the wire passing hole, and finally is bent in the direction of the center of rotation of the large arm and extends to the second clamping node.

[0021] In an optional embodiment of the present application, the first clamping node is clamped in the wire passing hole.

[0022] In an optional embodiment of the present application, the junction box has an extension section vertically upwardly protruding, and the routing path of the wire harness between the junction box and the second clamping node is as follows:

[0023] The wire harness extends upward from the upper end of the junction box for a distance, then is bent downward in a U shape to the first clamping node, and then extends downward from the first clamping node for a distance, and is then bent upward in a U shape to the second clamping node.

[0024] In an optional embodiment of the present application, the first driving motor is mounted inside the base, the first driving motor is connected with the junction box through a wire, and a wire passing hole is provided between the base and the junction box for the wire to pass through.

[0025] To achieve the above object and other related objects, the present application further provides a wire routing structure of a six-axis resistance welding robot, which comprises a base, a turntable, a large arm and a small arm, the turntable is rotationally connected with the base along a vertical axis, the large arm is rotationally connected with the turntable along a horizontal axis, and the small arm is rotationally connected with the large arm along a horizontal axis.

[0026] The small arm is a hollow tubular structure, and the wire routing structure comprises:

[0027] A wire harness, a first end of the wire harness is fixed to the outer wall of the base, and a section of the wire harness close to the first end is routed on the top surface of the turntable; a second end of the wire harness is inserted into the central hole of the small arm and extends to the front end of the small arm; the wire harness between the turntable and the small arm is suspended beside the large arm, and the length of this part of the wire harness is greater than the length of the large arm, so that it has a certain activity allowance;

[0028] An elastic tensioning unit is connected between the large arm and the wire harness, so that the wire harness between the turntable and the small arm is in an elastic tensioning state.

[0029] The technical effect of the present application is that:

[0030] This invention abandons traditional thinking and overcomes existing technological biases by placing both the junction box and wiring harness outside the robotic arm, improving the convenience of wiring and simplifying maintenance. Furthermore, through ingenious wiring harness layout and a minimalist structural design, this invention achieves mutual avoidance between the wiring harness and the robotic arm, reducing equipment costs, resulting in a compact and simple structure, and extending the lifespan of the wiring harness.

[0031] The first locking node is located above the rotation center when the turntable rotates relative to the base. Therefore, when the turntable rotates relative to the base, the position of the first locking node remains basically unchanged, so that the position of the wire harness between the first locking node and the junction box also remains basically unchanged, with only a slight bend. It can be seen that this wiring method of the present invention does not require much allowance for movement, reducing the length of the wire harness. On the one hand, this makes the appearance structure of the equipment more compact and less likely to interfere with surrounding equipment. On the other hand, it can also reduce the frequency and amplitude of the wire harness movement, and improve the service life of the wire harness.

[0032] The second locking node is located at the rotation center when the boom rotates relative to the turntable. Therefore, when the boom rotates relative to the turntable, the position of the second locking node remains almost unchanged. Thus, the wiring harness between the second locking node and the first locking node does not need to have too much slack for movement. This also reduces the length of the wiring harness, making the equipment's appearance structure more compact and less prone to interference with surrounding equipment. It also reduces the frequency and amplitude of the wiring harness movement and improves the service life of the wiring harness.

[0033] By routing the wiring harness around the pivot between the boom and the turntable, small-radius bends in the harness can be avoided, stress fatigue can be alleviated, and the service life of the harness can be improved. Attached Figure Description

[0034] Figure 1 This is a perspective view of the wiring structure of the six-axis resistance welding robot provided in Embodiment 1 of the present invention;

[0035] Figure 2 This is a perspective view of the wiring structure of the six-axis resistance welding robot provided in Embodiment 1 of the present invention.

[0036] Figure 3 This is a perspective view of the wire harness arrangement path provided in Embodiment 1 of the present invention;

[0037] Figure 4 This is a perspective view of the wiring structure of the six-axis resistance welding robot provided in Embodiment 2 of the present invention;

[0038] Figure 5 This is a perspective view of the wiring structure of the six-axis resistance welding robot provided in Embodiment 2 of the present invention.

[0039] Figure 6is a perspective view of a harness arrangement path provided by embodiment 2 of the present application;

[0040] Figure 7 is a perspective view of a harness arrangement path provided by embodiment 3 of the present application. DETAILED DESCRIPTION

[0041] The present application is herein described, by way of example only, with reference to certain embodiments thereof. It is to be understood that variations and modifications will be apparent to those skilled in the art and that the scope of the present application encompasses all such obvious variations and modifications. Where specific details are given, it is to be understood that these are given by way of illustration only and that the present application will be understood to include all embodiments within the scope of the invention. It is also to be understood that the following examples and embodiments can be combined with each other, if not contradictory.

[0042] Referring to Figures 1-6 , a wiring structure of a six-axis resistance welding robot, the wiring structure comprising a junction box 61 and a harness 90.

[0043] Referring to Figure 1 , 2 , 4, 5, the six-axis resistance welding robot comprises a base 60, a turntable 70 and a large arm 80, the turntable 70 is rotationally connected with the base 60 along a vertical axis, the large arm 80 is rotationally connected with the turntable 70 along a horizontal axis, the base 60 is installed with a first driving motor for driving the turntable 70 to rotate, and the turntable 70 is installed with a second driving motor for driving the large arm 80 to rotate; it can be understood that the present application only improves the arrangement of part of the harness 90 of the fixed end of the six-axis resistance welding robot, therefore the present case only shows part of the structure of the fixed end of the six-axis resistance welding robot, i.e. the base 60, the turntable 70 and the large arm 80, in fact, the six-axis resistance welding robot should also include a small arm connected with the large arm 80, a fifth axis and a sixth axis arranged at the front end of the small arm, and a welding execution mechanism connected at the end of the sixth axis, i.e. a welding manipulator.

[0044] Referring to Figures 1-6 , the junction box 61 is located outside the base 60 and is fixedly connected with the base 60; it can be understood that the junction box 61 is used for the connection between the harness 90 and external devices, the external devices for example including a power supply, a control terminal, a high-pressure gas source, a hydraulic source or a refrigeration system, etc., and the junction box 61 for example can have a socket or other structure capable of quickly connecting with the harness 90.

[0045] The wire harness 90 is a pipeline set composed of a plurality of control lines, power supply lines and / or fluid delivery pipelines, etc., one end of the wire harness 90 is connected with the junction box 61; it can be understood that each pipeline can be wrapped in one or more protective sleeves, which can provide protection for each pipeline and facilitate the overall guidance and fixation of the wire harness 90.

[0046] Please refer to Figures 1-6 As shown in the figure, the wire harness 90 has a first clamping node 91 and a second clamping node 92, the first clamping node 91 is clamped on the turret 70; the second clamping node 92 is clamped on the side of the large arm 80 away from the turret 70, in specific embodiments, the first clamping node 91 and the second clamping node 92 can be fixed on the turret 70 or the large arm 80, for example, by using a wire harness clamp or a binding strap; the wire harness 90 between the first clamping node 91 and the junction box 61 is in a free state without fixation, and this part of the wire harness 90 has a movement allowance adapted to the rotation stroke of the turret 70, so as to avoid interference of the wire harness 90 with the rotation of the turret 70; the wire harness 90 between the second clamping node 92 and the first clamping node 91 is in a free state without fixation, and this part of the wire harness 90 has a movement allowance adapted to the rotation stroke of the large arm 80, so as to avoid interference of the wire harness 90 with the rotation of the large arm 80.

[0047] The junction box 61 and the wire harness 90 are arranged on the outside of the six-axis mechanical arm in the present application, which is convenient for operators to perform wiring operation. It should be noted that the prior art generally arranges the bus interface inside the base 60, and then arranges the wire harness 90 through a series of complex guide structures to avoid interference of the wire harness 90 with the movement of the mechanical arm; the present application discards the traditional thinking and overcomes the prejudice of the prior art, arranges the junction box 61 and the wire harness 90 on the outside of the mechanical arm, improves the convenience of wiring, in addition, the present application achieves mutual avoidance between the wire harness 90 and the mechanical arm through ingenious layout of the wire harness 90 and simple structure design, reduces the equipment cost and improves the service life of the wire harness 90.

[0048] The technical solutions of the present application will be described in detail below in combination with three different specific embodiments.

[0049] Embodiment 1

[0050] Please refer to Figures 1-3 As shown in the figure, in this embodiment, the first clamping node 91 is clamped above the center of rotation of the turret 70 relative to the base 60 during rotation. The second clamping node 92 is clamped on the side of the large arm 80 away from the turret 70, and the second clamping node 92 is located at the center of rotation of the large arm 80 relative to the turret 70 during rotation.

[0051] It can be understood that, since the first clamping node 91 is located above the center of rotation when the turntable 70 rotates relative to the base 60, the position of the first clamping node 91 remains basically unchanged when the turntable 70 rotates relative to the base 60, so that the position of the wire harness 90 between the first clamping node 91 and the junction box 61 also remains basically unchanged, only a little bending occurs; it can be seen that, in this way, the wiring mode of the present application does not need to reserve too much movement allowance, the length of the wire harness 90 is reduced, which on the one hand makes the appearance structure of the device more compact and less likely to interfere with the surrounding devices, and on the other hand can reduce the movement frequency and amplitude of the wire harness 90, thereby improving the service life of the wire harness 90.

[0052] Similarly, since the second clamping node 92 is located at the center of rotation when the large arm 80 rotates relative to the turntable 70, the position of the second clamping node 92 remains almost unchanged when the large arm 80 rotates relative to the turntable 70, so that the wire harness 90 between the second clamping node 92 and the first clamping node 91 also does not need to reserve too much movement allowance, and the length of the wire harness 90 is reduced, which makes the appearance structure of the device more compact and less likely to interfere with the surrounding devices, reduces the movement frequency and amplitude of the wire harness 90, and improves the service life of the wire harness 90.

[0053] Specifically, in the present embodiment, the first clamping node 91 is clamped on the top surface of the turntable 70, and the wire harness 90 between the first clamping node 91 and the second clamping node 92 is arranged as follows: the wire harness 90 is first bent downward from the second clamping node 92, then spirally winds around the rotation shaft between the large arm 80 and the turntable 70, and is attached to the top surface of the turntable 70, and finally extends along the top surface of the turntable 70 to the first clamping node 91. The wire harness 90 between the junction box 61 and the first clamping node 91 forms an arch-shaped portion to avoid the movement track when the turntable 70 rotates relative to the base 60.

[0054] It can be understood that, in the present embodiment, the wire harness 90 winds around the rotation shaft between the large arm 80 and the turntable 70, which can avoid small-radius bending of the wire harness 90, relieve stress fatigue of the wire harness 90, and improve the service life of the wire harness 90.

[0055] Embodiment 2

[0056] Please refer to Figures 4-6 In the present embodiment, the second clamping node 92 is clamped on the side of the large arm 80 opposite to the turntable 70, and the second clamping node 92 is located at the center of rotation when the large arm 80 rotates relative to the turntable 70.

[0057] The above structure of the embodiment is the same as that of Embodiment 1, and the function thereof is also the same as that of Embodiment 1, and thus will not be described again.

[0058] The extension section of the terminal box 61 of the embodiment is arranged upwardly protruding, the upper end of the extension section is suspended above the center of rotation when the turntable 70 rotates relative to the base 60, and the wire harness 90 is connected to the upper end of the extension section. It can be understood that the connection position between the wire harness 90 and the terminal box 61 in the embodiment is located above the center of rotation when the turntable 70 rotates relative to the base 60, and thus when the turntable 70 rotates, the wire harness 90 between the terminal box 61 and the first clamping node 91 is almost synchronously rotated with the turntable 70 as a whole, and thus the wire harness 90 itself will not produce too severe deformation.

[0059] Specifically, the turntable 70 is provided with a wire passing hole 71 penetrating through both sides of the turntable 70, and the wire harness 90 between the terminal box 61 and the second clamping node 92 is arranged as follows: the wire harness 90 is first bent downwardly in a U shape from the upper end of the extension section, then passes through the wire passing hole 71, and finally is bent and extended to the second clamping node 92 in the direction of the center of rotation of the large arm 80. The first clamping node 91 is clamped in the wire passing hole 71.

[0060] In the embodiment, the wire harness 90 passes through the turntable 70, so that the wire harness 90 has sufficient bending radius, and also in order to relieve the stress fatigue of the wire harness 90.

[0061] Embodiment 3

[0062] Please refer to Figure 7 As shown in the figure, in the embodiment, the six-axis resistance welding robot comprises a base 60, a turntable 70, a large arm 80 and a small arm 100, the turntable 70 is rotationally connected with the base 60 along a vertical axis, the large arm 80 is rotationally connected with the turntable 70 along a horizontal axis, and the small arm 100 is rotationally connected with the large arm 80 along a horizontal axis; the small arm 100 is a hollow tubular structure, and the wire arrangement structure comprises a wire harness 90 and an elastic tensioning unit 81.

[0063] Specifically, a first end of the wire harness 90 is fixed to an outer wall of the base 60, and a section of the wire harness 90 close to the first end is arranged on a top surface of the turntable 70; a second end of the wire harness 90 is inserted into a central hole of the small arm 100 and extends to a front end of the small arm 100; the wire harness 90 between the turntable 70 and the small arm 100 is suspended beside the large arm 80, and the length of this part of the wire harness 90 is greater than the length of the large arm 80, so that it has a certain activity allowance; the elastic tensioning unit 81 is connected between the large arm 80 and the wire harness 90, so that the wire harness 90 between the turntable 70 and the small arm 100 is in an elastic tensioning state.

[0064] It can be understood that in the embodiment, the wire harness 90 between the turntable 70 and the small arm 100 is in a suspended state, and there is a sag therebetween. When the large arm 80 swings downward relative to the turntable 70 or the small arm 100 swings downward relative to the large arm 80, the wire harness 90 will be wound at the end of the turntable and the small arm, respectively. At this time, the excess of the sagging part can compensate for the winding area, so as to avoid the wire harness 90 being straightened. In addition, the elastic tensioning unit 81 is arranged between the wire harness 90 and the large arm 80. The elastic tensioning unit 81 can be a tension spring or a compression spring, for example. The elastic tensioning unit 81 can constrain the sagging part of the wire harness 90, so as to prevent it from swinging randomly. In a further embodiment, the wire harness 90 can be fixed to the turntable 70 and the small arm 100 by buckles, for example. In order to avoid the wire harness 90 interfering with the rotation of the turntable 70, the buckle between the wire harness 90 and the turntable 70 can be arranged above the rotation center of the turntable 70, for example.

[0065] Please refer to Figure 7 Further, the base outer side in the embodiment can not be provided with a junction box, but the wire harness can be directly connected in the robot cabinet. The wire harness and the base outer wall can be fixed by a pipe clamp, for example. When the turntable rotates relative to the base, the two ends of the wire harness between the turntable and the base can remain in a fixed position, so as to avoid the wire harness being pulled during the rotation of the turntable.

[0066] It can be understood that the above embodiment is only an optional solution for implementing the present application. In specific applications, the wire harness 90 can also be arranged in other ways, as long as the positions of the first clamping node 91 and the second clamping node 92 are relatively fixed, and the wire harness 90 does not interfere with the operation of the robot. For example, the first clamping node 91 is clamped above the rotation center of the turntable 70 relative to the base 60. The second clamping node 92 is clamped on the side of the large arm 80 opposite to the turntable 70. The second clamping node 92 is located at the rotation center of the large arm 80 relative to the turntable 70. The junction box 61 has an extension section protruding vertically upward. The arrangement path of the wire harness 90 between the junction box 61 and the second clamping node 92 is as follows: the wire harness 90 extends upward from the upper end of the junction box 61 by a distance, then bends downward in a U shape to the first clamping node 91; the wire harness 90 extends downward from the first clamping node 91 by a distance, then bends upward in a U shape to the second clamping node 92. It can be understood that the wire harness 90 is bent into an S shape in the embodiment, which can also avoid small-radius bending of the wire harness 90.

[0067] In the above embodiments, the first driving motor is mounted inside the base 60, the first driving motor is connected with the junction box 61 through a wire, and a wire hole is arranged between the base 60 and the junction box 61 for the wire to pass through. The first driving motor in the application is controlled by a separate wire, thereby simplifying the internal structure of the base 60.

[0068] The wire routing path of the first clamping node and the second clamping node is not limited to the above embodiments.

[0069] In summary, the junction box 61 and the wire harness 90 are arranged outside the six-axis mechanical arm, which is convenient for operators to perform wiring operation and maintenance. The application discards the traditional thinking and overcomes the prejudice of the prior art. The junction box 61 and the wire harness 90 are arranged outside the mechanical arm, which improves the convenience of wiring. In addition, the application realizes the mutual avoidance between the wire harness 90 and the mechanical arm by means of the ingenious layout of the wire harness 90 and the extremely simple structure design, reduces the equipment cost, and improves the service life of the wire harness 90. The first clamping node 91 is located above the center of rotation of the turntable 70 relative to the base 60, so when the turntable 70 rotates relative to the base 60, the position of the first clamping node 91 remains basically unchanged, thereby the position of the wire harness 90 between the first clamping node 91 and the junction box 61 also remains basically unchanged, only a little bending occurs. As can be seen, the wiring method of the application does not need to reserve too much activity allowance, which reduces the length of the wire harness 90. On the one hand, this makes the appearance structure of the equipment more compact and less likely to interfere with the surrounding equipment, and on the other hand, it can also reduce the activity frequency and amplitude of the wire harness 90, thereby improving the service life of the wire harness 90. The second clamping node 92 is located at the center of rotation of the large arm 80 relative to the turntable 70, so when the large arm 80 rotates relative to the turntable 70, the position of the second clamping node 92 remains basically unchanged, so the wire harness 90 between the second clamping node 92 and the first clamping node 91 also does not need to reserve too much activity allowance, which also reduces the length of the wire harness 90, makes the appearance structure of the equipment more compact, and is less likely to interfere with the surrounding equipment, reduces the activity frequency and amplitude of the wire harness 90, and improves the service life of the wire harness 90. The wire harness 90 bypasses the rotation shaft between the large arm 80 and the turntable 70, which can avoid small-radius bending of the wire harness 90, relieve stress fatigue of the wire harness 90, and improve the service life of the wire harness 90.

[0070] The application greatly reduces the volume of the resistance welding robot base through the design characteristic that the junction box and the wire harness are both arranged outside the machine arm, and completely solves the problem of wire harness breakage and damage caused by abrasion and bending between the wire harness and the base in the prior art. The wire arrangement structure provided by the application brings convenience to robot operators in maintenance, wiring and repair, improves the maintenance efficiency, and provides the activity allowance of the rotation stroke through the setting of the junction box fixed to the base and the first clamping node, and the setting of the second clamping node to form a two-section wire harness free state, greatly reduces the rotation friction between the wire harness and the mechanical arm and the activity frequency and amplitude of the wire speed, effectively protects the safe operation of the wire harness, and the structure design and processing technology are simple, the cost is greatly reduced, so that the robot body is greatly changed in weight and volume, and the resistance welding robot body is more lightweight, without affecting the load weight of the robot body.

[0071] The above-described embodiments are merely illustrative of the principles of the application and their efficacy, and are not intended to limit the application. Any person skilled in the art can modify or change the above-described embodiments without departing from the spirit and scope of the application. Therefore, all equivalent modifications or changes made by those skilled in the art without departing from the spirit and technical idea disclosed in the application should be covered by the claims of the application.

[0072] The above description of the illustrated embodiments of the application (including that in the abstract) is not intended to be exhaustive or to limit the application to the precise forms disclosed. While specific embodiments of, and examples for, the application are described herein for illustrative purposes, various equivalent modifications are possible within the spirit and scope of the application, as those skilled in the relevant art will recognize and appreciate. As indicated, these modifications can be made to the above-described embodiments and yet the application will remain within the scope of the application.

Claims

1. A wiring structure for a six-axis resistance welding robot, the six-axis resistance welding robot comprising a base, a turntable, and a large arm, the turntable being rotatably connected to the base along a vertical axis, the large arm being rotatably connected to the turntable along a horizontal axis, the base being equipped with a first drive motor for driving the turntable to rotate, and the turntable being equipped with a second drive motor for driving the large arm to rotate, characterized in that, The wiring structure comprises: a junction box located outside the base and fixedly connected with the base; a wire harness composed of a plurality of control lines, power supply lines and / or fluid delivery pipelines, one end of the wire harness being connected with the junction box; the wire harness has: a first clamping node clamped on the turntable; a second clamping node clamped on the large arm; the wire harness between the first clamping node and the junction box is in a free state without fixation, and this part of the wire harness has a movement allowance adapted to the rotation stroke of the turntable to avoid interference of the wire harness with the rotation of the turntable; the wire harness between the second clamping node and the first clamping node is in a free state without fixation, and this part of the wire harness has a movement allowance adapted to the rotation stroke of the large arm to avoid interference of the wire harness with the rotation of the large arm; the first clamping node is clamped on the top surface of the turntable, and the wire harness between the first clamping node and the second clamping node is arranged as follows: the wire harness is first bent downward from the second clamping node, then spirally passes around the rotation shaft between the large arm and the turntable, is attached to the top surface of the turntable, and finally extends along the top surface of the turntable to the first clamping node.

2. The wire routing structure of the six-axis resistance welding robot according to claim 1, characterized by, the first clamping node is clamped above the center of rotation of the turntable relative to the base, and the second clamping node is clamped on the side of the large arm opposite to the turntable, and is located at the center of rotation of the large arm relative to the turntable.

3. The wire routing structure of the six-axis resistance welding robot according to claim 1, characterized by, the wire harness between the junction box and the first clamping node forms an arcuate portion to avoid the movement track of the turntable relative to the base.

4. The wire routing structure of the six-axis resistance welding robot according to claim 1, characterized by, the first driving motor is mounted inside the base, the first driving motor is connected with the junction box through a wire, and a wire hole is arranged between the base and the junction box for the wire to pass through.

5. A wire arrangement of a six-axis resistance welding robot, the six-axis resistance welding robot comprising a base, a turret and a main arm, the turret is rotationally connected with the base along a vertical axis, the main arm is rotationally connected with the turret along a horizontal axis, the base is provided with a first driving motor for driving the turret to rotate, the turret is provided with a second driving motor for driving the main arm to rotate, characterized in that, The wiring structure comprises: a junction box located outside the base and fixedly connected with the base; a wire harness composed of a plurality of control lines, power supply lines and / or fluid delivery pipelines, one end of the wire harness being connected with the junction box; the wire harness has: a first clamping node clamped on the turntable; a second clamping node clamped on the large arm; the wire harness between the first clamping node and the junction box is in a free state without fixation, and this part of the wire harness has a movement allowance adapted to the rotation stroke of the turntable to avoid interference of the wire harness with the rotation of the turntable; the wire harness between the second clamping node and the first clamping node is in a free state without fixation, and this part of the wire harness has a movement allowance adapted to the rotation stroke of the large arm to avoid interference of the wire harness with the rotation of the large arm; the junction box has an extension portion protruding upward, the upper end of the extension portion overhangs above the center of rotation of the turntable relative to the base, and the wire harness is connected to the upper end of the extension portion.

6. The six-axis resistance welding robot of claim 5, wherein, The turntable is provided with a wire passing hole penetrating through both sides of the turntable, and the wire harness between the junction box and the second clamping node is arranged as follows: The wire harness is first bent downward in a U shape from the upper end of the extension section, then passes through the wire passing hole, and finally bends and extends to the second clamping node in the direction of the center of rotation of the large arm.

7. The wire routing structure of the six-axis resistance welding robot according to claim 6, wherein, The first clamping node is clamped in the wire passing hole.

8. The wire routing structure of the six-axis resistance welding robot according to claim 5, wherein, The first driving motor is mounted inside the base, the first driving motor is connected with the junction box through a wire, and a wire hole is arranged between the base and the junction box for the wire to pass through.

9. A wire arrangement of a six-axis resistance welding robot, the six-axis resistance welding robot comprising a base, a turret and a main arm, the turret is rotationally connected with the base along a vertical axis, the main arm is rotationally connected with the turret along a horizontal axis, the base is provided with a first driving motor for driving the turret to rotate, the turret is provided with a second driving motor for driving the main arm to rotate, characterized in that, The wire arrangement structure comprises: a junction box located outside the base and fixedly connected with the base; a wire harness composed of a plurality of control lines, power supply lines and / or fluid delivery pipelines, one end of the wire harness being connected with the junction box; the wire harness has: a first clamping node clamped on the turntable; a second clamping node clamped on the large arm; the wire harness between the first clamping node and the junction box is in a free state without fixation, and this part of the wire harness has a movement allowance adapted to the rotation stroke of the turntable, so as to avoid interference of the wire harness with the rotation of the turntable; the wire harness between the second clamping node and the first clamping node is in a free state without fixation, and this part of the wire harness has a movement allowance adapted to the rotation stroke of the large arm, so as to avoid interference of the wire harness with the rotation of the large arm; the junction box has an extension section protruding vertically upward, and the wire harness between the junction box and the second clamping node is arranged as follows: the wire harness extends upward from the upper end of the junction box for a distance, then bends downward in a U shape to the first clamping node, and then extends downward from the first clamping node for a distance, then bends upward in a U shape to the second clamping node.

10. The wire routing structure of the six-axis resistance welding robot according to claim 9, wherein, The first clamping node is clamped above the center of rotation when the turntable rotates relative to the base; the second clamping node is clamped on the side of the large arm opposite to the turntable, and the second clamping node is located at the center of rotation when the large arm rotates relative to the turntable.

11. A wire arrangement structure of a six-axis resistance welding robot, the six-axis resistance welding robot comprising a base, a turntable, a large arm and a small arm, the turntable being rotationally connected with the base along a vertical axis, the large arm being rotationally connected with the turntable along a horizontal axis, and the small arm being rotationally connected with the large arm along a horizontal axis; characterized in that The small arm is a hollow tubular structure, and the wire arrangement structure comprises: a wire harness, a first end of the wire harness being fixed to the outer wall of the base, and a section of the wire harness close to the first end being arranged on the top surface of the turntable; a second end of the wire harness being inserted into the central hole of the small arm and extending to the front end of the small arm; the wire harness between the turntable and the small arm being suspended beside the large arm, and the length of this part of the wire harness being greater than the length of the large arm so as to have a certain movement allowance. An elastic tensioning unit is connected between the large arm and the wire harness to keep the wire harness between the turntable and the small arm in an elastic tensioning state. The wire harness has a first clamping node clamped on the turntable. The first clamping node is clamped above the center of rotation of the turntable relative to the base.

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